A scalable, multi-functional integrated device that combines excavation and lifting.

Abstract

This invention proposes a retractable, multi-functional integrated device for excavation and lifting, which is an excavator device integrating loading, unloading, and transportation. It includes multiple hydraulic components; a mechanical arm is located at the rear of the excavator device; a bucket is located at the front of the mechanical arm, and the bucket has hooks for lifting goods; an I-beam support frame is located at the front of the excavator device, and a first hydraulic component is located at the rear of the I-beam support frame, with its front end hinged to the bottom of a forklift mast; a second hydraulic component and a cargo box are located at the forklift mast; the second hydraulic component is connected to the cargo box to drive it to move along the forklift mast, and the first hydraulic component is connected to the forklift mast to drive the cargo box to tilt; a sensor assembly is located at the excavator device; when the mechanical arm is working, the hydraulic controller, based on data from the sensor assembly, uses the second hydraulic component to drive the cargo box to move to balance the torque during the operation of the mechanical arm. This invention integrates an excavator, forklift, and truck, and can balance the forces acting on the excavator during operation through the movement of the cargo box.

Description

Technical Field

[0001] This invention relates to the field of hydraulic equipment technology, and in particular to a retractable, multifunctional integrated device that combines excavation and hoisting. Background Technology

[0002] In factories, warehouses, construction sites, and many other places, forklifts, excavators, and trucks are typically used to load, unload, and transport large quantities of goods. Traditional forklifts have a single function and cannot handle the transportation of bulk items such as sand, gravel, loose materials, and waste. Trucks are needed for transportation, but trucks alone cannot handle the loading and unloading of large goods and equipment.

[0003] However, the simultaneous presence of multiple devices in the workplace occupies too much space, which is not conducive to the operation of the devices in a limited space.

[0004] Hydraulic transmission mechanisms are small in size and can work in confined and harsh environments. However, the output of hydraulic transmission mechanisms under large loads is sometimes relatively singular, which is not conducive to precise control in confined spaces when applying large loads at low speeds. This issue needs to be addressed.

[0005] In addition, when excavators are performing digging operations on heavy objects, a stable large base is sometimes required to balance the large forces during the digging operation. However, the confined space makes it difficult to enter a large base, which also needs to be addressed.

[0006] Currently, a Chinese patent has been found: "An Adaptive Vehicle-Ground Dual-Use Vehicle Chassis Strength Testing System", publication number CN117848736A. This system includes: an actuator comprising a load-bearing device, a loading device, and a leveling device; the load-bearing device is mounted on the rear beam of the vehicle; the loading device is fixed to the load-bearing device and hinged to a locking mechanism; the loading device applies load to the locking mechanism; the leveling device is positioned between the load-bearing device and the ground; the height of the leveling device is adjustable to adjust the loading tilt angle of the loading device; a control system including a controller electrically connected to both the loading device and the leveling device; the controller controls the loading load of the loading device and also controls the height of the leveling device to adjust its loading tilt angle; and a health monitoring system for monitoring the stress and deformation of the rear beam, locking mechanism, and actuator during testing and predicting potential faults. However, this patent has poor passability and is prone to overturning when turning or driving on slopes.

[0007] Additionally, Chinese patent CN201420240655, "A Counterweight Structure for an Excavator and an Excavator Having the Same," includes a filling body, a shell, a support, and a sealing plate. The shell covers the filling body, and the shell and filling body are connected by the support. The sealing plate is located inside the shell and mounted on the support. The excavator includes an excavator platform, on which the aforementioned counterweight structure is fixed. The counterweight adopts a split structure, making each part easy to assemble and disassemble. When repairing or replacing engine parts, only the shell needs to be disassembled, facilitating excavator maintenance and reducing repair costs. The shell shape is easy to mold and can meet the appearance requirements of various machine models. However, the counterweight in this design is static and cannot be moved, resulting in poor flexibility.

[0008] To address the aforementioned problems, the present invention aims to integrate excavators, forklifts, and trucks, and improve the controllability of the hydraulic system output of the integrated equipment, proposing a retractable, multifunctional integrated device that combines excavation and lifting. Summary of the Invention

[0009] This invention proposes a retractable, multifunctional integrated device that combines excavation and lifting, integrating an excavator, forklift, and truck. It improves the controllability of the hydraulic system under high load and low speed in confined spaces, while also using the movement of the cargo box to balance the forces on the excavator during operation, reducing the requirements for the size of the base.

[0010] The present invention adopts the following technical solution.

[0011] A scalable, multi-functional integrated device that combines excavation and hoisting, serving as an excavator unit that integrates loading, unloading, and transportation, comprising multiple hydraulic components;

[0012] The excavator is equipped with a mechanical arm at the rear; a bucket (25) is provided at the front end of the mechanical arm, and a hook (26) for lifting goods is provided on the outer wall of the bucket; a horizontal I-beam support frame (A01) is provided at the front of the excavator, and a first hydraulic component is provided at the rear end of the I-beam support frame (A01), and the front end is hinged to the bottom end of the forklift mast (A02); a second hydraulic component and a cargo box (A07) are provided at the forklift mast; the second hydraulic component is connected to the cargo box (A07) to drive it to move along the forklift mast (A02), and the output end of the first hydraulic component is connected to the middle of the forklift mast, and the cargo box is driven to flip through the forklift mast;

[0013] The excavator is equipped with a sensor assembly for monitoring the position of the cargo box, the tilt angle of the forklift mast, the force on the excavator arm, the posture of the excavator arm, and the load on the cargo box.

[0014] Each hydraulic component has a built-in hydraulic booster cylinder connected to its corresponding hydraulic transformer to form an oil pressure regulating circuit for adjusting the pressure of the hydraulic booster cylinder; the oil pressure regulating circuit is connected to the hydraulic controller.

[0015] When the excavator's robotic arm is working, the forklift mast is in a horizontal position. The hydraulic controller uses the second hydraulic component to drive the cargo box to move based on the data from the sensor components. The torque of the cargo box's weight is used to balance the torque of the excavator's robotic arm during operation, thus keeping the excavator stable.

