A leg-type and crawler-type composite mobile mechanism for dredging equipment

Abstract

The invention discloses a leg-type crawler type composite mobile mechanism for dredging equipment, including a bracket, a joint hydraulic motor and a support plate are fixed on the bracket, and the output shaft sleeve of the joint hydraulic motor is provided with a driving gear; a joint shaft is fixed on the support plate, the joint shaft is connected with a swing arm, the swing arm is connected through a track wheel joint shaft, the joint shaft is connected with a passive gear and meshes with the driving gear; and also includes a bracket plate, the outer side of the bracket plate is surrounded by a track, the track wheel joint shaft is connected with the passive gear, the bracket plate is fixed with a track wheel joint hydraulic motor and the output shaft is connected with the driving gear, the driving gear is meshed with the passive gear, the bracket plate is fixed with a hydraulic motor and the output shaft is connected with a driving wheel, the driving wheel is meshed with the track, and two supporting wheel shafts are fixed on the bracket plate, and the end of the supporting wheel shaft is fixed with a supporting wheel. This structure increases the supporting depth of the leg, and the triangular structure of the track wheel can reduce the resistance of pulling out in the mud, thereby improving the safety and reliability of the equipment operation.

Description

Technical Field

[0001] The invention belongs to the technical field of river channel amphibious dredging equipment, and in particular relates to a leg-type and crawler-type composite mobile mechanism for dredging equipment. Background Art

[0002] An amphibious dredging machine is an engineering excavator that has the ability to travel on land and in water, and has the ability to independently enter water from land and land from water. It is an adaptable and widely used dredging machine, mainly used for dredging rivers and lakes, excavation of swamps and soft ground, clearing lakes in parks, clearing and deepening fish ponds, and cleaning sedimentation tanks.

[0003] The existing amphibious silt remover can complete the operation of both land and water conditions, relying on the outriggers installed at the four corners of the hull that can swing up and down and forward and backward. The hull can rely on the outriggers to imitate the turtle to move on the road and enter and exit the water; when digging in the water, it relies on the four outriggers to complete the positioning and support functions. However, in actual applications, due to the complex working conditions, the outriggers are inefficient in walking in the water; the outriggers will also sink too deep during the support process, making it difficult to pull out the outriggers or even causing the outriggers to break, resulting in low equipment safety and efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a leg-type and crawler-type composite moving mechanism for dredging equipment, which solves the problem of slow travel speed of the existing dredging machine moving mechanism during use.

[0005] The technical solution adopted by the present invention is a leg-type and track-type composite mobile mechanism for dredging equipment, comprising a bracket arranged at the bottom of a body, a leg joint hydraulic motor is fixed on the outer wall of the bracket, and the output shaft sleeve of the leg joint hydraulic motor is provided with a leg driving gear; a support plate is also fixed on the outer wall of the bracket, a leg joint shaft is horizontally fixed on the support plate, both ends of the leg joint shaft are connected with a swing arm, the end of the swing arm is connected through a horizontally arranged track wheel joint shaft, the leg joint shaft is also connected with a leg passive gear through a key, and the leg passive gear is meshed with the leg driving gear; it also includes a track wheel joint, the track wheel joint includes a bracket plate, the outside of the bracket plate is surrounded by a track, the middle part of the track wheel joint shaft passes through the bracket plate, and the track wheel joint shaft is connected to the track wheel joint passive gear.

[0006] The present invention is also characterized in that:

[0007] The track wheel joint hydraulic motor and the hydraulic motor are fixed to the side wall of the bracket plate. The output shaft of the track wheel joint hydraulic motor extends out of the bracket plate, and the extended end is connected with the track wheel joint driving gear, and the track wheel joint driving gear is meshed with the track wheel joint passive gear; the output shaft of the hydraulic motor extends out of the bracket plate, and the extended end is connected with a driving wheel, and the driving wheel is meshed with the track. Two supporting wheel shafts are horizontally fixed on the bracket plate, and both ends of the supporting wheel shafts extend out of the bracket plate and the extended ends are fixed with supporting wheels.

[0008] The outrigger joint hydraulic motor is fixed to the bracket by bolt a.

[0009] Both ends of the track wheel joint shaft are fixed to the swing arm by bolts.

[0010] A clamping sleeve is fixed on the end of the supporting wheel shaft through a pin shaft, and the supporting wheel is fixed on the supporting wheel shaft through the clamping sleeve.

