A wheel-leg composite articulated mountain excavator

Abstract

The present invention discloses a wheel-leg composite articulated mountain excavator, which belongs to the technical field of engineering equipment, and comprises a control and power cabin, a turntable, an articulated chassis, a wheel-leg composite walking device and an operating device. The control and power cabin is installed on the turntable on the top of the articulated chassis; the articulated chassis is the core carrier, which can realize the steering function of the whole machine; the wheel-leg composite walking device is installed at the four corners of the articulated chassis, and is used for supporting and walking the whole machine. The present invention adopts a series design of two sets of walking systems, wheel type and leg-foot type, to realize multiple walking modes. Through the cooperation of the articulated chassis and the wheel-leg walking device, the vehicle posture can be adjusted during the process of excavation and crossing obstacles, the stability of the whole machine can be maintained, and the operation safety can be improved, so that the whole machine has both high traffic capacity and high reliability, and is more suitable for excavation operations under complex conditions such as mountains.

Description

Technical Field

[0001] The invention relates to the technical field of engineering equipment, and in particular to a wheel-leg composite articulated mountain excavator. Background Art

[0002] Excavators are widely used in mining, agriculture, construction, military and rescue fields, and mainly rely on certain ground conditions for mobile operations. Excavators can be wheeled, crawler or wheel-crawler combined. Although wheeled, crawler or wheel-crawler combined excavators have certain off-road capabilities, they still find it difficult to reach the work site smoothly when encountering harsh terrain such as high mountains and jungles, landslides, mud and water. Although crawler combined excavators (also known as spider excavators) can overcome some rugged roads, how to reduce the risk of excavation operations in complex environments and improve the safety and stability margin of the machine body remains a core issue. Summary of the invention

[0003] In response to the above problems, the present invention discloses a wheel-leg composite articulated mountain excavator, which has multiple walking modes and a body stability adjustment mechanism, has high traffic capacity and operating safety, and can achieve wheeled walking or leg-foot walking, as well as leg-foot supporting operations through the adjustment of different postures, and can be expanded to other models.

[0004] The technical solution of the present invention is as follows:

[0005] A wheel-leg composite articulated mountain excavator comprises an articulated chassis, a control and power cabin, a turntable and an operating device, wherein the control and power cabin are mounted on the articulated chassis via a turntable, and further comprises a wheel-leg composite walking device;

[0006] The wheel-leg composite walking device is distributed at the four corners of the articulated chassis, and the wheel-leg composite walking device is mainly composed of a walking device swing cylinder, a base joint, a transmission system, a thigh swing cylinder, a thigh rod, a shank rod, a shank swing cylinder, a wheel swing cylinder, a swing arm and a wheel;

[0007] One end of the swing cylinder of the walking device is connected to the articulated chassis, and the other end is connected to the base segment;

[0008] The base section is pivotally connected to the articulated chassis;

[0009] One end of the thigh swing cylinder is hinged to the base joint, and the other end is hinged to the thigh rod;

[0010] One end of the calf swing cylinder is hinged to the thigh rod, and the other end is hinged to the calf rod;

[0011] One end of the thigh rod is hinged to the base of the thigh, and the other end is hinged to the shank rod;

[0012] One end of the calf rod is hinged to the thigh rod, and the other end is provided with a wheel swing cylinder, a swing arm and a wheel. One end of the wheel swing cylinder is hinged to the calf rod, and the other end is hinged to the swing arm. The other end of the swing arm is connected to the side of the wheel.

[0013] The transmission system runs through the thigh rod and the calf rod, and drives the transmission shaft at the end of the calf rod to rotate through a belt drive. A cross universal joint is sleeved on the transmission shaft at the end, and an output shaft is provided at the end of the cross universal joint, and the output shaft is connected to the rotation center of the wheel.

[0014] Furthermore: the articulated chassis includes a front frame, a rear frame, a steering drive cylinder and an articulated shaft. The front frame and the rear frame are articulated at a middle portion through the articulated shaft and are pulled and connected on both sides through the steering drive cylinder.