[0016] The sensor assembly is connected to the hydraulic controller; the hydraulic controller controls the output force and output duration of each hydraulic component through the oil pressure regulation circuit based on the data from the sensor assembly.

[0017] The excavator's mechanical arm is driven by its built-in independent hydraulic mechanism. The excavator's mechanical arm includes: a connected base, a boom structure and a slewing drive (01), a connected extension boom structure and a boom structure, a connected bucket and an extension boom structure, and the boom structure, extension boom structure and bucket are connected to and connected to multiple hydraulic cylinders.

[0018] The slewing drive uses a hydraulic motor to drive the excavator's mechanical arm, enabling it to rotate 360 ​​degrees during operation. A base plate (02) is provided on the output end of the slewing drive. A base side plate (03) is fixedly provided on the base plate. A boom side plate (05) of the boom structure is rotatably hinged to the upper part of the base side plate. A boom reinforcing plate (07) is provided on the upper part of the boom reinforcing plate. An outer boom plate (B14) is rotatably hinged to the upper end of the boom reinforcing plate. A first hydraulic cylinder (10) and a second hydraulic cylinder (11) are provided between the base plate and the side of the boom reinforcing plate. A third hydraulic cylinder (09) is provided between the lower side of the boom side plate and the side of the outer boom plate. A fourth hydraulic cylinder (21) is provided at the boom extension structure. The first, second, third, and fourth hydraulic cylinders drive the boom extension structure and the boom structure with hydraulic oil supplied by the hydraulic pump during excavator operation.

[0019] The boom structure and the base side plate are fixed together by bearings; the boom structure and the base plate are connected by hydraulic cylinders; specifically: the first joint bearing A (101) and the first joint bearing B (111) are fixed on the base plate, and the second joint bearing (113) is fixed on the base side plate.

[0020] The lower ends of the first hydraulic cylinder (10) and the second hydraulic cylinder (11) of the boom are fixed on the first joint bearing A and the first joint bearing B, respectively, and the upper ends are fixed on the fifth joint bearing A (102) and the fifth joint bearing B (112), respectively.

[0021] The first hydraulic cylinder and the second hydraulic cylinder drive the boom structure to rotate vertically via the first joint bearing A, the first joint bearing B, the second joint bearing, the fifth joint bearing A, and the fifth joint bearing B to perform the excavator's operation requirements.

[0022] The boom position sensor (30) of the sensor assembly is used to monitor the attitude of the boom structure, and the hydraulic controller controls the vertical rotation of the boom structure through the boom two-way valve (38).

[0023] The boom structure and the extension boom structure are connected by bearings and a third hydraulic cylinder. Specifically, the fourth joint bearing (092) is fixed on the outer boom plate (B14) of the extension boom structure, and the outer boom plate and the boom structure are rotatably hinged by the sixth joint bearing (141). The lower end of the third hydraulic cylinder is rotatably hinged on the third joint bearing (091) of the boom structure, and the upper end is rotatably hinged at the fourth joint bearing (092). The third hydraulic cylinder is the boom hydraulic cylinder, which drives the extension boom structure to float up and down through the third joint bearing, the fourth joint bearing, and the sixth joint bearing to perform the excavator's work tasks.

[0024] The extender position sensor (35) of the sensor assembly is used to monitor the attitude of the extender structure, and the hydraulic controller controls the up and down floating of the extender structure through the extender bidirectional valve (34).

[0025] The boom structure and the bucket are connected by a connecting rod, a fourth hydraulic cylinder, and bearings. Specifically, the seventh joint bearing (211) is fixed on the inner boom plate (17) of the boom structure, the eighth joint bearing (221) is fixed on the rocker arm (22) and connecting rod (23) of the boom structure, and the ninth joint bearing (241) is fixed on the connecting rod and the ear plate (24) of the bucket. The fourth hydraulic cylinder is the bucket hydraulic cylinder, and its middle part is fixed on the inner boom plate. The bucket hydraulic cylinder is driven by the seventh joint bearing, the eighth joint bearing, and the ninth joint bearing to realize the flipping of the bucket, so that it can dig and dump objects.

[0026] The bucket position sensor in the sensor assembly is used to monitor the boom posture, and the hydraulic controller controls the digging and tilting actions of the bucket through the bucket two-way valve.

[0027] The outrigger structure also includes a telescopic structure formed by connecting outer square hollow steel (B12) and inner square hollow steel (B13). The telescopic structure is driven by built-in hydraulic components to cope with scenarios where it is necessary to temporarily increase the digging or dumping distance.

[0028] The hydraulic transformer equipment includes a hydraulic transformer (5), an electromagnetic directional valve (6) for controlling the working state of the hydraulic transformer, and a hydraulic transformer distribution plate angle sensor (14); the hydraulic transformer is connected to the electromagnetic directional valve and the servo proportional valve respectively; a pressure sensor (13) is provided at the servo proportional valve of the hydraulic transformer.

[0029] The hydraulic controller includes a hydraulic transformer control component (4) connected to the hydraulic pump. The hydraulic transformer control component controls the rotation angle of the distributor plate of the hydraulic transformer to make the hydraulic transformer output the regulated pressure. The hydraulic transformer control component is also connected to a pressure sensor to monitor the valve port pressure of the servo proportional valve of the hydraulic transformer.

[0030] Each hydraulic power cylinder is connected to a hydraulic transformer via a servo proportional valve;

[0031] The A port of the hydraulic transformer (5) is connected to the A port of the electromagnetic reversing valve, the B port of the hydraulic transformer (5) is connected to the oil inlet of the servo proportional valve (12) of the hydraulic booster cylinder, and the T port of the hydraulic transformer (5) is connected to the pump source oil output by the hydraulic pump.

[0032] The operating condition of the hydraulic transformer is determined by the solenoid directional valve. When the solenoid directional valve is de-energized, the hydraulic transformer is working, and the pump source oil output by the hydraulic pump flows into the hydraulic transformer. After being stepped up and down, it is input to the hydraulic booster cylinder through the servo proportional valve. When the solenoid directional valve is energized, the hydraulic transformer is not working, and the pump source oil output by the hydraulic pump is directly input to the hydraulic booster cylinder through the servo proportional valve.