[0011] The beneficial effects of the present invention are:

[0012] The present invention discloses a leg-type and crawler-type composite mobile mechanism for dredging equipment. By using a leg-type crawler structure instead of a turtle-like leg, the structure can not only increase the support depth of the leg, but also improve the ability to walk on the road, enhance the passability, and work in the mud. Due to the triangular structure of the crawler wheel, the resistance to pulling out in the mud can be reduced, the stress condition of the leg can be improved, and the safety and reliability of the equipment operation can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of a leg-type and crawler-type composite mobile mechanism for dredging equipment of the present invention;

[0014] Figure 2 It is a structural schematic diagram of a leg-type crawler walking device in a leg-type crawler type composite moving mechanism for dredging equipment of the present invention (I);

[0015] Figure 3 This is a structural schematic diagram of a leg-type crawler walking device in a leg-type crawler type composite moving mechanism for dredging equipment of the present invention (II);

[0016] Figure 4 It is a structural schematic diagram of a track wheel joint in a leg-type and track-type composite mobile mechanism for dredging equipment of the present invention (I);

[0017] Figure 5 This is a structural schematic diagram (II) of a track wheel joint in a leg-type-track type composite mobile mechanism for dredging equipment according to the present invention.

[0018] In the figure, 1. power compartment, 2. cab, 3. excavation arm, 4. leg crawler walking device, 5. machine body, 6. track wheel joint shaft, 7. wheel frame shell, 8. track wheel joint, 9. track wheel joint passive gear, 10. swing arm, 11. bracket, 12. bolt a, 13. leg joint hydraulic motor, 14. leg joint shaft, 15. hydraulic motor, 16. leg driving gear, 17. leg passive gear, 18. track wheel joint hydraulic motor, 19. support wheel shaft, 20. support wheel, 21. bracket plate, 22. crawler, 23. track wheel joint driving gear, 24. driving wheel, 25. support plate, 26. bolt b, 27. bolt c, DETAILED DESCRIPTION

[0019] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] The present invention provides a leg-type crawler-type composite mobile mechanism for dredging equipment, such as Figure 1 As shown, the structure is used for an amphibious silt remover, which includes a power compartment 1, a cab 2, an excavating arm 3, a leg-type crawler walking device 4 and a machine body 5. The power compartment 1 is composed of an engine, a hydraulic pump, etc., which provide electricity and power for the equipment. The cab 2 is located at the front end of the machine body, and the driver is located therein and is responsible for operating the equipment. The excavating arm 3 is located in front of the cab and is responsible for excavation work. The leg-type crawler walking device 4 is arranged at the four corners of the bottom of the machine body 5, which is responsible for supporting the machine body 5 and completing the walking work.

[0021] like Figure 2 As shown, the leg-type crawler walking device 4 includes a bracket 11 arranged at the bottom of the body 5, the bracket 11 is a hollow rectangular parallelepiped, and one side surface and one top surface are both open surfaces; a leg joint hydraulic motor 13 is fixed on the outer wall of the bracket 11, and the leg joint hydraulic motor 13 is fixed to the bracket 11 by a bolt a12, and the output shaft of the leg joint hydraulic motor 13 extends into the bracket 11, and the extended end is sleeved with a leg driving gear 16;

[0022] like Figure 3 As shown, an inverted L-shaped support plate 25 is also fixed on the outer wall of the bracket 11, and the support plate 25 is located at the lower part of the leg joint hydraulic motor 13. The leg joint shaft 14 is horizontally fixed on the support plate 25, and one end of the leg joint shaft 14 extends out of the support plate 25, and the other end of the leg joint shaft 14 extends out of the inner wall of the bracket 11, and the two extended ends are connected to the rotating arms 10 through keys, and the two rotating arms 10 are parallel to each other. The leg joint shaft 14 is also connected to the leg passive gear 17 through a key, and the leg passive gear 17 is meshed with the leg active gear 16;

