Robot dog type intelligent digging and conveying all-in-one machine based on terrain self-adaptive leveling

Abstract

The invention discloses a robot dog type intelligent digging and conveying all-in-one machine based on terrain self-adaptive leveling, and belongs to the technical field of building construction. Comprising a digging and conveying machine (comprising a chassis and a digging head), a plurality of multi-section type telescopic walking feet and a material conveying system. The walking feet are arranged at the corners of the chassis through mounting supports, achieve horizontal rotation through first rotary joints and achieve pitching swing through first vertical hinged shafts and first hydraulic cylinders, and second hydraulic cylinders are arranged in the walking feet to drive the walking feet to stretch out and draw back. The material conveying system is formed by butt joint of a first-stage conveying belt of the digging head and a second-stage conveying belt of the chassis. The chassis can be automatically leveled on complex terrains such as slopes and potholes by independently controlling the telescopic length and the pitching angle of each walking foot and combining with feedback of the attitude sensor, so that the first-stage conveying belt and the second-stage conveying belt are always in horizontal butt joint, a continuous and smooth material conveying path is formed, earthwork scattering, accumulation or clamping stagnation is effectively prevented, and the working efficiency is improved. The whole machine stability and the conveying reliability are improved.

Description

Technical Field

[0001] This invention belongs to the field of building construction technology, specifically relating to a robot dog-style intelligent excavator and conveyor integrated machine based on terrain adaptive leveling. Background Technology

[0002] Traditional construction methods for excavating underground spaces such as basements, parking lots, and subway stations rely on the coordinated operation of excavators and transport machines. However, existing excavators and transport machines are independent devices, leading to the following major problems in practical operation: 1. Space Constraints: Sufficient operating space must be reserved to allow the transport equipment to enter and exit the construction site smoothly. This not only occupies valuable construction space but may also limit the effective implementation of other work activities; 2. Low efficiency: When multiple transport vehicles are involved in earthwork transportation at the same time, the limited space on site can easily cause traffic congestion, forcing the excavators to stop working and wait for the transport vehicles to finish loading and leave. This work stoppage seriously affects the overall construction progress and reduces work efficiency. 3. Increased costs: The insufficient work efficiency caused by the above reasons has extended the project time, thereby increasing the cost of manpower, machinery rental, etc.

[0003] In addition, while using conveyor belts to replace vehicles for earthmoving can reduce reliance on vehicles, in actual working conditions, construction sites often have complex terrain with slopes, uneven surfaces, etc. If the machine carrying the conveyor belt tilts, the conveyor belt will tilt as well, which will lead to problems such as earth sliding, accumulation, or even jamming, making it difficult to achieve stable and continuous material transportation. Summary of the Invention

[0004] This invention addresses the aforementioned problems in existing technologies by proposing a robot dog-style intelligent excavator and conveyor integrated machine based on terrain adaptive leveling.

[0005] This invention can be achieved through the following technical solutions: A robot dog-style intelligent excavator and conveyor integrated machine based on terrain adaptive leveling includes: An excavator, comprising a chassis and an excavator head mounted on the chassis; Multiple walking feet are distributed at each corner of the chassis via mounting brackets, and the walking feet are multi-segment telescopic structures; The mounting bracket is connected to the chassis via a first rotary joint, allowing the walking foot to rotate in the horizontal plane; One end of the walking foot is hinged to the mounting bracket via a first vertical hinge axis, so that the walking foot can swing in a vertical plane relative to the mounting bracket. The first hydraulic cylinder has one end hinged to the mounting bracket and the other end hinged to the side of the walking foot, and is used to drive the pitching and swinging of the walking foot. The second hydraulic cylinder, which is built into the walking foot, is used to drive the multi-segment walking foot to extend and retract; A material conveying system includes a primary conveyor belt disposed on the excavator head and a secondary conveyor belt disposed on the chassis, wherein the primary conveyor belt and the secondary conveyor belt are connected. By independently controlling the extension and retraction length and pitch angle of each of the walking feet, the chassis of the excavator can always remain horizontal when operating on inclined ground. At this time, the primary conveyor belt and the secondary conveyor belt are horizontally connected to form a continuous and horizontal material conveying path.