[0033] When the cargo box receives goods directly from the ground, the first hydraulic component drives the forklift mast to flip to a vertical position, and the second hydraulic component lowers the cargo box to the ground so that it can receive the goods through its forward-facing cargo box opening. After receiving the goods, the cargo box is driven to rise again, and the cargo box is placed flat on the excavator device by flipping the forklift mast.

[0034] During the process of the cargo box receiving goods directly from the ground, if the sensor assembly detects that the cargo box load is lower than the light load threshold, the hydraulic controller reduces the oil pressure of the hydraulic booster cylinders of the first and second hydraulic assemblies. By reducing their output force, the lifting and tilting of the cargo box becomes smoother. If the sensor assembly detects that the cargo box load is higher than the heavy load threshold, the hydraulic controller first increases the oil pressure of the hydraulic booster cylinder of the second hydraulic assembly so that it has sufficient output force to drive the heavy-load cargo box to rise. Then, it reduces the oil pressure of the hydraulic booster cylinder of the first hydraulic assembly so that the cargo box turns to a flat position at a low speed to avoid excessive impact force on the excavator device from the heavy-load cargo box.

[0035] When the cargo box receives the goods from the excavator's robotic arm, the forklift mast is in a horizontal position so that the cargo box is placed flat on the excavator device with the cargo box opening facing upwards. The hydraulic controller, based on the force on the excavator's robotic arm measured by the sensor assembly, uses the second hydraulic assembly to drive the cargo box to move horizontally at the forklift mast. The weight of the cargo box balances the force on the excavator's robotic arm, keeping the excavator device's posture stable.

[0036] When unloading goods from the cargo box that is placed horizontally at the excavator mounting, first move the cargo box to the bottom of the forklift mast, then use the vertical tilting of the forklift mast to make the cargo box opening face forward for quick dumping of the goods.

[0037] During the unloading process, if the sensor assembly detects that the load on the cargo box is higher than the heavy load threshold, the hydraulic controller reduces the oil pressure of the second hydraulic assembly to reduce its output force, thereby reducing the impact force on the excavator body when the cargo box starts and stops as it moves to the bottom of the forklift mast. At the same time, the hydraulic pressure of the first hydraulic assembly is increased to increase its output force, so that it can drive the forklift mast to tilt more smoothly when tilting vertically. If the sensor assembly detects that the load on the cargo box is lower than the light load threshold, the hydraulic controller increases the oil pressure of the hydraulic booster cylinders of the first and second hydraulic assemblies, thereby increasing their output force to make the lifting and tilting of the cargo box faster, thereby improving unloading efficiency.

[0038] The operating conditions of the excavator include forklift operation, truck operation, crane operation, and excavator operation;

[0039] When the excavator is in excavator mode, the forklift mast is in a horizontal position with the cargo box opening facing upwards to receive the excavated material from the excavator's robotic arm. The second hydraulic component drives the cargo box to move horizontally along the forklift mast (A02) away from the excavator's robotic arm. By changing the position of the cargo box, a counterweight is formed to counteract the force exerted during the bucket's excavation process, ensuring the stability of the excavator when excavating heavy objects. If the cargo box does not need to receive excavated material in excavator mode, a counterweight block can be pre-installed in the cargo box to increase its weight.

[0040] When the excavator is operating in crane mode, the forklift mast is in a horizontal position, the cargo box opening is facing upward and the cargo box contains counterweights. When the bucket lifts the cargo, the cargo box moves away from the excavator arm to balance the force on the bucket when lifting the cargo. When the bucket lowers the cargo, the cargo box moves towards the excavator arm to reset the center of gravity of the excavator.

[0041] When the excavator is operating in truck mode, the forklift mast is in a horizontal position, the cargo box opening is facing upwards, and the bucket of the excavator's robotic arm is facing the cargo box. The second hydraulic component drives the cargo box to move horizontally along the forklift mast (A02). By changing the position of the cargo box and the posture of the excavator's robotic arm, the position of the forklift's center of gravity is adjusted to ensure that the excavator travels smoothly.

[0042] When the excavator is operating in forklift mode, the forklift mast is in a vertical position, and the cargo box opening faces the front of the excavator to facilitate loading the cargo box from the horizontal direction. The second hydraulic component drives the cargo box to rise and fall vertically along the forklift mast (A02) to lift the goods received by the cargo box.

[0043] The second hydraulic assembly is detachably connected to the cargo box (A07) via the left fork (A65) and right fork (A66) of the forklift mast.

[0044] The frame (1) of the excavator device is rectangular when viewed from above, and retractable outriggers are provided at its four corners. When the excavator device is working in forklift mode or excavator mode, the outriggers extend to lift the excavator device until all the tires of the excavator device are off the ground.

[0045] Hydraulic oil for each hydraulic component is supplied by the hydraulic pump of the excavator unit, which is driven by the engine of the excavator unit. The sensor assembly includes limit switches located at the forklift mast, weighing devices located at the front and bottom of the cargo box, and force sensors connected to the excavator's robotic arm.

[0046] The excavator is driven by a hydraulic motor, which is driven by a third hydraulic component. When the excavator is in operation, the hydraulic controller shuts off the hydraulic oil supply to the first and second hydraulic components through the oil pressure regulation circuit.

[0047] This invention utilizes the coordinated movement of the boom structure, extension boom structure, bucket, and hydraulic cylinder. The extension and retraction of the hydraulic cylinder can increase the extension boom distance, allowing excavated goods to be more easily transported to the cargo box of the vehicle frame. The bucket structure is welded with a lifting device, enabling the excavator to perform lifting functions and meeting the diversified functional requirements of modern excavators.

[0048] This invention integrates excavator equipment and can form dynamic counterweight through the active movement of the cargo box to balance the forces on the excavator during operation. This makes the equipment more stable in confined spaces, reduces the requirements for the excavator base, and facilitates the excavator to perform digging operations on heavier objects.