[0023] like Figure 4 and Figure 5As shown, it also includes a track wheel joint 8, which includes a bracket plate 21 with a right-angled triangle cross section, a track 22 surrounding the outside of the bracket plate 21, and the end of the swing arm 10 is connected through a horizontally arranged track wheel joint shaft 6, and the two ends of the track wheel joint shaft 6 are fixed to the swing arm 10 by bolts; the middle of the track wheel joint shaft 6 passes through the bracket plate 21, and the track wheel joint hydraulic motor 18 and the hydraulic motor 15 are respectively fixed on the side wall of the bracket plate 21 by bolts b26 and bolts c27, the output shaft of the track wheel joint hydraulic motor 18 extends out of the side wall of the bracket plate 21, and the extended end is connected to the track wheel joint driving gear 23, the track wheel joint shaft 6 is connected to the track wheel joint passive gear 9 by a key, and the track wheel joint driving gear 23 and the track wheel joint passive gear 9 are meshed with each other;

[0024] The output shaft of the hydraulic motor 15 extends out of a side wall of the bracket plate 21, and the extended end is connected to a driving wheel 24, which is engaged with the crawler track 22 to transmit power, and the driving wheel 24 is located at a right angle to the bracket plate 21;

[0025] The other two corners of the bracket plate 21 are horizontally fixed with support axles 19, both ends of the support axle 19 extend out of the bracket plate 21, and the extended ends are fixed with support wheels 20; the ends of the support axle 19 are fixed with a clamping sleeve through a pin, and the support wheel 20 is fixed on the support axle 19 through the clamping sleeve;

[0026] A wheel carrier shell 7 is further arranged between the two rotating arms 10 , and the wheel carrier shell 7 is welded to the rotating arms 10 .

[0027] The present invention provides a leg-type and crawler-type composite mobile mechanism for dredging equipment, and its specific working principle is:

[0028] The leg-type crawler walking device of the present invention is connected to an amphibious dredging machine, and mainly has three working modes: a four-leg walking mode, a crawler walking mode and a transport / navigation mode.

[0029] In the four-legged walking mode, its four independently operated walking devices need to move in sequence to complete walking. For example, to perform forward walking movement, first lift the walking device located in front of the body 5, and then the other three walking devices push the equipment forward a certain distance through the movement of the track wheel joint 8, and then drop the first walking device to support the ground, and then lift the remaining walking devices and move forward in sequence to complete the forward displacement of a workstation.

[0030] The lifting and lowering of the walking device is completed by the leg joint hydraulic motor 13 installed on the excavator. The leg joint hydraulic motor 13 drives the swing arm 10 to enable it to be lifted and lowered. The swing arm 10 and the track wheel joint 8 rise and fall at the same time. After the front leg completes the lifting task, the track wheel joints 8 of the remaining three legs begin to rotate, and the effect on the equipment is the forward movement of the equipment. Then, the remaining three legs are lifted in turn, and the position of the track wheel joint 8 is reset. The legs are lowered by the leg joint hydraulic motor 13, and the above actions are repeated in sequence to continuously complete the forward movement of the machine body.

[0031] In walking mode, the smallest acute angle of the track is in contact with the ground, and the other two sides leave the ground to form a standing posture. When the machine needs to walk forward or backward, it first lifts one of the four legs, and then the other three legs push the machine forward for a distance, and then put down the lifted leg to complete the forward movement.

[0032] In the walking mode, the action process of the track wheel rising and falling is as follows: the leg joint hydraulic motor 13 drives the leg driving gear 16, the leg driving gear 16 drives the leg passive gear 17 to rotate through tooth meshing, the leg passive gear 17 drives the leg joint shaft 14 to move through the key, the leg joint shaft 14 drives the swing arm 10 to rotate around the axis through the key, and the other end of the swing arm 10 is connected to the track wheel joint shaft 6, so that when the swing arm 10 is driven to rotate clockwise or counterclockwise around the leg joint shaft 14, it will lead the track wheel to rise and fall.

[0033] In the walking mode, the action process of the outrigger pushing the machine forward is as follows: the track wheel joint hydraulic motor 18 drives the track wheel joint driving gear 23 to rotate, the track wheel joint driving gear 23 drives the track wheel joint passive gear 9 to rotate through tooth meshing, the track wheel joint passive gear 9 drives the track wheel joint shaft 6 to rotate through the key, the track wheel joint shaft 6 and the swing arm 10 transmit force and motion through the key, the swing arm 10 connects the outrigger joint shaft 14, the outrigger joint shaft 14 transmits force and motion to the machine body 5 through the bracket 11, and the forward motion of the machine body is completed through the synchronous cooperation of the three outriggers. After that, the outriggers are lifted up in turn, and the remaining three outriggers push the machine body forward, thereby completing the continuous forward motion of the machine body.