[0006] As a further improvement of the present invention, the end of the walking foot connected to the mounting bracket is higher than the bottom surface of the chassis. When the walking foot is raised, the chassis is lowered to the ground to support the machine body.

[0007] As a further improvement of the present invention, the walking foot includes: A first frame is used for hinged to the mounting bracket; A second frame is telescopically disposed within the first frame, a second hydraulic cylinder is built into the first frame, and the telescopic shaft of the second hydraulic cylinder is connected to the second frame.

[0008] As a further improvement of the present invention, the second frame is provided with a toothed plate on its outer end face away from the first frame. The toothed plate extends beyond the second frame and downwards, and the bottom surface of the toothed plate is configured as a toothed surface.

[0009] As a further improvement of the present invention, the excavator has a first walking mode suitable for hard ground, in which the walking foot located on the left side of the chassis and the walking foot located on the right side of the chassis alternately move in steps.

[0010] As a further improvement of the present invention, the excavator has a second walking mode suitable for soft ground, in which the walking foot located on the front side of the chassis and the walking foot located on the rear side of the chassis alternately move in steps.

[0011] As a further improvement of the present invention, the chassis is provided with an attitude sensor for detecting levelness and a 360° holographic imaging module for acquiring high-definition images of the surrounding environment.

[0012] As a further improvement of the present invention, clearance notches are provided at each corner of the chassis, and the mounting bracket is located within the clearance notches.

[0013] As a further improvement of the present invention, the bottom surface of the chassis on both the front and rear sides along the direction of travel is provided with guide slopes.

[0014] As a further improvement of the present invention, the secondary conveyor belt consists of a transition conveyor belt and a tail conveyor belt disposed on the chassis, wherein... The feed end of the transition conveyor belt is connected to the discharge end of the primary conveyor belt below; The feed end of the tail conveyor belt is attached to the discharge end of the transition conveyor belt below, and the feed end of the tail conveyor belt is connected to the chassis through a second rotary joint to adjust the discharge direction.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. All-terrain adaptive leveling capability: Through closed-loop control of multi-degree-of-freedom walking feet (with horizontal rotation, vertical pitch and axial extension functions) and attitude sensors, the height of each leg can be automatically adjusted on complex uneven ground such as slopes, potholes, and steps to keep the chassis level at all times, significantly improving the stability and environmental adaptability of the whole machine.

[0016] 2. Continuous and efficient material conveying guarantee: After the chassis is leveled, the primary and secondary conveyor belts are always horizontally connected to form a smooth and continuous conveying path without drop; combined with the parabolic excavator conveying structure and multi-stage connecting arm design, it effectively prevents soil from slipping, accumulating or getting stuck, and realizes efficient "excavation and conveying" operation.

[0017] 3. Space saving and reduced construction costs: The integrated excavation and transportation functions eliminate the need for external transport vehicles to enter and exit narrow underground spaces (such as subway stations and deep foundation pits), saving vehicle access and dispatch areas, reducing the number of equipment, manpower, and construction period, and significantly reducing overall construction costs.

[0018] 4. Intelligent walking mode adapts to different ground conditions: It supports alternating left and right gait on hard ground (high speed and stability) and dragging gait on soft ground (high adhesion and anti-sinking), which is especially suitable for soft soil with high water content in coastal areas; the chassis can also replace traditional steel plate paving when walking close to the ground, saving the cost of temporary measures.

[0019] 5. Multi-stage connecting boom enhances operational flexibility and conveying stability: The excavator head is connected to the chassis via a multi-stage connecting boom, with each boom section equipped with an independent hydraulic cylinder. This not only significantly extends the excavation and conveying radius (maximum excavation and conveying height up to 20 meters), but also allows the primary conveyor belt to form a near-parabolic, gently sloping path, effectively mitigating the downward trend of excavated soil during the lifting process and significantly improving the continuity of conveying. At the same time, the multi-stage boom structure supports the overall folding of the excavator head, reducing the overall size of the machine during relocation or in confined spaces, enhancing mobility and passability, and balancing efficient operation with flexible deployment.