[0015] Further: the front frame is provided with an attachment mounting seat, a front leg swing cylinder connecting seat, a front walking device connecting seat, a steering drive cylinder front connecting seat and a front hinge shaft hole;

[0016] The attachment mounting seat is arranged on the front outer side of the front frame, and has multiple groups of mounting holes and positioning holes for connecting the working attachments;

[0017] The front leg swing cylinder connection seat is symmetrically arranged on the inner side of the front end of the front frame, connecting the left front and right front walking device swing cylinders;

[0018] The front running device connecting seat is symmetrically arranged on both sides of the middle part of the front frame, connecting the base sections of the left front and right front wheel-leg composite running devices;

[0019] The front connecting seat of the steering drive cylinder is symmetrically arranged on both sides of the end of the front frame and connected to the steering drive cylinder;

[0020] The front articulated shaft hole is arranged at the end of the front frame, and the articulated shaft is installed.

[0021] Further: the rear frame is provided with a rear walking device connection seat, a rear leg swing cylinder connection seat, a turntable connection seat, a rear hinge shaft hole, a folding arm connection seat and a steering drive cylinder rear connection seat;

[0022] The rear walking device connecting seat is symmetrically arranged on both sides of the end of the rear frame, connecting the base sections of the left rear and right rear wheel-leg composite walking devices;

[0023] The rear leg swing cylinder connection base is symmetrically arranged on the left and right sides of the rear frame, connecting the left rear and right rear walking device swing cylinders;

[0024] The turntable connecting seat is arranged at the top end of the rear frame, and the turntable is installed;

[0025] The rear hinge shaft hole is arranged at the front end of the rear frame, and the hinge shaft is installed to connect with the front frame;

[0026] The folding arm connecting seat is arranged at the end of the rear frame and is used to install the folding arm;

[0027] The rear connecting seat of the steering drive cylinder is arranged inside the left and right sides of the rear frame and is connected to the steering drive cylinder.

[0028] Further: the transmission system comprises a motor arranged on the side of the base segment of the wheel-leg composite walking device, a driving gear is installed on the output shaft of the motor through a key connection, and the driving gear is externally meshed with the driven gear;

[0029] The driven gear is mounted on the transmission shaft 1 through a key connection, and the transmission shaft 1 is also mounted with a pulley 1 through a key connection;

[0030] The primary transmission belt is wound between the first pulley and the second pulley, the second pulley is mounted on the second transmission shaft through a key connection, and the third pulley is also mounted on the second transmission shaft through a key connection;

[0031] The secondary transmission belt is wound between the pulley three and the pulley four, and the pulley four is installed on the transmission shaft three through a key connection. The transmission shaft three is arranged at the end of the calf rod, and a cross universal joint is also sleeved on the transmission shaft three.

[0032] Furthermore: the transmission shaft 1 simultaneously serves as the hinge axis of the thigh rod and the base of the thigh; the transmission shaft 2 simultaneously serves as the hinge axis of the thigh rod and the shank rod.

[0033] Furthermore: the thigh rod and the calf rod are both hollow structures, and the transmission system is arranged in the hollow structure.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The wheel-leg composite articulated mountain excavator proposed in the present invention adopts a series design of a wheel-type walking system and a leg-foot walking system, and sets the wheel drive motor close to the machine body, and transmits power to the wheel through a lightweight transmission method, thereby reducing the rotational inertia of the leg;

[0036] 2. The wheel-leg composite articulated mountain excavator proposed in the present invention has multiple walking modes, wheel-type or leg-foot-type. It can use wheel-type to quickly maneuver on paved roads, and use leg-foot-type to walk across obstacles on complex terrains. When walking on soft roads, the wheels are turned over to make the side of the wheels touch the ground, thereby increasing the contact area and reducing the ground contact pressure, so that the whole machine has higher passability;

[0037] 3. The wheel-leg composite articulated mountain excavator proposed by the present invention is provided with a sway articulated mechanism, which can make the turning radius of the whole machine smaller when the wheel is driving and realize on-site turning in walking mode. It is more suitable for right-angle bends, S-bends and mountainous areas with dense forests, so that the whole machine has a higher obstacle avoidance ability;

