U.S. patent application number 15/206883 was filed with the patent office on 2016-11-03 for multifunctional all-terrain walking hydraulic excavator.
This patent application is currently assigned to XCMG CONSTRUCTION MACHINERY CO., LTD. ROAD MACHINERY BRANCH. The applicant listed for this patent is XCMG CONSTRUCTION MACHINERY CO., LTD. ROAD MACHINERY BRANCH. Invention is credited to YONG CAO, XIUFENG CHEN, LIANFENG DING, RAN GAO, CHENGPENG GU, JING HAN, JING LIU, LEI LIU, YUXIANG LIU, ZHIHAN PENG, XIAOMING SHI, FUDE WANG, XUEFENG WEI, YUMING WEI, JUNQI WU, JINGKE XU, FENG XUE, JIE ZHANG, LIPING ZHANG, YUN ZHANG, KAI ZHU.
Application Number | 20160319513 15/206883 |
Document ID | / |
Family ID | 50450789 |
Filed Date | 2016-11-03 |
United States Patent
Application |
20160319513 |
Kind Code |
A1 |
CHEN; XIUFENG ; et
al. |
November 3, 2016 |
MULTIFUNCTIONAL ALL-TERRAIN WALKING HYDRAULIC EXCAVATOR
Abstract
A multifunctional all-terrain walking-type hydraulic excavator
includes a multifunctional working apparatus (2), a cab (3), a slew
assembly (4), a slewing bearing (6), and a walking-type chassis
(5). By means of a hydraulic capstan (5.9) arranged at the forward
end of the chassis (5), the excavator is able to perform
self-rescue and towing assistance. The walking-type chassis (5)
adapts to terrain through adjustments of the swing angles of the
forward and rear legs (5.2, 5.4, 5.5, 5.6) and thus is able to walk
and operate in difficult terrain.
Inventors: |
CHEN; XIUFENG; (Xuzhou,
CN) ; SHI; XIAOMING; (Xuzhou, CN) ; XUE;
FENG; (Xuzhou, CN) ; XU; JINGKE; (Xuzhou,
CN) ; ZHANG; YUN; (Xuzhou, CN) ; GU;
CHENGPENG; (Xuzhou, CN) ; WU; JUNQI; (Xuzhou,
CN) ; CAO; YONG; (Xuzhou, CN) ; GAO; RAN;
(Xuzhou, CN) ; ZHANG; JIE; (Xuzhou, CN) ;
ZHANG; LIPING; (Xuzhou, CN) ; WANG; FUDE;
(Xuzhou, CN) ; LIU; LEI; (Xuzhou, CN) ;
LIU; YUXIANG; (Xuzhou, CN) ; WEI; YUMING;
(Xuzhou, CN) ; ZHU; KAI; (Xuzhou, CN) ;
WEI; XUEFENG; (Xuzhou, CN) ; PENG; ZHIHAN;
(Xuzhou, CN) ; DING; LIANFENG; (Xuzhou, CN)
; HAN; JING; (Xuzhou, CN) ; LIU; JING;
(Xuzhou, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
XCMG CONSTRUCTION MACHINERY CO., LTD. ROAD MACHINERY
BRANCH |
Xuzhou |
|
CN |
|
|
Assignee: |
XCMG CONSTRUCTION MACHINERY CO.,
LTD. ROAD MACHINERY BRANCH
|
Family ID: |
50450789 |
Appl. No.: |
15/206883 |
Filed: |
July 11, 2016 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
PCT/CN2015/070317 |
Jan 8, 2015 |
|
|
|
15206883 |
|
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E02F 9/12 20130101; E02F
9/028 20130101; E02F 9/024 20130101; E02F 3/306 20130101; E02F
9/121 20130101; E02F 3/3609 20130101; E02F 3/325 20130101; E02F
9/163 20130101; E02F 3/963 20130101; E02F 9/085 20130101; E02F 3/38
20130101; E02F 9/04 20130101 |
International
Class: |
E02F 9/02 20060101
E02F009/02; E02F 9/12 20060101 E02F009/12; E02F 9/08 20060101
E02F009/08; E02F 3/30 20060101 E02F003/30; E02F 3/38 20060101
E02F003/38; E02F 3/32 20060101 E02F003/32; E02F 9/16 20060101
E02F009/16; E02F 3/36 20060101 E02F003/36 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 10, 2014 |
CN |
2014-10011760.2 |
Claims
1. A multifunctional all-terrain walking hydraulic excavator,
comprising: a multifunctional working apparatus (2), a cab (3), a
slew assembly (4), a walking-type chassis (5), and a slewing
bearing (6), wherein: the multifunctional apparatus (2) is entirely
hinged at a right front part of the slew assembly (4); the cab (3)
is fixed to a left half of the slew assembly (4); the slew assembly
(4) is a load-bearing component for carrying the cab (3) and the
multifunctional working apparatus (2); and the slew assembly (4) is
connected to the walking-type chassis (5) through the slewing
bearing (6).