[0020] 6. Intelligent, green and highly safe: It integrates a 360° imaging and remote control system to ensure that operators stay away from dangerous areas; it adopts pure electric or external diesel power, eliminating the on-board engine, achieving low noise, zero emissions and energy-saving operation, which is in line with the trend of green and intelligent construction and lays the foundation for future unmanned operation. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of the robot dog-type excavator and conveyor integrated machine of the present invention; Figure 2 This is a side view of the robot dog-type excavator and conveyor of the present invention; Figure 3 This is a schematic diagram of the internal structure of the walking foot of the present invention; Figure 4 This is a schematic diagram of the structure of the robot dog-type excavator and conveyor after docking with an external transport vehicle.

[0022] In the diagram, 100 is the excavator / conveyor; 110 is the chassis; and 111 is the guide ramp. 200. Excavator head; 210. Primary conveyor belt; 220. Rotary track; 230. Connecting arm; 240. Third hydraulic cylinder; 300. Walking foot; 301. First frame; 302. Second frame; 3021. Tooth plate; 3022. Tooth surface; 310. Mounting bracket; 311. First rotary joint; 320. First hydraulic cylinder; 330. Second hydraulic cylinder; 340. Secondary conveyor belt; 341. Transition conveyor belt; 342. Tail conveyor belt; 3421. Second rotary joint; 400. Conveyor vehicle; 410. External conveyor belt. Detailed Implementation

[0023] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings to further illustrate the technical methods of the present invention. However, the present invention is not limited to these embodiments.

[0024] like Figures 1-4 As shown, this invention provides a robot dog-style intelligent excavator and conveyor integrated machine based on terrain adaptive leveling, comprising: Excavator 100 includes a chassis 110 and an excavator head 200 mounted on the chassis 110; Multiple walking feet 300 are distributed at various corners of the chassis 110 via mounting brackets 310. The walking feet 300 are multi-segment telescopic structures. The mounting bracket 310 is connected to the chassis 110 via a first rotary joint 311, so that the walking foot 300 can rotate in the horizontal plane; One end of the walking foot 300 is hinged to the mounting bracket 310 via a first vertical hinge axis, so that the walking foot 300 can pitch and swing relative to the mounting bracket 310 in the vertical plane. The first hydraulic cylinder 320 has one end hinged to the mounting bracket 310 and the other end hinged to the side of the walking foot 300, and is used to drive the pitching and swinging of the walking foot 300. The second hydraulic cylinder 330 is built into the walking foot 300 and is used to drive the multi-segment walking foot 300 to extend and retract. The material conveying system includes a primary conveyor belt 210 installed on the excavator head 200 and a secondary conveyor belt 340 installed on the chassis 110, wherein the primary conveyor belt 210 and the secondary conveyor belt 340 are connected. By independently controlling the extension length and pitch angle of each walking foot 300, the chassis 110 of the excavator 100 can always remain horizontal when operating on inclined ground. At this time, the primary conveyor belt 210 and the secondary conveyor belt 340 are horizontally connected, forming a continuous and horizontal material conveying path.

[0025] Specifically, when facing complex terrain such as slopes, steps, potholes, or uneven surfaces, the control system dynamically adjusts the extension and retraction stroke and pitch angle of each traveling leg 300 based on the body tilt data fed back in real time by attitude sensors (such as gyroscopes or tilt meters) mounted on the chassis 110. For example: In uphill conditions, the front walking foot 300 is appropriately shortened and pressed down, while the rear walking foot 300 is extended and raised to restore the chassis 110 to a horizontal position. The opposite is true in downhill conditions. In lateral terrain, roll compensation is achieved through asymmetrical adjustment of the left and right walking feet by 300 degrees.

[0026] Because each walking foot 300 has independent three-degree-of-freedom adjustment capabilities of horizontal rotation, vertical pitch and extension, the whole machine can quickly adapt to ground undulations in any direction, ensuring that the chassis 110 is always in a horizontal position.

[0027] Once the chassis 110 is adjusted to a horizontal position, both the primary conveyor belt 210 on the excavator head 200 and the secondary conveyor belt 340 on the chassis 110 can be adjusted to a horizontal position. This avoids problems such as soil slippage, accumulation, jamming, or even interruption of transport caused by the tilting of the conveyor belt, thereby achieving efficient, reliable, and unmanned continuous excavation and transport operations, and greatly improving the automation level and operational efficiency of underground space construction.