[0038] 4. The wheel-leg composite articulated mountain excavator proposed by the present invention can adjust the vehicle posture during excavation, transportation and crossing large obstacles through the cooperation between the articulated mechanism and the leg feet, so as to keep the center of mass of the whole machine always within a stable range and improve the safety of operation;

[0039] 5. The wheel-leg composite articulated mountain excavator proposed in the present invention has functional expandability, and can realize functions such as shoveling and lifting by adding different actuators. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of the wheel-leg composite articulated mountain excavator of the present invention;

[0041] Figure 2 It is an exploded view of the articulated chassis structure of the wheel-leg composite articulated mountain excavator of the present invention;

[0042] Figure 3 It is a side view of the front frame in the articulated chassis of the wheel-leg composite articulated mountain excavator of the present invention;

[0043] Figure 4 yes Figure 2 A perspective enlarged view of the rear frame of the mid-articulated chassis at point A;

[0044] Figure 5 It is a schematic structural diagram of the wheel-leg composite walking device of the wheel-leg composite articulated mountain excavator of the present invention;

[0045] Figure 6 It is a schematic diagram of the transmission system structure of the wheel-leg composite walking device of the present invention;

[0046] Figure 7 It is a schematic diagram of the wheeled driving posture of the wheel-leg composite articulated mountain excavator of the present invention;

[0047] Figure 8 It is a schematic diagram of the walking posture of the leg and foot of the wheel-leg composite articulated mountain excavator of the present invention;

[0048] Fig. 9 It is a schematic diagram of the leg foot supporting posture of the wheel-leg composite articulated mountain excavator of the present invention;

[0049] Fig.10 It is a schematic diagram of adjusting the working posture of the wheel-leg composite articulated mountain excavator of the present invention;

[0050] Fig.11 It is a schematic diagram of the posture adjustment of the wheel-leg composite articulated mountain excavator of the present invention to increase the working stability margin;

[0051] Fig.12It is a schematic diagram of the state of the wheel-leg composite articulated mountain excavator of the present invention when the bucket is installed.

[0052] In the figure:

[0053] 1- Excavation arm; 2- Control and power cabin; 3- Turntable; 4- Folding arm;

[0054] 5-articulated chassis; 51-front frame; 511-accessory mounting seat; 512-front leg swing cylinder connection seat; 513-front walking device connection seat; 514-steering drive cylinder front connection seat; 515-front articulated shaft hole; 52-steering drive cylinder; 53-rear frame; 531-rear walking device connection seat; 532-rear leg swing cylinder connection seat; 533-turntable connection seat; 534-rear articulated shaft hole; 535-folding arm connection seat; 536-steering drive cylinder rear connection seat; 54-articulated shaft;

[0055] 6-Bulldozer;

[0056] 7-wheel-leg composite walking device; 70-walking device swing cylinder; 71-base; 72-transmission system; 73-thigh swing cylinder; 74-thigh rod; 75-calf rod; 76-calf swing cylinder; 77-wheel swing cylinder; 78-swing arm; 79-wheel;

[0057] 7201-motor; 7202-driving gear; 7203-driven gear; 7204-transmission shaft one; 7205-pulley one; 7206-primary transmission belt; 7207-pulley two; 7208-transmission shaft two; 7209-pulley three; 7210-secondary transmission belt; 7211-transmission shaft three; 7212-pulley four; 7213-cross universal joint; 7214-output shaft. DETAILED DESCRIPTION

[0058] To further illustrate the technical solution of the present invention, the specific implementation of the present invention is described as follows in conjunction with the accompanying drawings:

[0059] like Figure 1 As shown, the wheel-leg compound articulated mountain excavator of the present invention mainly comprises the following parts: an excavating arm 1, a control and power cabin 2, a turntable 3, a folding arm 4, an articulated chassis 5, a bulldozer 6 and a wheel-leg compound walking device 7. The excavating arm 1, the folding arm 4 and the bulldozer 6 are conventional working devices, and other devices can also be replaced.

[0060] The excavating arm 1 and the control and power cabin 2 are installed on a turntable 3, and the turntable 3 is rotatably installed on the top of the articulated chassis 5. The excavating arm 1 and the control and power cabin 2 can realize 360° rotation and all-round operation.