[0034] The present invention can also use crawler tracks for walking. In this case, the hydraulic motors 13 of the leg joints and the hydraulic motors 18 of the crawler wheel joints of the four legs are adjusted simultaneously to control the engagement of the crawler wheels with the ground and adjust the height and level of the equipment itself to ensure the safety and passability of the equipment. Then the hydraulic motor 15 drives the driving wheel 24 to rotate, and the driving wheel 24 drives the crawler track 22 to rotate, and the crawler track 22 uses the friction between the crawler track and the ground to complete the walking.

[0035] In the crawler walking mode, the long side of the track wheel is in contact with the ground, and the movement process is as follows: the hydraulic motor 25 drives the driving wheel 24 to rotate, and the driving wheel 24 drives the track 22 to rotate by meshing, and the track 22 uses the friction between the track 22 and the ground to complete the forward or backward movement. In this process, the support wheel 20 plays a role in spreading the track 22, and transmits the force and movement of the track 22 during the forward and backward movement to the bracket plate 21 through the support wheel shaft 19. The bracket plate 21 transmits the movement to the swing arm 10 through the track wheel joint shaft 6 installed thereon, and the swing arm 10 transmits the movement to the bracket 11 through the leg joint shaft 14. The bracket 11 is connected to the body 5, thereby finally transmitting the movement to the body, driving the body to complete the forward and backward movements.

Claims

1. A leg-type and crawler-type composite mobile mechanism for dredging equipment, characterized in that: It includes four independent walking devices, each walking device includes a bracket arranged at the bottom of the machine body, a leg joint hydraulic motor is fixed on the outer wall of the bracket, and the output shaft sleeve of the leg joint hydraulic motor is provided with a leg driving gear; a support plate is also fixed on the outer wall of the bracket, a leg joint shaft is horizontally fixed on the support plate, both ends of the leg joint shaft are connected with a swing arm, the end of the swing arm is connected through a horizontally arranged track wheel joint shaft, the leg joint shaft is connected with a leg passive gear, and the leg passive gear is meshed with the leg driving gear; it also includes a track wheel joint, the track wheel The joint includes a bracket plate with a right-angled triangle cross section, a track is surrounded on the outside of the bracket plate, the middle of the track wheel joint shaft passes through the bracket plate, and the track wheel joint shaft is connected to the track wheel joint passive gear; the track wheel joint hydraulic motor and the hydraulic motor are fixed to the side wall of the bracket plate, the output shaft of the track wheel joint hydraulic motor extends out of the bracket plate and the extended end is connected to the track wheel joint driving gear, and the track wheel joint driving gear is meshed with the track wheel joint passive gear; the output shaft of the hydraulic motor extends out of the bracket plate and the extended end is connected to the driving wheel, the driving wheel is meshed with the track, and the driving wheel is meshed with the track The driving wheel is located at a right angle to the bracket plate; support wheel shafts are horizontally fixed on the other two corners of the bracket plate, both ends of the support wheel shaft extend out of the bracket plate and support wheels are fixed to the extended ends; a sleeve is fixed to the end of the support wheel shaft through a pin, and the support wheel is fixed to the support wheel shaft through a sleeve; the mobile mechanism is connected to the amphibious dredging machine and has three working modes: four-leg walking mode, crawler walking mode and transportation / navigation mode; in the four-leg walking mode, the four walking devices need to move in sequence to complete walking, and when moving forward, the walking device located in front of the machine body is first lifted. The first walking device is placed on the chassis, and the other three walking devices propel the equipment forward a certain distance through the movement of the track wheel joints, and then the first walking device is dropped to support the ground, and then the other walking devices are lifted up and moved forward in turn to complete the forward displacement of a workstation; in the walking mode, the smallest acute angle end of the track is in contact with the ground, and the two sides adjacent to the smallest acute angle leave the ground and stand in a standing posture; when the machine body needs to move forward or backward, one of the four legs must be lifted up first, and then the other three legs push the machine body forward for a distance, and then the lifted leg is lowered to complete the forward movement.

2. The leg-type and crawler-type composite mobile mechanism for dredging equipment according to claim 1, characterized in that: The leg joint hydraulic motor is fixed on the bracket by bolts a.

3. The leg-type and crawler-type composite mobile mechanism for dredging equipment according to claim 1, characterized in that: The two ends of the track wheel joint shaft are fixed on the rotating arm through bolts.

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