[0028] It is worth mentioning that the robot dog-style intelligent excavator and conveyor provided in this embodiment has at least the following advantages compared with the prior art: 1. Achieve all-terrain adaptive leveling: Through the independent adjustment of the extension length and pitch angle of the multi-degree-of-freedom walking feet 300, combined with the feedback from the attitude sensor, the chassis can automatically maintain a 110 level on complex and uneven ground such as slopes, potholes, and steps, which greatly improves the stability of the whole machine and its environmental adaptability.

[0029] 2. Ensure continuous and stable operation of the conveying system: After the chassis 110 is leveled, the primary conveyor belt 210 at the excavator head 200 and the secondary conveyor belt 340 on the chassis 110 always maintain horizontal connection, forming a continuous and smooth material conveying path, effectively preventing soil spillage, accumulation or jamming, and ensuring efficient and reliable conveying.

[0030] 3. Improve construction efficiency and automation level: The excavation and transportation functions are integrated into one, eliminating the need to rely on external transport vehicles, avoiding work interruptions caused by waiting for loading, realizing a continuous "excavation and transportation" operation process, and significantly improving the efficiency of earthwork handling.

[0031] 4. Saves construction space and costs: Eliminates the vehicle passages and scheduling space required by the traditional excavation and transportation separation mode, which is particularly advantageous in narrow underground projects (such as subway stations, underground garages, and basements), while reducing the number of equipment and manpower input, thus lowering the overall construction cost.

[0032] Furthermore, the following is a detailed description of the structure and control logic of the walking foot 300: Preferably, the end of the walking foot 300 connected to the mounting bracket 310 is higher than the bottom surface of the chassis 110. When the walking foot 300 is raised, the chassis 110 lowers to the ground to support the machine body. This design not only effectively lowers the overall center of gravity and improves operational stability, but also provides additional static support when the walking foot 300 is retracted, preventing the machine from tipping over. Simultaneously, on soft soil or loose, unstable ground, the chassis 110's contact with the ground increases the overall ground contact area, helping to disperse ground pressure and further enhancing the machine's stability and resistance to subsidence.

[0033] Preferably, the walking foot 300 includes: The first frame 301 is used to hinge with the mounting bracket 310; The second frame 302 is telescopically disposed within the first frame 301. The second hydraulic cylinder 330 is built into the first frame 301, and the telescopic shaft of the second hydraulic cylinder 330 is connected to the second frame 302, thereby realizing the axial telescopic function of the walking foot 300.

[0034] The second frame 302 has a toothed plate 3021 on its outer end face away from the first frame 301. The toothed plate 3021 extends beyond the second frame 302 and downwards. The bottom surface of the toothed plate 3021 has a sawtooth or raised tooth surface 3022 structure. When walking on soft ground (such as soft soil), the toothed plate 3021 can effectively embed into the ground, significantly enhancing grip and anti-slip ability, preventing slipping or sinking during walking, thereby improving the overall stability and reliability of the machine in complex terrain.

[0035] It should be noted here that, through the multi-degree-of-freedom arrangement and independent drive capability of the walking feet 300, the excavator 100 can flexibly switch between different gait modes to adapt to different ground conditions: In the first walking mode (suitable for hard, flat ground), the walking foot 300 on the left side of the chassis 110 and the walking foot 300 on the right side adopt an alternating stepping motion, similar to the diagonal gait of a quadruped, which can maintain good lateral stability while ensuring efficient movement. In the second walking mode (suitable for soft, loose, or easily sinking ground), the front walking foot 300 and the rear walking foot 300 alternately move forward and backward, and the specific details of this alternating forward and backward movement are as follows: The toothed plates 3021 at the ends of the four walking feet 300 first embed themselves into the soft soil simultaneously, forming a stable initial support; Subsequently, the two walking feet 300 located at the front of the chassis 110 generate propulsion by pushing the ground backward, while the rear walking foot 300 remains anchored to provide reaction support. Next, the two rear walking feet 300 step forward and re-embed themselves in the ground, while the front walking foot 300 lifts up and returns to its original position.

[0036] This cyclic gait achieves effective propulsion through the strong engagement between the toothed plate 3021 and the soft soil, which not only avoids single-leg sinking or slipping, but also significantly improves the traction, stability and obstacle-crossing ability of the whole machine on low-bearing-force ground.

[0037] The two walking modes can be intelligently switched according to the actual working conditions, taking into account both stable walking and high adhesion obstacle crossing ability, so that the excavator 100 has both flexibility, adaptability and operational reliability in complex and ever-changing underground construction environments.