[0061] The folding arm 4 is an operating device, which is arranged at the end of the articulated chassis 5 and is mainly responsible for hoisting operations.

[0062] The articulated chassis 5 is a core carrier that can be used to install other devices and realize the steering function of the entire machine.

[0063] The bulldozer 6 is arranged at the front end of the articulated chassis 5 and is mainly responsible for bulldozing operations.

[0064] There are four groups of wheel-leg composite walking devices 7, which are respectively installed at the left front, right front, left rear and right rear corners of the articulated chassis 5, for supporting the machine body and having multi-mode walking capability.

[0065] The control center of the excavating arm 1, the turntable 3, the folding arm 4, the articulated chassis 5, the bulldozer 6 and the wheel-leg composite walking device 7 is in the control and power cabin 2.

[0066] The present invention focuses on the structures of the articulated chassis 5 and the wheel-leg composite walking device 7, and these two parts are introduced in detail below.

[0067] 1. Articulated chassis

[0068] like Figure 2 to Figure 4 As shown, the articulated chassis 5 is mainly composed of a front frame 51 , a steering drive cylinder 52 , a rear frame 53 and an articulated shaft 54 ​​.

[0069] The front frame 51 is provided with an attachment mounting seat 511 , a front leg swing cylinder connecting seat 512 , a front walking device connecting seat 513 , a steering drive cylinder front connecting seat 514 and a front articulated shaft hole 515 .

[0070] The attachment mounting seat 511 is arranged at the front outer side of the front frame 51 and has a plurality of mounting holes and positioning holes for mounting and fixing the bulldozer 6 and expansion attachments.

[0071] The front leg swing cylinder connection seat 512 is symmetrically arranged on the inner side of the front end of the front frame 51 and is used for installing the left front and right front walking device swing cylinders 70.

[0072] The front running device connecting seat 513 is symmetrically arranged on both sides of the middle part of the front frame 51, and is used for connecting the base segments 71 of the left front and right front running devices, thereby realizing the connection of the wheel-leg composite running device 7.

[0073] The steering drive cylinder front connecting seat 514 is symmetrically arranged on both sides of the end of the front frame 51 and is used for connecting the steering drive cylinder 52 and the front frame 51.

[0074] The front articulated shaft hole 515 is provided at the end of the front frame 51 for installing the articulated shaft 54 ​​, and the front frame 51 is connected to the rear frame 53 via the articulated shaft 54 ​​.

[0075] The steering drive cylinder 52 is symmetrically installed on the left and right sides between the front frame 51 and the rear frame 53. One end of the steering drive cylinder 52 is pivotally connected to the steering drive cylinder front connection seat 514 of the front frame 51, and the other end is pivotally connected to the steering drive cylinder rear connection seat 536 of the rear frame 53. The steering drive cylinder 52 is used to drive the front and rear frames to sway and rotate relative to each other to achieve the steering of the whole machine.

[0076] The rear frame 53 is provided with a rear walking device connecting seat 531, a rear leg swing cylinder connecting seat 532, a turntable connecting seat 533, a rear hinge shaft hole 534, a folding arm connecting seat 535 and a steering drive cylinder rear connecting seat 536.

[0077] The rear running device connecting seats 531 are symmetrically arranged on both sides of the end of the rear frame 53, and are used for installing the base sections 71 of the left rear and right rear running devices.

[0078] The rear leg swing cylinder connection seat 532 is symmetrically arranged on the left and right sides of the rear frame 53 for installing the left rear and right rear walking device swing cylinders 70.

[0079] The turntable connecting seat 533 is arranged at the top end of the rear frame 53 for installing the turntable 3 .

[0080] The rear hinge shaft hole 534 is arranged at the front end of the rear frame 53 for installing the hinge shaft 54 ​​to achieve connection with the front frame 51 .

[0081] The folding arm connecting seat 535 is arranged at the end of the rear frame 53 for installing the folding arm 4 .

[0082] The steering drive cylinder rear connecting seat 536 is arranged inside the left and right sides of the rear frame 53 and is used for connecting the steering drive cylinder 52 and the rear frame 53.