2. The multifunctional all-terrain walking hydraulic excavator
according to claim 1, wherein: 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).
3. The multifunctional all-terrain walking hydraulic excavator
according to claim 2, wherein: the curved short boom (2.5) is
driven by a hydraulic cylinder, and 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 (2.3-3), wherein: 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); a top surface, a bottom surface, a left surface
and a right surface of a rear end of the telescopic stick base arm
(2.3-3) are fixedly provided with a nylon slider, respectively; a
top surface, a bottom surface, a left surface and a right surface
of a front end of the telescopic stick base arm (2.3-3) are fixedly
provided with a nylon slider, respectively; a piston end of the
stick telescopic hydraulic cylinder (2.3-2) is hinged inside of the
telescopic stick double-section arm (2.3-1) through a hinge pin; a
barrel end of the stick telescopic hydraulic cylinder (2.3-2) is
hinged inside of the telescopic stick base arm (2.3-3) through a
hinge pin; a telescopic movement of the telescopic stick (2.3) is
driven by the stick telescopic hydraulic cylinder (2.3-2); and a
rotational movement of the telescopic stick (2.3) is driven by a
hydraulic cylinder.
4. The multifunctional all-terrain walking hydraulic excavator
according to claim 2, wherein: two side surfaces of the telescopic
stick base arm (2.3-3) are provided with two hydraulic quick
connectors (2.4), respectively; 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; and the relief
valve is further connected to a hydraulic power system.
5. The multifunctional all-terrain walking hydraulic excavator
according to claim 2, wherein: 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; and the bucket (2.1) is mounted on the quick
hitch device (2.2).
6. The multifunctional all-terrain walking hydraulic excavator
according to claim 2, wherein: 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), wherein: 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), a hinge hole (2.2-5)
connected to the rocker arm (2.7), an open engaging hole (2.2-7)
and a hook-shaped engaging hole (2.2-6) providing a quick
connection to operation equipment; a hinge hole (2.2-8) and a hinge
hole (2.2-9) are provided in a middle and a rear end of the lock
tongue (2.2-3), respectively; an arc structure is provided in a
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 is
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); and a barrel end of the quick-hitch cylinder
(2.2-2) is hinged and fixed to the quick-hitch rack (2.2-1).
7. The multifunctional all-terrain walking hydraulic excavator
according to claim 1, further including: 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), wherein: the hydraulic
capstan (5.9) is arranged at a forward end of the base (5.3); four
corners of the base (5.3) are provided with a hinge hole,
respectively; 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) are 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; and 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)
are respectively 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) to move upwards and downwards.
8. The multifunctional all-terrain walking hydraulic excavator
according to claim 7, wherein: 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 hinged to each other; 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 (5.5-4,) and a right forward paw (5.5-5),
all of which are hinged to each other; the right forward paw
(5.5-5) includes a longitudinal axis (5.5-5-1); the right forward
paw (5.5-5) is connected to a sleeve located in a front end of the
right forward supporting leg (5.5-4) through the longitudinal axis
(5.5-5-1); the right forward paw (5.5-5) is formed by welding a
M-shaped bend board (5.5-5-2) and three vertical boards having "M"
shaped grip teeth (5.5-5-3) together; a front end and a rear end of
the M-shaped bend board (5.5-5-2) are provided with a plurality of
"M" shaped grip teeth, respectively; given a slope having a small
slope angle, two front vertical boards of the three vertical boards
(5.5-5-3) are used to grip the ground; given a slope having a large
slope angle, two rear vertical boards of the three vertical boards
(5.5-5-3) are used to grip the ground; and the left forward paw
(5.6-5) has a similar structure as the right forward paw
(5.5-5).
9. The multifunctional all-terrain walking hydraulic excavator
according to claim 8, wherein: the four wheels (5.1) are
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.
10. The multifunctional all-terrain walking hydraulic excavator
according to claim 9, wherein: 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) are driven by the
hydraulic cylinders to swing side-to-side individually or
simultaneously; steering of the wheels (5.1) is driven by a wheel
steering hydraulic cylinder (5.5-7); and swing of the right-forward
walking leg (5.5) is driven by a right-rear-walking-leg swing
hydraulic cylinder (5.5-6).