[0038] It should be noted that in the second walking mode, the chassis 110 always maintains contact with the soil surface, that is, the four walking feet 300 drag the chassis 110 forward. This method is particularly suitable for Class I and Class II soils (with high water content) in coastal areas. In this type of soil, simply relying on high-legged steps can easily cause the walking feet 300 to sink or slip. However, by using the chassis 110 to keep close to the ground and the walking feet 300 to drag and propel the vehicle, the contact area between the bottom surface of the chassis 110 and the ground can be fully utilized to distribute the load. Combined with the anchoring effect of the toothed plate 3021, the stability and traction efficiency during the movement are significantly improved.

[0039] At the same time, since it does not require the machine to be completely lifted off the ground, it avoids the reliance on temporary hardening measures (such as laying steel plates or roadbed boxes), effectively saving construction preparation time and material costs, and is especially suitable for efficient operation in damp, soft and low-load-bearing construction sites.

[0040] Preferably, the chassis 110 is equipped with an attitude sensor (such as a gyroscope, tilt sensor or inertial measurement unit) for detecting levelness. The control system collects the body attitude data fed back by the sensor in real time, and dynamically calculates the extension and pitch angle that each walking foot 300 needs to be adjusted based on the current tilt state, thereby driving the corresponding hydraulic cylinder to precisely adjust the height of each walking foot 300.

[0041] Through this closed-loop control mechanism, the chassis 110 can be kept level quickly and automatically, regardless of the undulation or inclination of the ground, providing a stable platform foundation for excavation operations and material transportation, and effectively ensuring the smooth connection and continuous operation of the primary conveyor belt 210 and the secondary conveyor belt 340.

[0042] In addition, the chassis 110 is equipped with a 360° panoramic imaging module, which can collect high-definition video information of the machine's surrounding environment in real time. Operators can remotely access the image data through terminal devices such as mobile phones, tablets or computers to fully understand the obstacles, terrain conditions and working scenarios around the excavator 100.

[0043] Combined with remote control functionality, operators can precisely control the entire machine from a safe distance, effectively avoiding common safety risks in underground construction such as collapses, falling objects, and harmful gases, significantly improving operational safety.

[0044] Meanwhile, this design lays the hardware foundation for the subsequent introduction of advanced functions such as automatic path planning, intelligent obstacle avoidance, and unmanned operation, and greatly improves the overall intelligence and automation level of the machine.

[0045] Preferably, the chassis 110 has clearance notches at each corner, and the mounting bracket 310 is located within the clearance notches. This design effectively provides sufficient structural space for the multi-degree-of-freedom movement of the walking foot 300 (including horizontal rotation, vertical pitch and axial extension), and avoids interference between the walking foot 300 and the chassis 110 when the walking foot 300 swings at a large angle or is fully retracted.

[0046] Meanwhile, embedding the mounting bracket 310 into the outline of the chassis 110 helps to reduce the overall lateral dimensions of the machine, improve its maneuverability and operational flexibility in narrow underground spaces, and enhance the structural compactness and protective performance of the connection area between the walking mechanism and the chassis 110.

[0047] Preferably, the chassis 110 has guide ramps 111 on the bottom surfaces of the front and rear sides along the direction of travel. These guide ramps 111 can effectively guide the machine body to smoothly cross obstacles (such as embankments, piles of gravel, or construction joints) during the machine's movement, reducing the risk of collision or jamming between the front or rear edge of the chassis 110 and ground protrusions. At the same time, when going up or down slopes or crossing uneven terrain, the guide ramps 111 help to smoothly transition to ground contact, reduce travel resistance, and improve the machine's obstacle-crossing ability and driving stability. This is especially suitable for unstructured and complex ground environments commonly found in underground engineering.

[0048] Preferably, the secondary conveyor belt 340 consists of a transition conveyor belt 341 and a tail conveyor belt 342 mounted on the chassis 110, wherein, The feed end of the transition conveyor belt 341 is connected below the discharge end of the primary conveyor belt 210 and is used to receive the earth conveyed from the excavator head 200. The feed end of the tail conveyor belt 342 is connected to the discharge end of the transition conveyor belt 341 and is connected to the chassis 110 through the second rotary joint 3421, so that it can rotate horizontally around the vertical axis, thereby flexibly adjusting the discharge direction.