[0049] This invention modifies the forklift rack, mast, and cargo box structure, using hydraulic cylinders to switch between forklift and freight modes, achieving both loading / unloading and transportation functions. In forklift mode, it can load and unload large goods and equipment. After loading the cargo box, the forklift tilts to switch to freight mode, enabling the transportation of bulk items such as sand, gravel, loose materials, engineering equipment, tools, and waste. While achieving dual functionality, the compact and hollow design of the device reduces its overall size and weight, lowers energy consumption, and solves the problem of large space occupation and high wear and tear when operating both forklifts and freight trucks in limited spaces.

[0050] This invention incorporates a hydraulic transformer into the hydraulic mechanism, which can adjust the oil pressure of each hydraulic component based on sensor data. This improves the controllability of small-volume hydraulic machinery under high load and low speed conditions when operating in confined spaces. Attached Figure Description

[0051] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0052] Appendix Figure 1 This is a schematic diagram of the invention (the bucket faces the cargo box, and the forklift mast and cargo box are in a vertical position).

[0053] Appendix Figure 2 This is a schematic diagram of the oil pressure regulating circuit of the present invention;

[0054] Appendix Figure 3 This is a schematic diagram of the forklift mast and cargo box in a horizontal position.

[0055] Appendix Figure 4 This is a schematic diagram of the forklift mast and cargo box in a vertical position.

[0056] Appendix Figure 5 This is a side view of the excavator's robotic arm;

[0057] Appendix Figure 6 This is a side view of the outrigger structure;

[0058] Appendix Figure 7 This is a schematic diagram of the telescopic structure at the cantilever structure;

[0059] Appendix Figure 8 This is a structural diagram of the bucket section of the outrigger mechanism;

[0060] In the diagram: 1-Chassis; 5-Hydraulic transformer; 6-Solenoid directional valve; 9-Hydraulic power steering cylinder; 12-Servo proportional valve; 13-Pressure sensor; 14-Hydraulic transformer distributor plate angle sensor; 15-Hydraulic controller; 100-First hydraulic component; 101-Second hydraulic component;

[0061] 01-Slewing drive; 02-Base plate; 03-Base side plate; 05-Boom side plate; 07-Boom reinforcing plate; 09-Third hydraulic cylinder; 10-First hydraulic cylinder; 11-Second hydraulic cylinder; 17-Inner boom plate; 21-Fourth hydraulic cylinder; 22-Rock arm; 23-Connecting rod; 30-Boom position sensor; 34-Extension boom two-way valve; 35-Extension boom position sensor; 38-Boom two-way valve; 092-Fourth joint bearing; 101-First joint bearing A; 102-Fifth joint bearing A; 111-First joint bearing B; 112-Fifth joint bearing B; 113-Second joint bearing; 141-Sixth joint bearing; 211-Seventh joint bearing; 221-Eighth joint bearing; 241-Ninth joint bearing;

[0062] B12 - Outer square hollow steel; B13 - Inner square hollow steel; B14 - Outer arm plate;

[0063] A01 - I-beam support frame; A02 - Forklift mast; A07 - Cargo box; A65 - Left fork; A66 - Right fork;

[0064] B - Excavator robotic arm; C - Engine. Detailed Implementation

[0065] As shown in the figure, a retractable, multi-functional integrated device that combines excavation and hoisting is an excavator device that integrates loading, unloading, and transportation, and includes multiple hydraulic components.

[0066] The excavator is equipped with a mechanical arm B at the rear; a bucket 25 is provided at the front end of the mechanical arm, and a hook 26 for lifting goods is provided on the outer wall of the bucket; a horizontal I-beam support frame A01 is provided at the front of the excavator, and a first hydraulic component is provided at the rear end of the I-beam support frame A01, and the front end is hinged to the bottom end of the forklift mast A02; a second hydraulic component and a cargo box A07 are provided at the forklift mast; the second hydraulic component is connected to the cargo box A07 to drive it to move along the forklift mast A02, and the output end of the first hydraulic component is connected to the middle of the forklift mast, driving the cargo box to tilt via the forklift mast;

[0067] The excavator is equipped with a sensor assembly for monitoring the position of the cargo box, the tilt angle of the forklift mast, the force on the excavator arm, the posture of the excavator arm, and the load on the cargo box.

[0068] Each hydraulic component has a built-in hydraulic booster cylinder connected to its corresponding hydraulic transformer to form an oil pressure regulating circuit for adjusting the pressure of the hydraulic booster cylinder; the oil pressure regulating circuit is connected to the hydraulic controller.

[0069] When the excavator's robotic arm is working, the forklift mast is in a horizontal position. The hydraulic controller uses the second hydraulic component to drive the cargo box to move based on the data from the sensor components. The torque of the cargo box's weight is used to balance the torque of the excavator's robotic arm during operation, thus keeping the excavator stable.

[0070] The sensor assembly is connected to the hydraulic controller; the hydraulic controller controls the output force and output duration of each hydraulic component through the oil pressure regulation circuit based on the data from the sensor assembly.

[0071] The excavator's robotic arm is driven by its built-in independent hydraulic mechanism. The excavator's robotic arm includes: a connected base, a boom structure and a slewing drive 01, a connected extension boom structure and a boom structure, a connected bucket and an extension boom structure, and the boom structure, extension boom structure and bucket are connected to and connected to multiple hydraulic cylinders.

[0072] The slewing drive uses a hydraulic motor to drive the excavator's robotic arm, enabling it to rotate 360 ​​degrees during operation. A base plate 02 is mounted on the output end of the slewing drive. A base side plate 03 is fixedly mounted on the base plate. A boom side plate 05 of the boom structure is rotatably hinged to the upper part of the base side plate. A boom reinforcing plate 07 is mounted on the upper part of the boom reinforcing plate. An outer boom plate B14 is rotatably hinged to the upper end of the boom reinforcing plate. A first hydraulic cylinder 10 and a second hydraulic cylinder 11 are located between the base plate and the side of the boom reinforcing plate. A third hydraulic cylinder 09 is located between the lower side of the boom side plate and the side of the outer boom plate. A fourth hydraulic cylinder 21 is located at the boom extension structure. The first, second, third, and fourth hydraulic cylinders drive the boom extension structure and boom structure with hydraulic oil supplied by a hydraulic pump during excavator operation.