11. The multifunctional all-terrain walking hydraulic excavator
according to claim 10, wherein: at the base (5.3), 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), driving
the four walking legs upward and downward, have a crossing
symmetrical arrangement of hinging seats.
Description
CROSS-REFERENCES TO RELATED APPLICATIONS
[0001] This application claims the priority of PCT patent
application: PCT/CN2015/070317, filed on Jan. 08, 2015, which
claims priority of Chinese patent application No. 201410011760.2,
filed on Jan. 10, 2014, the entirety of all of which is
incorporated herein by reference.
TECHNICAL FIELD
[0002] The present disclosure generally relates to the technical
field of excavators, more particularly, relates to a
multifunctional all-terrain walking hydraulic excavator.
BACKGROUND
[0003] Under the guidance of national policy and the influence of
technical progress, China's construction machinery shows rapid
development momentum in recent years, featured with large product
variety and full product lines. 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. Moreover, most current
excavators have a poor functional expansibility. For example, in
one current walking excavator, only the two front wheels can be
steered while the two rear wheels cannot. In addition, the steering
structure of the front wheels is substantially complicated, and the
protection of the fuel tank is insufficient. Due to the poor
processing technology, the four hinge joints in the chassis may be
different from each other. The coupling or the connection between a
forward paw and supporting leg has limited freedom, thus, the
adaptability to complex terrain and grip reliability may be poor.
Other walking type hydraulic excavators may still exhibit limited
adaptability to complex terrains. Meanwhile, due to use of the
conventional working apparatus in current walking hydraulic
excavators, their walking performance and functional expansibility
may be still poor.
TECHNICAL SOLUTION
[0004] To solve the above technical problems in the current
crawler, wheeled and walking excavators, 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.
[0005] The present invention provides a technical solution
including:
[0006] 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.
[0007] Further, 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 2.3-3. In
particular, 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, and the rotational
movement of the telescopic stick 2.3 is driven by a hydraulic
cylinder. Two side surfaces of the telescopic stick base arm 2.3-3
are provided with two hydraulic quick connectors 2.4, respectively.
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.
[0008] Further, 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.
[0009] Further, 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 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 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 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.
[0010] Further, 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 5.5-4, and a right forward paw 5.5-5, all of which
are connected to each other through hinged joints. 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 5.5-5-2 are provided with M'' shaped grip teeth,
respectively. When the slope has a small slope angle, the two front
vertical boards of the three vertical boards 5.5-5-3 are used to
grip the ground or earth. When the slope has a large slope angle,
the two rear vertical boards of the three vertical boards 5.5-5-3
are used to grip the ground or earth. The left forward paw 5.6-5
has a same structure as the right forward paw 5.5-5.
[0011] Further, 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.
[0012] Further, 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 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.
[0013] Further, at the base 5.3, 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.
[0014] In the present disclosure, wide-base tires 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.degree.
rotation.
ADVANTAGEOUS EFFECTS
[0015] 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. Meanwhile, 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. Moreover, 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.
[0016] First, the terrain trafficability of the whole excavator may
be significantly improved. (1) A four-wheel driving with
independent hydraulic motors may be realized. For example, 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. (2) In an
operating state, 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.
(3) In an operating state, 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. (4) In an operating state, 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.
[0017] Second, 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.
[0018] Third, the disclosed multifunctional all-terrain walking
hydraulic excavator may exhibit a significantly improved stability
and safety when being operated at slopes. (1) By independently
adjusting the swing angle of each leg, the slew assembly may remain
in a horizontal or near horizontal state. Thus, operators may
experience greatly improved operating comfort, and damages to the
slewing bearing, engine, and slewing reducer may be reduced. (2)
The forward supporting legs may be able to provide a rigid support
to the hydraulic excavator, improving the operating stability. (3)
The hydraulic capstan arranged at the forward end of the chassis
may provide a tether, thus, the operating safety may be
guaranteed.
[0019] Fourth, the disclosed multifunctional all-terrain walking
hydraulic excavator as a whole may have an enhanced functional
versatility. (1) 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. (2) 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. (3) The quick hitch device may enable the
operators in the cab to switch buckets, grapples, hammers and other
operations equipment speedily. (4) The hydraulic capstan arranged
at the forward end of the chassis may enable vehicle towing, and
rescue, etc.
[0020] Fifth, the main body of the chassis may have a symmetrical
structure. In the four hydraulic lifting cylinders driving the four
walking legs, the arrangement of the hinging seats is crossing
symmetrical. Thus, 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.
DESCRIPTION OF DRAWINGS
[0021] The present invention is further explained by the
accompanying drawings and embodiments.