[0083] The articulated shaft 54 ​​cooperates with the front articulated shaft hole 515 and the rear articulated shaft hole 534 at the same time. The articulated shaft 54 ​​is hinged at the middle part of the front frame 51 and the rear frame 53 to realize the connection between the front frame 51 and the rear frame 53. The steering drive cylinder 52 is pulled and connected on both sides of the front frame 51 and the rear frame 53 to realize the articulated steering of the whole machine.

[0084] 2. Wheel-leg composite walking device

[0085] The wheel-leg compound walking device 7 is distributed at the four corners of the left front, right front, left rear and right rear of the articulated chassis 5, and is used for the whole machine to travel and support. The connection form of the four sets of wheel-leg compound walking devices 7 and the articulated chassis 5 is basically the same. Only one set is taken as an example below.

[0086] like Figure 5As shown, the wheel-leg composite walking device 7 is mainly composed of a walking device swing cylinder 70, a base joint 71, a transmission system 72, a thigh swing cylinder 73, a thigh rod 74, a calf rod 75, a calf swing cylinder 76, a wheel swing cylinder 77, a swing arm 78 and a wheel 79.

[0087] One end of the walking device swing cylinder 70 is connected to the corresponding swing cylinder connecting seat, and the other end is connected to one side of the base segment 71, which can realize the swing of the wheel-leg composite walking device 7.

[0088] The base section 71 is pivotally connected to the corresponding running device connecting seat via a rotating shaft, thereby realizing the connection between the wheel-leg composite running device 7 and the articulated chassis 5 .

[0089] The transmission system 72 can transmit power to the wheels 79, thereby realizing wheeled travel of the whole machine. The structure of the transmission system 72 is described in detail below.

[0090] One end of the thigh swing cylinder 73 is hinged to the base section 71 , and the other end is hinged to the thigh rod 74 , so that the thigh rod 74 can be swung.

[0091] One end of the thigh rod 74 is hinged to the base 71, and the other end is hinged to the shank rod 75, which can support and protect the transmission system 72 and has a certain load-bearing capacity. Further, the thigh rod 74 is a hollow structure for installing the transmission system 72.

[0092] One end of the calf rod 75 is hinged to the thigh rod 74, and the other end is provided with a wheel swing cylinder 77, a swing arm 78 and a wheel 79, which can support and protect the transmission system 72 and has a certain load-bearing capacity, and a wheel swing limiter is provided at the end of the calf rod 75. Further, the calf rod 75 is also a hollow structure for installing the transmission system 72.

[0093] One end of the calf swing cylinder 76 is hinged to the thigh rod 74 , and the other end is hinged to the calf rod 75 , so that the calf rod 75 can be swung.

[0094] The wheel swing cylinder 77 is symmetrically arranged on both sides of the calf rod 75, one end of which is hinged to the calf rod 75, and the other end of which is hinged to the swing arm 78. Through its own extension and retraction, it can drive the swing arm 78 to swing, thereby realizing the swing of the wheel 79.

[0095] The swing arm 78 is used to connect the wheel swing cylinder 77 and the wheel 79. The swing arm 78 is connected to the side of the wheel and can convert the telescopic action of the wheel swing cylinder 77 into the swing of the wheel 79, thereby realizing the conversion of the driving condition and the supporting working condition of the whole machine.

[0096] The wheel 79 serves as the terminal of the transmission system 72 and includes a braking device, which can realize the driving and supporting functions.

[0097] In particular, the transmission system 72 runs through the wheel-leg composite walking device 7 .

[0098] like Figure 6 As shown, the transmission system 72 is mainly composed of a motor 7201, a driving gear 7202, a driven gear 7203, a transmission shaft 1 7204, a pulley 1 7205, a primary transmission belt 7206, a pulley 2 7207, a transmission shaft 2 7208, a pulley 3 7209, a secondary transmission belt 7210, a transmission shaft 3 7211, a pulley 4 7212, a cross universal joint 7213 and an output shaft 7214.