[0073] The boom structure and the base side plate are fixed together by bearings; the boom structure and the base plate are connected by a hydraulic cylinder; specifically: the first joint bearing A101 and the first joint bearing B111 are fixed on the base plate, and the second joint bearing 113 is fixed on the base side plate.

[0074] The lower ends of the first hydraulic cylinder 10 and the second hydraulic cylinder 11 of the boom are fixed on the first joint bearing A and the first joint bearing B, respectively, and the upper ends are fixed on the fifth joint bearing A102 and the fifth joint bearing B112, respectively.

[0075] The first hydraulic cylinder and the second hydraulic cylinder drive the boom structure to rotate vertically via the first joint bearing A, the first joint bearing B, the second joint bearing, the fifth joint bearing A, and the fifth joint bearing B to perform the excavator's operation requirements.

[0076] The boom position sensor 30 of the sensor assembly is used to monitor the attitude of the boom structure, and the hydraulic controller controls the vertical rotation of the boom structure through the boom bidirectional valve 38.

[0077] The boom structure and the extension boom structure are connected by bearings and a third hydraulic cylinder. Specifically, the fourth joint bearing 092 is fixed on the outer boom plate B14 of the extension boom structure, and the outer boom plate and the boom structure are rotatably hinged by the sixth joint bearing 141. The lower end of the third hydraulic cylinder is rotatably hinged to the third joint bearing 091 of the boom structure, and the upper end is rotatably hinged to the fourth joint bearing 092. The third hydraulic cylinder is the boom hydraulic cylinder, which drives the extension boom structure to float up and down through the third joint bearing, the fourth joint bearing, and the sixth joint bearing to perform the excavator's work tasks.

[0078] The extender arm position sensor 35 of the sensor assembly is used to monitor the attitude of the extender arm structure, and the hydraulic controller controls the up and down floating of the extender arm structure through the extender arm two-way valve 34.

[0079] The boom structure and the bucket are connected by a connecting rod, a fourth hydraulic cylinder, and bearings. Specifically, the seventh joint bearing 211 is fixed on the inner boom plate 17 of the boom structure, the eighth joint bearing 221 is fixed on the rocker arm 22 and connecting rod 23 of the boom structure, and the ninth joint bearing 241 is fixed on the connecting rod and the ear plate 24 of the bucket. The fourth hydraulic cylinder is the bucket hydraulic cylinder, and its middle part is fixed on the inner boom plate. The bucket hydraulic cylinder is driven by the seventh joint bearing, the eighth joint bearing, and the ninth joint bearing to achieve the tilting of the bucket, enabling it to dig and dump objects.

[0080] The bucket position sensor in the sensor assembly is used to monitor the boom posture, and the hydraulic controller controls the digging and tilting actions of the bucket through the bucket two-way valve.

[0081] The outrigger structure also includes a telescopic structure formed by connecting outer square hollow steel B12 and inner square hollow steel B13. The telescopic structure is driven by built-in hydraulic components to cope with scenarios where it is necessary to temporarily increase the digging or dumping distance.

[0082] The hydraulic transformer equipment includes a hydraulic transformer 5, an electromagnetic directional valve 6 for controlling the working state of the hydraulic transformer, and a hydraulic transformer distribution plate angle sensor 14; the hydraulic transformer is connected to the electromagnetic directional valve and the servo proportional valve respectively; a pressure sensor 13 is provided at the servo proportional valve of the hydraulic transformer.

[0083] The hydraulic controller includes a hydraulic transformer control component 4 connected to the hydraulic pump. The hydraulic transformer control component controls the rotation angle of the distributor plate of the hydraulic transformer to make the hydraulic transformer output the regulated pressure. The hydraulic transformer control component is also connected to a pressure sensor to monitor the valve port pressure of the servo proportional valve of the hydraulic transformer.

[0084] Each hydraulic power cylinder is connected to a hydraulic transformer via a servo proportional valve;

[0085] The A port of the hydraulic transformer 5 is connected to the A port of the electromagnetic reversing valve, the B port of the hydraulic transformer 5 is connected to the oil inlet of the servo proportional valve 12 of the hydraulic booster cylinder, and the T port of the hydraulic transformer 5 is connected to the pump source oil output by the hydraulic pump.

[0086] The operating condition of the hydraulic transformer is determined by the solenoid directional valve. When the solenoid directional valve is de-energized, the hydraulic transformer is working, and the pump source oil output by the hydraulic pump flows into the hydraulic transformer. After being stepped up and down, it is input to the hydraulic booster cylinder through the servo proportional valve. When the solenoid directional valve is energized, the hydraulic transformer is not working, and the pump source oil output by the hydraulic pump is directly input to the hydraulic booster cylinder through the servo proportional valve.

[0087] When the cargo box receives goods directly from the ground, the first hydraulic component drives the forklift mast to flip to a vertical position, and the second hydraulic component lowers the cargo box to the ground so that it can receive the goods through its forward-facing cargo box opening. After receiving the goods, the cargo box is driven to rise again, and the cargo box is placed flat on the excavator device by flipping the forklift mast.

[0088] During the process of the cargo box receiving goods directly from the ground, if the sensor assembly detects that the cargo box load is lower than the light load threshold, the hydraulic controller reduces the oil pressure of the hydraulic booster cylinders of the first and second hydraulic assemblies. By reducing their output force, the lifting and tilting of the cargo box becomes smoother. If the sensor assembly detects that the cargo box load is higher than the heavy load threshold, the hydraulic controller first increases the oil pressure of the hydraulic booster cylinder of the second hydraulic assembly so that it has sufficient output force to drive the heavy-load cargo box to rise. Then, it reduces the oil pressure of the hydraulic booster cylinder of the first hydraulic assembly so that the cargo box turns to a flat position at a low speed to avoid excessive impact force on the excavator device from the heavy-load cargo box.