[0022] FIG. 1 is a schematic diagram of a multifunctional
all-terrain walking hydraulic excavator of the present
invention.
[0023] FIG. 2 is an enlarged schematic view of part A in FIG.
1.
[0024] FIG. 3 is a schematic diagram of a quick hitch device.
[0025] FIG. 4 is a schematic view of a walking-type chassis of the
present invention.
[0026] FIG. 5 is a schematic view of a right-forward walking leg of
the present invention.
[0027] 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.
[0028] FIG. 7 is a schematic view of climbing of the present
invention.
[0029] FIG. 8 is a schematic view of crossing a trench of the
present invention.
[0030] FIG. 9 is a schematic view of slope operation of the present
invention.
[0031] In the drawings, 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, 2.3-1 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, 5.2-2 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, and 6 is a slewing bearing.
DETAILED DESCRIPTION
[0032] The present disclosure is further described with the
accompanying drawings.
[0033] As shown in FIG. 1, 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.
[0034] As shown in FIG. 1, 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 2.3-1, the stick telescopic hydraulic cylinder 2.3-2, and a
telescopic stick base arm 2.3-3. 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. The top surface, bottom surface,
left surface and right surface of a rear end of the telescopic
stick base arm 2.3-3 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. As
shown in FIG. 1, 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 2.3 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 two hydraulic quick connectors
2.4 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 2.2 may include 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 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 2.2-6, both of which may enable a
quick connection to various operation equipment, such as buckets,
breaking hammers, etc. 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 2.2-9 disposed in the rear end of the
lock tongue 2.2-3. A barrel end of the quick-hitch cylinder 2.2-2
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. Thus,
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 2.2-1 may
together form a 3/4 circle connection hole, and the quick hitch
device 2.2 may be connected to another connecting shaft of the
operation equipment. To disconnect the quick hitch device 2.2 and
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 2.2-1 may exhibit a larger opening, such that the connecting
shafts of the operation equipment may be separated from the quick
hitch device 2.2. Such a connection and disconnection of the
operation equipment may be realized through controlling the
quick-hitch cylinder 2.2-2 by the operator sitting in the cab,
featured with simple operation and fast replacement. 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. As shown in FIG.
2, 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.
[0035] As shown in FIGS. 4-5, 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-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 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
5.10, 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 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
5.5 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 5.5-5 may be formed by
welding a 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 5.5-5-2 may be provided with a
plurality of "M" shaped grip teeth, respectively. When the slope
has a small slope angle, the two front vertical boards of the three
vertical boards 5.5-5-3 may be used to grip the ground or earth.
When the slope has a large slope angle, 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.
[0036] 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.
[0037] As shown in FIG. 4, 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. As shown in
FIG. 5, 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 5.5-7 may be hinged to the
right-forward-leg hinge 5.5-1. 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,
and 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. Thus,
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.
[0038] As shown in FIG. 4, 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. Thus, the
left-forward-leg hinge 5.6-1 may have a similar structure as the
right-rear-leg hinge 5.4-1, and 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.
[0039] As shown in FIG. 4, the four wheels 5.1 may be wide-base
tires, and the ground bearing pressure may be small. Thus, the
entire excavator may be preferably to be operated in marshes,
woodlands, etc.
[0040] As shown in FIG. 7, the excavator may climb a slope as
follows. When the excavator arrives at the leg of a slope, 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.
[0041] 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. When the excavator gets close to the vertical obstacle, 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. When the two front wheels
5.1 are touching the vertical obstacle, a parking brake the
excavator may be pressed down. Then 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.
[0042] As shown in FIG. 8, 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.
[0043] As shown in FIG. 1, 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.
[0044] As shown in FIG. 9, the excavator may be operated on a slope
as follows.
[0045] 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, including upward, downward,
leftward, rightward swing angles, may be adjusted through
controlling the corresponding hydraulic cylinders. Thus, 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. In addition, as shown in 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 5.2, and
the right-rear walking leg 5.4 may provide a rigid support to the
hydraulic excavator, thus, the operating stability may be improved.
When the excavator is operated on the slope, the hydraulic capstan
5.9 arranged at the forward end of the chassis 5.3 may provide a
tether to enhance the safety.
[0046] 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.
[0047] The description of the disclosed embodiments is provided to
illustrate the present invention to those skilled in the art.
Various modifications to these embodiments will be readily apparent
to those skilled in the art, and the generic principles defined
herein may be applied to other embodiments without departing from
the spirit or scope of the invention. Thus, the present invention
is not intended to be limited to the embodiments shown herein but
is to be accorded the widest scope consistent with the principles
and novel features disclosed herein.
* * * * *