[0099] The motor 7201 is arranged on the side of the base segment 71 of the wheel-leg composite walking device 7 to provide a power source for the wheel 79.

[0100] The driving gear 7202 is installed on the output shaft of the motor 7201 through a key connection and is externally meshed with the driven gear 7203 , so as to transmit the power output by the motor 7201 to the driven gear 7203 .

[0101] The driven gear 7203 is installed on the transmission shaft 1 7204 through a key connection. The power of the driven gear 7203 can be transmitted to the transmission shaft 1 7204 to realize the rotation of the transmission shaft 1 7204.

[0102] The transmission shaft 1 7204 is provided with a driven gear 7203 and a pulley 1 7205, and the power of the transmission shaft 1 7204 can be transmitted to the pulley 1 7205 to realize the rotation of the pulley 1 7205. The transmission shaft 1 7204 and the thigh rod 74 and the base section 71 are supported by bearings, and the transmission shaft 1 7204 also serves as the hinge axis of the thigh rod 74 and the base section 71.

[0103] Pulley 1 7205 is installed on transmission shaft 1 7204 through a key connection. The power of pulley 1 7205 can be transmitted to primary transmission belt 7206 to realize the movement of primary transmission belt 7206.

[0104] One end of the primary transmission belt 7206 is arranged on the first pulley 7205, and the other end is arranged on the second pulley 7207, so as to realize the conversion of the power of the primary transmission belt 7206 into the rotation of the second pulley 7207.

[0105] The second pulley 7207 is installed on the second transmission shaft 7208 through a key connection. The power of the second pulley 7207 can be transmitted to the second transmission shaft 7208 to realize the rotation of the second transmission shaft 7208.

[0106] The driven gear 7203, pulley one 7205, primary transmission belt 7206 and pulley two 7207 are arranged in the middle of the thigh rod 74.

[0107] The second transmission shaft 7208 is provided with a second pulley 7207 and a third pulley 7209, and the power of the second transmission shaft 7208 can be transmitted to the third pulley 7209 to realize the rotation of the third pulley 7209. The second transmission shaft 7208 and the thigh rod 74 and the calf rod 75 are supported by bearings, and the second transmission shaft 7208 also serves as the hinge axis of the thigh rod 74 and the calf rod 75.

[0108] Pulley three 7209 is installed on transmission shaft two 7208 through a key connection. The power of pulley three 7209 can be transmitted to the secondary transmission belt 7210 to realize the movement of the secondary transmission belt 7210.

[0109] One end of the secondary transmission belt 7210 is arranged on the pulley three 7209, and the other end is arranged on the pulley four 7212, so as to realize the conversion of the power of the secondary transmission belt 7210 into the rotation of the pulley four 7212.

[0110] Pulley four 7212 is installed on transmission shaft three 7211 through a key connection. The power of pulley four 7212 can be transmitted to transmission shaft three 7211 to realize the rotation of transmission shaft three 7211.

[0111] The transmission shaft three 7211 is arranged on one end of the calf rod 75 close to the wheel 79. The transmission shaft three 7211 is provided with a pulley four 7212 and a cross universal joint 7213. The power of the transmission shaft three 7211 can be transmitted to the cross universal joint 7213 to realize the rotation of the cross universal joint 7213.

[0112] One end of the cross universal joint 7213 is mounted on the transmission shaft 3 7211, and the other end is provided with an output shaft 7214, which can realize multi-angle power transmission.

[0113] One end of the output shaft 7214 is arranged at the end of the cross universal joint 7213, and the other end is arranged at the rotation center of the wheel 79, which can transmit the power in the transmission system 72 to the wheel 79.

[0114] The loader of the present invention can realize the transformation and adjustment of different postures. The following is an introduction to the various postures of the whole machine.