[0089] When the cargo box receives the goods from the excavator's robotic arm, the forklift mast is in a horizontal position so that the cargo box is placed flat on the excavator device with the cargo box opening facing upwards. The hydraulic controller, based on the force on the excavator's robotic arm measured by the sensor assembly, uses the second hydraulic assembly to drive the cargo box to move horizontally at the forklift mast. The weight of the cargo box balances the force on the excavator's robotic arm, keeping the excavator device's posture stable.

[0090] When unloading goods from the cargo box that is placed horizontally at the excavator mounting, first move the cargo box to the bottom of the forklift mast, then use the vertical tilting of the forklift mast to make the cargo box opening face forward for quick dumping of the goods.

[0091] During the unloading process, if the sensor assembly detects that the load on the cargo box is higher than the heavy load threshold, the hydraulic controller reduces the oil pressure of the second hydraulic assembly to reduce its output force, thereby reducing the impact force on the excavator body when the cargo box starts and stops as it moves to the bottom of the forklift mast. At the same time, the hydraulic pressure of the first hydraulic assembly is increased to increase its output force, so that it can drive the forklift mast to tilt more smoothly when tilting vertically. If the sensor assembly detects that the load on the cargo box is lower than the light load threshold, the hydraulic controller increases the oil pressure of the hydraulic booster cylinders of the first and second hydraulic assemblies, thereby increasing their output force to make the lifting and tilting of the cargo box faster, thereby improving unloading efficiency.

[0092] The operating conditions of the excavator include forklift operation, truck operation, crane operation, and excavator operation;

[0093] When the excavator is in excavator mode, the forklift mast is in a horizontal position with the cargo box opening facing upwards to receive the excavated material from the excavator's robotic arm. The second hydraulic component drives the cargo box to move horizontally along the forklift mast A02 away from the excavator's robotic arm. By changing the position of the cargo box, a counterweight is formed to counteract the force exerted on the bucket during the excavation process, ensuring the stability of the excavator when excavating heavy objects. If the cargo box does not need to receive excavated material during excavator mode, a counterweight block can be pre-installed in the cargo box to increase its weight.

[0094] When the excavator is operating in crane mode, the forklift mast is in a horizontal position, the cargo box opening is facing upward and the cargo box contains counterweights. When the bucket lifts the cargo, the cargo box moves away from the excavator arm to balance the force on the bucket when lifting the cargo. When the bucket lowers the cargo, the cargo box moves towards the excavator arm to reset the center of gravity of the excavator.

[0095] When the excavator is operating in truck mode, the forklift mast is in a horizontal position, the cargo box opening is facing upwards, and the bucket of the excavator's robotic arm is facing the cargo box. The second hydraulic component drives the cargo box to move horizontally along the forklift mast A02. By changing the position of the cargo box and the posture of the excavator's robotic arm, the position of the forklift's center of gravity is adjusted to ensure that the excavator travels smoothly.

[0096] When the excavator is operating in forklift mode, the forklift mast is in a vertical position, and the cargo box opening faces the front of the excavator to facilitate loading the cargo box from the horizontal direction. The second hydraulic component drives the cargo box to rise and fall vertically along the forklift mast A02 to lift the goods received by the cargo box.

[0097] The second hydraulic assembly is detachably connected to the cargo box A07 via the left fork A65 and right fork A66 of the forklift mast.

[0098] The excavator frame 1 is rectangular when viewed from above, and retractable outriggers are provided at its four corners. When the excavator is operating in forklift mode or excavator mode, the outriggers extend to lift the excavator until all the tires of the excavator are off the ground.

[0099] Hydraulic oil for each hydraulic component is supplied by the hydraulic pump of the excavator unit, which is driven by the engine of the excavator unit. The sensor assembly includes limit switches located at the forklift mast, weighing devices located at the front and bottom of the cargo box, and force sensors connected to the excavator's robotic arm.

[0100] The excavator is driven by a hydraulic motor, which is driven by a third hydraulic component. When the excavator is in operation, the hydraulic controller shuts off the hydraulic oil supply to the first and second hydraulic components through the oil pressure regulation circuit.

[0101] When an excavator is digging or lifting a heavy object of known weight with a small vertical stroke, if it is necessary to further optimize the stability of the vehicle body, the forklift mast can be flipped vertically, the heavy object can be placed in the cargo box and reliably fixed with a fastening structure. When the bucket applies force to the heavy object, the cargo box rises along the forklift mast at the same time, and the force of the cargo box when it accelerates forms a counterweight balance on the force on the bucket.

Claims

1. A retractable, multi-functional integrated device for excavation and hoisting, comprising an excavator unit integrating loading, unloading, and transportation, characterized in that: Includes multiple hydraulic components; The excavator is equipped with a mechanical arm at the rear; a bucket (25) is provided at the front end of the mechanical arm, and a hook (26) for lifting goods is provided on the outer wall of the bucket; a horizontal I-beam support frame (A01) is provided at the front of the excavator, and a first hydraulic component is provided at the rear end of the I-beam support frame (A01), and the front end is hinged to the bottom end of the forklift mast (A02); a second hydraulic component and a cargo box (A07) are provided at the forklift mast; the second hydraulic component is connected to the cargo box (A07) to drive it to move along the forklift mast (A02), and the output end of the first hydraulic component is connected to the middle of the forklift mast, and the cargo box is driven to flip via the forklift mast; The excavator is equipped with a sensor assembly for monitoring the position of the cargo box, the tilt angle of the forklift mast, the force on the excavator arm, the posture of the excavator arm, and the load on the cargo box. Each hydraulic component has a built-in hydraulic booster cylinder connected to its corresponding hydraulic transformer to form an oil pressure regulating circuit for adjusting the pressure of the hydraulic booster cylinder; the oil pressure regulating circuit is connected to the hydraulic controller. When the excavator's robotic arm is working, the forklift mast is in a horizontal position. The hydraulic controller uses the second hydraulic component to drive the cargo box to move based on the data from the sensor components. The torque of the cargo box's weight is used to balance the torque of the excavator's robotic arm during operation, thus keeping the excavator stable. The sensor assembly is connected to the hydraulic controller; the hydraulic controller controls the output force and output duration of each hydraulic component through the oil pressure regulation circuit based on the data from the sensor assembly.

