Six-foot excavator

Abstract

The utility model relates to the technical field of excavators, and discloses a six-foot excavator which comprises a base, a cab is installed on the upper surface of the base, six sets of combined supporting legs are arranged on the lower surface of the base, the six sets of combined supporting legs are symmetrically arranged, and each set of combined supporting legs is driven by a hydraulic assembly. The hydraulic assembly comprises two groups of first hydraulic cylinders, two groups of second hydraulic cylinders and a third hydraulic cylinder; through cooperation of the third-stage supporting leg, the second-stage supporting leg, the first-stage supporting leg, the hydraulic assembly and the leg rotating joint, the included angles among the leg rotating joint, the third-stage supporting leg, the second-stage supporting leg and the first-stage supporting leg are controlled through the hydraulic assembly, then the combined supporting leg can be lifted and put down conveniently, the included angle between every two adjacent supporting leg sets is adjusted, the supporting leg has the large freedom degree, and therefore the combined supporting leg is convenient to use. The maneuverability and the flexibility are improved, so that the robot can adapt to a relatively complex terrain environment, and the special operation capability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of excavators, in particular to a six-legged excavator. Background Art

[0002] Excavators are heavy-duty engineering machinery that can transfer materials from high or low places using the hopper of the mechanical arm at the front of the vehicle body. Excavators are applicable to crawler excavators, triangular crawler excavators, and tire excavators.

[0003] In the prior art, the Chinese utility model with publication number: CN216108683U discloses an excavator, which is provided with a spray system; the water spray end of the spray system is arranged on the second boom connected to the bucket of the excavator and is arranged close to the bucket; and the spray head of the spray system is arranged toward the direction of the excavator's cab. The spray system arranged on the excavator of the utility model enables liquid spraying during the excavation operation, reduces the amount of dust on the operation site, and protects the health of the driver and on-site construction workers;

[0004] As a traditional construction machinery, crawler excavators have been maturely applied in earthmoving projects such as mining and urban construction. However, their maneuverability and flexibility in complex terrain are relatively poor, and they often require more time and manpower to adjust and move. In some extremely harsh terrain environments, such as mountains, forests, and earthquake-stricken areas, crawler excavators may find it difficult to play their role, resulting in low work efficiency and even certain safety hazards during their use. Therefore, we need to propose a six-legged excavator. Utility Model Content

[0005] The purpose of the utility model is to provide a six-legged excavator with higher maneuverability and flexibility and the ability to perform special operations in extremely harsh terrains, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the utility model provides the following technical solution: a six-legged excavator, comprising a base, a cab is installed on the upper surface of the base, six groups of combined outriggers are arranged on the lower surface of the base, the six groups of combined outriggers are symmetrically arranged, and each group of the combined outriggers is driven by a hydraulic assembly;

[0007] The hydraulic assembly includes two groups of first hydraulic cylinders, two groups of second hydraulic cylinders and a third hydraulic cylinder;

[0008] The combined support leg comprises a three-stage support leg, a two-stage support leg, a one-stage support leg and a leg swivel joint, the lower end of the three-stage support leg is rotatably connected with a support foot, the upper end of the three-stage support leg is rotatably connected to the lower end of the two-stage support leg, the upper end of the two-stage support leg is rotatably connected to the lower end of the one-stage support leg, the upper end of the one-stage support leg is rotatably connected to the lower end of the leg swivel joint, the leg swivel joint is rotatably connected to the lower surface of the base through a swivel mechanism, the bottoms of two groups of the first hydraulic cylinders are rotatably connected inside the three-stage support leg, the telescopic ends of two groups of the first hydraulic cylinders are both rotatably connected inside the two-stage support leg, the bottoms of two groups of the second hydraulic cylinders are rotatably connected to the lower end of the two-stage support leg, and the telescopic ends of two groups of the second hydraulic cylinders are both rotatably connected to the middle of the lower surface of the three-stage support leg.

[0009] Preferably, the base includes an upper seat and a lower seat, and the upper seat and the lower seat are rotatably connected via a swivel support structure, six groups of short columns are detachably connected to the support legs, and the six groups of short columns are arranged in a rectangular array, and the support legs are six-legged support chassis.

[0010] Preferably, the telescopic end of the third hydraulic cylinder is rotatably connected to the upper end of the primary support leg, the third hydraulic cylinder is arranged inside the leg swivel joint, and the base of the third hydraulic cylinder is rotatably connected to the lower surface of the base.

[0011] Preferably, the upper surface of the base is provided with engine and hydraulic system accessories, and one end of the upper surface of the base is detachably connected to a swivel seat, to which a first-level digging arm is rotatably connected, the upper end of the first-level digging arm is rotatably connected to a second-level digging arm, and the lower end of the second-level digging arm is rotatably connected to an excavating bucket.

[0012] Preferably, one end of the swivel seat is rotatably connected to the first digging arm cylinder, and the telescopic end of the first digging arm cylinder is rotatably connected to the middle part of the lower surface of the primary digging arm.

[0013] Preferably, a second digging arm cylinder is rotatably connected to the middle portion of the outer side of the first digging arm, and a telescopic end of the second digging arm cylinder is rotatably connected to an end of the second digging arm away from the digging bucket.