[0115] 1. Wheel driving posture

[0116] like Figure 7As shown, when the whole machine is wheeled, by adjusting the swing cylinder 70 of the walking device, the two groups of wheel-leg composite walking devices 7 on the front side and the two groups of wheel-leg composite walking devices 7 on the rear side are kept parallel respectively; by adjusting the thigh swing cylinder 73 and the calf swing cylinder 76, the thigh rod 74 and the calf rod 75 are flexed and extended to a certain extent, so that the whole machine has a certain height and the wheel 79 touches the ground; by adjusting the wheel swing cylinder 77, the swing arm 78 is swung, so that the tread of the wheel 79 touches the ground; the transmission system is driven by the motor 7201 to rotate the wheel 79; in this case, the whole machine can be wheeled. When the two steering drive cylinders 52 do not drive the front frame 51 to deflect, the whole machine travels in a straight line. When the two steering drive cylinders 52 drive the front frame 51 to deflect, the wheeled driving steering is realized.

[0117] 2. Leg and foot walking posture

[0118] like Figure 8 As shown, when the whole machine encounters a step obstacle or a trench during wheeled driving, it can be converted to leg-foot walking. By adjusting the wheel swing cylinder 77, the swing arm 78 swings, so that the wheel 79 touches the ground; by adjusting the thigh swing cylinder 73 and the calf swing cylinder 76, the thigh rod 74 and the calf rod 75 swing, so that the wheel 79 can be lifted to contact the upper surface of the step or cross the trench obstacle. Through the coordinated action of the walking device swing cylinder 70 and the articulated mechanism, each wheel-leg composite walking device 7 can cross the obstacle in turn, and the whole machine can continue to travel.

[0119] 3. Support status and posture adjustment during operation

[0120] like Fig. 9 As shown, when the whole machine is in support operation, by adjusting the walking device swing cylinder 70, the two groups of wheel-leg composite walking devices 7 on the front side and the two groups of wheel-leg composite walking devices 7 on the rear side are kept parallel or extended to the left and right sides of the whole machine respectively to ensure the stability of the support; by adjusting the thigh swing cylinder 73 and the calf swing cylinder 76, the thigh rod 74 and the calf rod 75 are flexed and extended to a certain extent, so that the whole machine has a certain height; by adjusting the wheel swing cylinder 77, the swing arm 78 is swung, so that the wheel 79 touches the ground sideways, and the wheel provides support to the whole machine with a small ground pressure. Among them, different support postures can be achieved by adjusting the walking device swing cylinder 70, the thigh swing cylinder 73, and the calf swing cylinder 76, so as to adapt to different working environments. During the support operation, the transmission system does not work and the wheel 79 is locked and does not rotate.

[0121] like Fig.10 and Fig.11As shown, the whole machine performs excavation operations in a supported posture. As mentioned above, different support postures of the wheel legs are achieved by adjusting the walking device swing cylinder 70, the thigh swing cylinder 73, the calf swing cylinder 76 and the articulated mechanism. When performing lateral excavation operations, the vehicle posture can be adjusted without changing the footing point through the cooperation between the articulated mechanism and the wheel-leg composite walking device 7. The articulated chassis 5 is deflected to the working side to adjust the center of mass position of the whole machine, keeping the center of mass position of the whole machine always within the support polygon surrounded by the footing point, and at the same time keeping the center of mass position away from the edge of the support polygon, thereby reducing the risk of rollover and improving the safety and stability margin of the operation.

[0122] 4. Functional expansion

[0123] This machine has functional expandability and can realize different functions by adding different actuators. Fig.12 During shoveling operation, the bulldozer 6 is replaced with a bucket attachment.