[0049] This structure not only enables a smooth multi-stage transition of materials from the excavator head 200 to the tail conveyor belt 342, but also allows the earthwork to be smoothly transported backward through the adjustable direction of the tail conveyor belt 342, without the need for frequent adjustments to the overall machine orientation, thus significantly improving operational efficiency and site adaptability.

[0050] It should be added here that the excavator 100 provided in this embodiment can be docked with external conveyor vehicles. Specifically, multiple external conveyor vehicles 400 can be arranged at the construction site. The feeding end of the first conveyor vehicle 400 is precisely docked with the discharge end of the tail conveyor belt 342 of the excavator 100 through its external conveyor belt 410. Subsequently, adjacent conveyor vehicles 400 are also connected end to end through their respective external conveyor belts 410 to form a cascaded conveyor chain extending to the designated unloading area.

[0051] In this way, the excavated and initially transported earth by the excavator-conveyor 100 can be seamlessly transferred to the external transport network via its own secondary transport system, realizing long-distance, uninterrupted automatic transfer.

[0052] The entire process does not require the frequent entry and exit of traditional dump trucks and other handling equipment into narrow or restricted underground work areas. It not only completely avoids problems such as vehicle scheduling congestion and cross-interference, but also significantly improves the efficiency of earthwork transportation, reduces construction safety risks and overall costs. It is particularly suitable for engineering scenarios with limited space and high requirements for continuous operation, such as subway stations, deep foundation pits, and underground parking garages.

[0053] In addition, to further ensure the stability and smoothness of earthwork transportation, the excavator head 200 in this embodiment has also been designed accordingly: First, the excavator head 200 has a rotary track 220 on its surface, on which several digging plates are arranged at intervals. The outer edges of the digging plates adopt a toothed structure. This toothed design allows the rotary track 220 to cut into the soil more efficiently during rotation, significantly reducing digging resistance and improving soil breaking capacity. At the same time, the digging plates continuously scrape the excavated soil upwards during rotation and smoothly guide it into the primary conveyor belt 210 located on the upper part of the excavator head 200, achieving a seamless connection from excavation to primary conveying.

[0054] Secondly, the excavator head 200 is connected to the chassis 110 via multi-stage connecting arms 230. Each stage of the connecting arms 230 is equipped with an independent third hydraulic cylinder 240, forming multiple independently adjustable articulation adjustment points. Each connecting arm 230 also integrates a corresponding conveying section, together forming a continuously extending primary conveyor belt 210. This multi-segment structure not only effectively extends the working arm length of the excavator head 200 and expands the operating range, allowing for a maximum excavation depth of 20 meters and a maximum conveying height of 20 meters in practical applications, but more importantly, it enables the entire primary conveyor belt 210 to form a gentle, approximately parabolic conveying path in space, rather than the traditional steep, straight, and inclined structure. This curved layout significantly reduces the downward trend of the excavated soil during the lifting process, lowers the risk of material rolling or piling up, and thus improves the continuity and stability of the conveying process.

[0055] Finally, thanks to the folding and telescopic capabilities of the multi-stage connecting arm 230, the excavator 100 can retract the excavator head 200 inward to a position close to the chassis 110 when not in operation or when it needs to move between sites. This effectively shortens the overall longitudinal dimension of the machine, improves its maneuverability and passability in narrow passages, and lowers the center of gravity during transportation, thereby enhancing walking safety.

[0056] In addition, the excavator and conveyor provided in this embodiment uses pure electric drive or diesel engine external power source, without the need to install a traditional internal combustion engine inside the machine. This design not only simplifies the overall structural layout and reduces the weight, but also avoids the high energy consumption, high noise and exhaust emission problems caused by engine operation.

[0057] Especially in underground enclosed or semi-enclosed construction environments, eliminating the engine can significantly improve the working air quality and reduce ventilation and environmental treatment costs. At the same time, as a clean energy source, electricity, combined with a high-efficiency hydraulic system, helps to achieve precise energy control and recycling, resulting in higher overall energy efficiency and lower operation and maintenance costs. This achieves a comprehensive effect of energy saving, noise reduction, and high efficiency, which aligns with the development direction of modern green and intelligent construction.