2. The retractable, multi-functional integrated device for excavation and hoisting as described in claim 1, characterized in that: The excavator's mechanical arm is driven by its built-in independent hydraulic mechanism. The excavator's mechanical arm includes: a connected base, a boom structure and a slewing drive (01), a connected extension boom structure and a boom structure, a connected bucket and an extension boom structure, and the boom structure, extension boom structure and bucket are connected to and connected to multiple hydraulic cylinders. The slewing drive uses a hydraulic motor to drive the excavator's mechanical arm, enabling it to rotate 360 ​​degrees during operation. A base plate (02) is provided on the output end of the slewing drive. A base side plate (03) is fixedly provided on the base plate. A boom side plate (05) of the boom structure is rotatably hinged to the upper part of the base side plate. A boom reinforcing plate (07) is provided on the upper part of the boom reinforcing plate. An outer boom plate (B14) is rotatably hinged to the upper end of the boom reinforcing plate. A first hydraulic cylinder (10) and a second hydraulic cylinder (11) are provided between the base plate and the side of the boom reinforcing plate. A third hydraulic cylinder (09) is provided between the lower side of the boom side plate and the side of the outer boom plate. A fourth hydraulic cylinder (21) is provided at the boom extension structure. The first, second, third, and fourth hydraulic cylinders drive the boom extension structure and the boom structure with hydraulic oil supplied by the hydraulic pump during excavator operation. The boom structure and the base side plate are fixed together by bearings; the boom structure and the base plate are connected by hydraulic cylinders; specifically: the first joint bearing A (101) and the first joint bearing B (111) are fixed on the base plate, and the second joint bearing (113) is fixed on the base side plate. The lower ends of the first hydraulic cylinder (10) and the second hydraulic cylinder (11) of the boom are fixed on the first joint bearing A and the first joint bearing B, respectively, and the upper ends are fixed on the fifth joint bearing A (102) and the fifth joint bearing B (112), respectively. The first hydraulic cylinder and the second hydraulic cylinder drive the boom structure to rotate vertically via the first joint bearing A, the first joint bearing B, the second joint bearing, the fifth joint bearing A, and the fifth joint bearing B to perform the excavator's operation requirements. The boom position sensor (30) of the sensor assembly is used to monitor the attitude of the boom structure, and the hydraulic controller controls the vertical rotation of the boom structure through the boom two-way valve (38). The boom structure and the extension boom structure are connected by bearings and a third hydraulic cylinder. Specifically, the fourth joint bearing (092) is fixed on the outer boom plate (B14) of the extension boom structure, and the outer boom plate and the boom structure are rotatably hinged by the sixth joint bearing (141). The lower end of the third hydraulic cylinder is rotatably hinged on the third joint bearing (091) of the boom structure, and the upper end is rotatably hinged at the fourth joint bearing (092). The third hydraulic cylinder is the boom hydraulic cylinder, which drives the extension boom structure to float up and down through the third joint bearing, the fourth joint bearing, and the sixth joint bearing to perform the excavator's work tasks. The extender position sensor (35) of the sensor assembly is used to monitor the attitude of the extender structure, and the hydraulic controller controls the up and down floating of the extender structure through the extender bidirectional valve (34). The boom structure and the bucket are connected by a connecting rod, a fourth hydraulic cylinder, and bearings. Specifically, the seventh joint bearing (211) is fixed on the inner boom plate (17) of the boom structure, the eighth joint bearing (221) is fixed on the rocker arm (22) and connecting rod (23) of the boom structure, and the ninth joint bearing (241) is fixed on the connecting rod and the ear plate (24) of the bucket. The fourth hydraulic cylinder is the bucket hydraulic cylinder, and its middle part is fixed on the inner boom plate. The bucket hydraulic cylinder is driven by the seventh joint bearing, the eighth joint bearing, and the ninth joint bearing to realize the flipping of the bucket, so that it can dig and dump objects. The bucket position sensor in the sensor assembly is used to monitor the boom posture, and the hydraulic controller controls the digging and tilting actions of the bucket through the bucket two-way valve. The outrigger structure also includes a telescopic structure formed by connecting outer square hollow steel (B12) and inner square hollow steel (B13). The telescopic structure is driven by built-in hydraulic components to cope with scenarios where it is necessary to temporarily increase the digging or dumping distance.

3. The retractable, multi-functional integrated device for excavation and hoisting as described in claim 1, characterized in that: The hydraulic transformer equipment includes a hydraulic transformer (5), an electromagnetic directional valve (6) for controlling the working state of the hydraulic transformer, and a hydraulic transformer distribution plate angle sensor (14); the hydraulic transformer is connected to the electromagnetic directional valve and the servo proportional valve respectively; a pressure sensor (13) is provided at the servo proportional valve of the hydraulic transformer. The hydraulic controller includes a hydraulic transformer control component (4) connected to the hydraulic pump. The hydraulic transformer control component controls the rotation angle of the distributor plate of the hydraulic transformer to make the hydraulic transformer output the regulated pressure. The hydraulic transformer control component is also connected to a pressure sensor to monitor the valve port pressure of the servo proportional valve of the hydraulic transformer. Each hydraulic power cylinder is connected to a hydraulic transformer via a servo proportional valve; The A port of the hydraulic transformer (5) is connected to the A port of the electromagnetic reversing valve, the B port of the hydraulic transformer (5) is connected to the oil inlet of the servo proportional valve (12) of the hydraulic booster cylinder, and the T port of the hydraulic transformer (5) is connected to the pump source oil output by the hydraulic pump. The operating condition of the hydraulic transformer is determined by the solenoid directional valve. When the solenoid directional valve is de-energized, the hydraulic transformer is working, and the pump source oil output by the hydraulic pump flows into the hydraulic transformer. After being stepped up and down, it is input to the hydraulic booster cylinder through the servo proportional valve. When the solenoid directional valve is energized, the hydraulic transformer is not working, and the pump source oil output by the hydraulic pump is directly input to the hydraulic booster cylinder through the servo proportional valve.