Claims

1. A wheel-leg composite articulated mountain excavator, comprising an articulated chassis, a control and power cabin, a turntable and an operating device, wherein the control and power cabin are mounted on the articulated chassis via a turntable, and characterized in that: It also includes a wheel-leg composite walking device; The wheel-leg compound walking device is distributed at the four corners of the articulated chassis, and the wheel-leg compound walking device includes a walking device swing cylinder, a base segment, a transmission system, a thigh swing cylinder, a thigh rod, a shank rod, a shank swing cylinder, a wheel swing cylinder, a swing arm and a wheel; One end of the swing cylinder of the walking device is connected to the articulated chassis, and the other end is connected to the base segment; The base section is pivotally connected to the articulated chassis; One end of the thigh swing cylinder is hinged to the base joint, and the other end is hinged to the thigh rod; One end of the calf swing cylinder is hinged to the thigh rod, and the other end is hinged to the calf rod; One end of the thigh rod is hinged to the base of the thigh, and the other end is hinged to the shank rod; One end of the calf rod is hinged to the thigh rod, and the other end is provided with a wheel swing cylinder, a swing arm and a wheel. One end of the wheel swing cylinder is hinged to the calf rod, and the other end is hinged to the swing arm. The other end of the swing arm is connected to the side of the wheel. The transmission system runs through the thigh rod and the shank rod, and drives the transmission shaft at the end of the shank rod to rotate by belt transmission. A cross universal joint is sleeved on the transmission shaft at the end, and an output shaft is arranged at the end of the cross universal joint, and the output shaft is connected to the rotation center of the wheel; The transmission system comprises a motor arranged on the side of the base segment of the wheel-leg composite walking device, a driving gear is installed on the output shaft of the motor through a key connection, and the driving gear is externally meshed with the driven gear; The driven gear is mounted on the transmission shaft 1 through a key connection, and the transmission shaft 1 is also mounted with a pulley 1 through a key connection; The primary transmission belt is wound between the first pulley and the second pulley, the second pulley is mounted on the second transmission shaft through a key connection, and the third pulley is also mounted on the second transmission shaft through a key connection; The secondary transmission belt is wound between the pulley 3 and the pulley 4, the pulley 4 is installed on the transmission shaft 3 through a key connection, the transmission shaft 3 is arranged at the end of the calf rod, and a cross universal joint is sleeved on the transmission shaft 3; The transmission shaft 1 is used as the hinge shaft of the thigh rod and the base joint at the same time, and the transmission shaft 2 is used as the hinge shaft of the thigh rod and the shank rod at the same time.

2. The wheel-leg compound articulated mountain excavator according to claim 1, characterized in that: The articulated chassis comprises a front frame, a rear frame, a steering drive cylinder and an articulated shaft. The front frame and the rear frame are articulated at a middle position through the articulated shaft and are pulled and connected on both sides through the steering drive cylinder.

3. The wheel-leg compound articulated mountain excavator according to claim 2, characterized in that: The front frame is provided with an attachment mounting seat, a front leg swing cylinder connecting seat, a front walking device connecting seat, a steering drive cylinder front connecting seat and a front hinge shaft hole; The attachment mounting seat is arranged on the front outer side of the front frame, and has multiple groups of mounting holes and positioning holes for connecting the working attachments; The front leg swing cylinder connection seat is symmetrically arranged on the inner side of the front end of the front frame, connecting the left front and right front walking device swing cylinders; The front running device connecting seat is symmetrically arranged on both sides of the middle part of the front frame, connecting the base sections of the left front and right front wheel-leg composite running devices; The front connecting seat of the steering drive cylinder is symmetrically arranged on both sides of the end of the front frame and connected to the steering drive cylinder; The front articulated shaft hole is arranged at the end of the front frame, and the articulated shaft is installed.

4. The wheel-leg compound articulated mountain excavator according to claim 2, characterized in that: The rear frame is provided with a rear walking device connection seat, a rear leg swing cylinder connection seat, a turntable connection seat, a rear hinge shaft hole, a folding arm connection seat and a steering drive cylinder rear connection seat; The rear walking device connecting seat is symmetrically arranged on both sides of the end of the rear frame, connecting the base sections of the left rear and right rear wheel-leg composite walking devices; The rear leg swing cylinder connection base is symmetrically arranged on the left and right sides of the rear frame, connecting the left rear and right rear walking device swing cylinders; The turntable connecting seat is arranged at the top end of the rear frame, and the turntable is installed; The rear hinge shaft hole is arranged at the front end of the rear frame, and the hinge shaft is installed to connect with the front frame; The folding arm connecting seat is arranged at the end of the rear frame and is used to install the folding arm; The rear connecting seat of the steering drive cylinder is arranged inside the left and right sides of the rear frame and is connected to the steering drive cylinder.

5. The wheel-leg compound articulated mountain excavator according to claim 1, characterized in that: The thigh rod and the shank rod are both hollow structures, and the transmission system is arranged in the hollow structure.

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