[0058] The technical means disclosed in this invention are not limited to those described above, but also include technical solutions composed of any combination of the above technical features. The above are specific embodiments of this invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this invention, and these improvements and modifications are also considered within the scope of protection of this invention.

[0059] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0060] Furthermore, in this invention, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. The terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly specified. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0061] The technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0062] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A robot dog-style intelligent excavator and conveyor integrated machine based on terrain adaptive leveling, characterized in that, include: An excavator, comprising a chassis and an excavator head mounted on the chassis; Multiple walking feet are distributed at each corner of the chassis via mounting brackets, and the walking feet are multi-segment telescopic structures; The mounting bracket is connected to the chassis via a first rotary joint, allowing the walking foot to rotate in the horizontal plane; One end of the walking foot is hinged to the mounting bracket via a first vertical hinge axis, so that the walking foot can swing in a vertical plane relative to the mounting bracket. The first hydraulic cylinder has one end hinged to the mounting bracket and the other end hinged to the side of the walking foot, and is used to drive the pitching and swinging of the walking foot. The second hydraulic cylinder, which is built into the walking foot, is used to drive the multi-segment walking foot to extend and retract; A material conveying system includes a primary conveyor belt disposed on the excavator head and a secondary conveyor belt disposed on the chassis, wherein the primary conveyor belt and the secondary conveyor belt are connected. By independently controlling the extension and retraction length and pitch angle of each of the walking feet, the chassis of the excavator can always remain horizontal when operating on inclined ground. At this time, the primary conveyor belt and the secondary conveyor belt are horizontally connected to form a continuous and horizontal material conveying path.

2. The intelligent excavator-conveyor integrated machine based on terrain adaptive leveling according to claim 1, characterized in that, The end of the walking foot connected to the mounting bracket is higher than the bottom surface of the chassis. When the walking foot is raised, the chassis is lowered to the ground to support the machine body.

3. The intelligent excavator-conveyor integrated machine based on terrain adaptive leveling according to claim 1, characterized in that, The walking foot includes: A first frame is used for hinged to the mounting bracket; A second frame is telescopically disposed within the first frame, a second hydraulic cylinder is built into the first frame, and the telescopic shaft of the second hydraulic cylinder is connected to the second frame.

4. The intelligent excavator-conveyor integrated machine based on terrain adaptive leveling according to claim 3, characterized in that, The second frame has a toothed plate on its outer end face away from the first frame. The toothed plate extends beyond the second frame and downwards, and the bottom surface of the toothed plate is set as a toothed surface.

5. The intelligent excavator-conveyor integrated machine based on terrain adaptive leveling according to claim 1, characterized in that, The excavator has a first walking mode suitable for hard ground, in which the walking foot located on the left side of the chassis and the walking foot located on the right side of the chassis alternately move in steps.

6. The intelligent excavator-conveyor integrated machine based on terrain adaptive leveling according to claim 1, characterized in that, The excavator has a second walking mode suitable for soft ground, in which the walking feet located on the front side of the chassis and the walking feet located on the rear side of the chassis alternately move in steps.

7. The intelligent excavator-conveyor integrated machine based on terrain adaptive leveling according to claim 1, characterized in that, The chassis is equipped with an attitude sensor for detecting levelness and a 360° holographic imaging module for acquiring high-definition images of the surrounding environment.

8. The intelligent excavator-conveyor integrated machine based on terrain adaptive leveling according to claim 1, characterized in that, The chassis has clearance notches at each corner, and the mounting bracket is located within the clearance notches.

9. A robot dog-type intelligent excavator and conveyor integrated machine based on terrain adaptive leveling according to claim 1, characterized in that, The chassis has guide ramps on the bottom surfaces of the front and rear sides along the direction of travel.

10. A robot dog-type intelligent excavator and conveyor integrated machine based on terrain adaptive leveling according to claim 1, characterized in that, The secondary conveyor belt consists of a transition conveyor belt and a tail conveyor belt mounted on the chassis. The feed end of the transition conveyor belt is connected to the discharge end of the primary conveyor belt below; The feed end of the tail conveyor belt is attached to the discharge end of the transition conveyor belt below, and the feed end of the tail conveyor belt is connected to the chassis through a second rotary joint to adjust the discharge direction.

Images