4. The retractable, multi-functional integrated device for excavation and hoisting as described in claim 1, characterized in that: When the cargo box receives goods directly from the ground, the first hydraulic component drives the forklift mast to flip to a vertical position, and the second hydraulic component lowers the cargo box to the ground so that it can receive the goods through its forward-facing cargo box opening. After receiving the goods, the cargo box is driven to rise again, and the cargo box is placed flat on the excavator device by flipping the forklift mast. During the process of the cargo box receiving goods directly from the ground, if the sensor assembly detects that the cargo box load is lower than the light load threshold, the hydraulic controller reduces the oil pressure of the hydraulic booster cylinders of the first and second hydraulic assemblies. By reducing their output force, the lifting and tilting of the cargo box becomes smoother. If the sensor assembly detects that the cargo box load is higher than the heavy load threshold, the hydraulic controller first increases the oil pressure of the hydraulic booster cylinder of the second hydraulic assembly so that it can output force to drive the heavy-load cargo box to rise, and then reduces the oil pressure of the hydraulic booster cylinder of the first hydraulic assembly so that the cargo box turns to a flat position at a low speed to avoid the heavy-load cargo box causing excessive impact force on the excavator. When the cargo box receives the goods from the excavator's robotic arm, the forklift mast is in a horizontal position so that the cargo box is placed flat on the excavator device with the cargo box opening facing upwards. The hydraulic controller, based on the force on the excavator's robotic arm measured by the sensor assembly, uses the second hydraulic assembly to drive the cargo box to move horizontally at the forklift mast. The weight of the cargo box balances the force on the excavator's robotic arm, keeping the excavator device's posture stable.

5. The retractable, multi-functional integrated device for excavation and hoisting as described in claim 1, characterized in that: When unloading goods from the cargo box that is placed horizontally at the excavator mounting, first move the cargo box to the bottom of the forklift mast, then use the vertical tilting of the forklift mast to make the cargo box opening face forward for quick dumping of the goods. During unloading, if the sensor assembly detects that the load on the cargo box is higher than the heavy load threshold, the hydraulic controller reduces the oil pressure of the second hydraulic assembly to reduce its output force, thereby reducing the impact force on the excavator body when the cargo box starts and stops as it moves to the bottom of the forklift mast. At the same time, it increases the oil pressure of the first hydraulic assembly to increase its output force, making it more stable when driving the forklift mast to tilt vertically. If the sensor assembly detects that the load on the cargo box is lower than the light load threshold, the hydraulic controller increases the oil pressure of the hydraulic booster cylinders of the first and second hydraulic assemblies, thereby increasing their output force to make the lifting and tilting of the cargo box faster, thus improving unloading efficiency.

6. The retractable, multi-functional integrated device for excavation and hoisting as described in claim 1, characterized in that: The operating conditions of the excavator include forklift operation, truck operation, crane operation, and excavator operation; When the excavator is in excavator mode, the forklift mast is in a horizontal position with the cargo box opening facing upwards to receive the excavated material from the excavator's robotic arm. The second hydraulic component drives the cargo box to move horizontally along the forklift mast (A02) away from the excavator's robotic arm. By changing the position of the cargo box, a counterweight is formed to balance the force exerted on the bucket during the excavation process, ensuring the stability of the excavator when excavating heavy objects. If the cargo box does not need to receive excavated material during excavator mode, a pre-installed counterweight block is placed inside the cargo box to increase its weight. When the excavator is operating in crane mode, the forklift mast is in a horizontal position, the cargo box opening is facing upward and the cargo box contains counterweights. When the bucket lifts the cargo, the cargo box moves away from the excavator arm to balance the force on the bucket when lifting the cargo. When the bucket lowers the cargo, the cargo box moves towards the excavator arm to reset the center of gravity of the excavator. When the excavator is operating in truck mode, the forklift mast is in a horizontal position, the cargo box opening is facing upwards, and the bucket of the excavator's robotic arm is facing the cargo box. The second hydraulic component drives the cargo box to move horizontally along the forklift mast (A02). By changing the position of the cargo box and the posture of the excavator's robotic arm, the position of the forklift's center of gravity is adjusted to ensure that the excavator travels smoothly. When the excavator is operating in forklift mode, the forklift mast is in a vertical position, and the cargo box opening faces the front of the excavator to facilitate loading the cargo box from the horizontal direction. The second hydraulic component drives the cargo box to rise and fall vertically along the forklift mast (A02) to lift the goods received by the cargo box.

7. The retractable, multi-functional integrated device for excavation and hoisting as described in claim 1, characterized in that: The second hydraulic assembly is detachably connected to the cargo box (A07) via the left fork (A65) and right fork (A66) of the forklift mast.

8. The retractable, multi-functional integrated device for excavation and hoisting as described in claim 1, characterized in that: The frame (1) of the excavator device is rectangular when viewed from above, and retractable outriggers are provided at its four corners. When the excavator device is working in forklift mode or excavator mode, the outriggers extend to lift the excavator device until all the tires of the excavator device are off the ground.

9. A retractable, multi-functional integrated device for excavation and hoisting according to claim 1, characterized in that: Hydraulic oil for each hydraulic component is supplied by the hydraulic pump of the excavator unit, which is driven by the engine of the excavator unit. The sensor assembly includes limit switches located at the forklift mast, weighing devices located at the front and bottom of the cargo box, and force sensors connected to the excavator's robotic arm.

10. A retractable, multi-functional integrated device for excavation and hoisting according to claim 9, characterized in that: The excavator is driven by a hydraulic motor, which is driven by a third hydraulic component. When the excavator is in operation, the hydraulic controller shuts off the hydraulic oil supply to the first and second hydraulic components through the oil pressure regulation circuit.

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