[0014] Preferably, one end of the upper surface of the secondary digging arm close to the first digging arm cylinder is rotatably connected to a digging bucket cylinder, the telescopic end of the digging bucket cylinder is rotatably connected to the outside of the digging bucket, and the connecting end of the secondary digging arm and the primary digging arm is arranged below the base of the second digging arm cylinder.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] The utility model mainly realizes the coordination among the three-stage outrigger, the two-stage outrigger, the one-stage outrigger, the hydraulic assembly and the leg swivel joint, and controls the angle among the leg swivel joint, the three-stage outrigger, the two-stage outrigger and the one-stage outrigger through the hydraulic assembly, so as to facilitate the lifting and lowering of the combined outrigger, adjust the angle between two adjacent groups of outriggers, make the outriggers have a greater degree of freedom, improve the maneuverability and flexibility, and thus can adapt to more complex terrain environments and improve the special operation capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the digging arm structure of the utility model;

[0019] Figure 3 It is a schematic diagram of the combined outrigger structure of the utility model.

[0020] In the figure: 1. outrigger; 2. third-level outrigger; 3. second-level outrigger; 4. first-level outrigger; 5. leg swivel joint; 6. hydraulic assembly; 61. first hydraulic cylinder; 62. second hydraulic cylinder; 63. third hydraulic cylinder; 7. base; 8. cab; 9. first-level digging arm; 10. second-level digging arm; 11. first digging arm cylinder; 12. second digging arm cylinder; 13. digging bucket; 14. digging bucket cylinder; 15. swivel seat; 16. engine and hydraulic system accessories. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] See also Figure 1-3 The utility model provides a technical solution: a six-legged excavator, comprising a base 7, a cab 8 is installed on the upper surface of the base 7, and six groups of combined outriggers are arranged on the lower surface of the base 7. The six groups of combined outriggers are symmetrically arranged, and each group of combined outriggers is driven by a hydraulic assembly 6;

[0023] The hydraulic assembly 6 includes two groups of first hydraulic cylinders 61, two groups of second hydraulic cylinders 62 and a third hydraulic cylinder 63;

[0024] The combined support leg includes a three-stage support leg 2, a two-stage support leg 3, a one-stage support leg 4 and a leg swivel joint 5. The lower end of the three-stage support leg 2 is rotatably connected to the support foot 1, the upper end of the three-stage support leg 2 is rotatably connected to the lower end of the two-stage support leg 3, the upper end of the two-stage support leg 3 is rotatably connected to the lower end of the one-stage support leg 4, the upper end of the one-stage support leg 4 is rotatably connected to the lower end of the leg swivel joint 5, the leg swivel joint 5 is rotatably connected to the lower surface of the base 7 through a swivel mechanism, the bottoms of the two groups of first hydraulic cylinders 61 are rotatably connected to the inside of the three-stage support leg 2, the telescopic ends of the two groups of first hydraulic cylinders 61 are both rotatably connected to the inside of the two-stage support leg 3, the bottoms of the two groups of second hydraulic cylinders 62 are rotatably connected to the lower end of the two-stage support leg 3, and the telescopic ends of the two groups of second hydraulic cylinders 62 are both rotatably connected to the middle of the lower surface of the three-stage support leg 2.

[0025] The base 7 includes an upper seat and a lower seat, and the upper seat and the lower seat are rotatably connected through a slewing support structure. Six groups of short columns are detachably connected to the support leg 1, and the six groups of short columns are arranged in a rectangular array. The support leg 1 is a six-legged support chassis. The six groups of short columns on the support leg 1 can be inserted into the soil layer when the excavator is walking, thereby improving the grip of the support leg 1. The three-level support leg 2 and the support leg 1 are combined by a bearing and a pin shaft.

[0026] The telescopic end of the third hydraulic cylinder 63 is rotatably connected to the upper end of the primary leg 4. The third hydraulic cylinder 63 is arranged inside the leg swivel joint 5. The base of the third hydraulic cylinder 63 is rotatably connected to the lower surface of the base 7. The angle between the two groups of telescopic ends of the third hydraulic cylinders 63 is controlled by telescoping them. The angle between adjacent legs is controlled by telescoping the hydraulic assembly 6, so that the legs have a greater degree of freedom and can adapt to more complex terrain environments. In addition, the leg swivel joint 5 provides each primary leg 4 connected thereto with the degree of freedom of rotation in the horizontal direction.

[0027] The upper surface of the base 7 is provided with an engine and hydraulic system accessories 16, and one end of the upper surface of the base 7 is detachably connected to a swivel seat 15, to which a first-level digging arm 9 is rotatably connected, and the upper end of the first-level digging arm 9 is rotatably connected to a second-level digging arm 10, and the lower end of the second-level digging arm 10 is rotatably connected to an excavation bucket 13. The first-level digging arm 9, the second-level digging arm 10 and the excavation bucket 13 are all connected by a bearing and a pin shaft combination. The engine and hydraulic system accessories 16 are all existing technologies, and the driving hydraulic system provides power for all cylinders, which will not be elaborated in detail.

[0028] One end of the swivel seat 15 is rotatably connected to the first digging arm cylinder 11, and the telescopic end of the first digging arm cylinder 11 is rotatably connected to the middle of the lower surface of the first digging arm 9. The first digging arm cylinder 11 is used to facilitate the adjustment of the angle between the first digging arm 9 and the base 7, thereby controlling the digging distance of the digging bucket 13. The larger the angle, the shorter the digging distance, and vice versa.

[0029] The middle part of the outer side of the first-stage digging arm 9 is rotatably connected to the second digging arm cylinder 12, and the telescopic end of the second digging arm cylinder 12 is rotatably connected to the end of the second-stage digging arm 10 away from the digging bucket 13. The second digging arm cylinder 12 is used to facilitate the adjustment of the angle between the first-stage digging arm 9 and the second-stage digging arm 10, thereby facilitating the arc swing of the digging bucket 13, and cooperating with the digging bucket cylinder 14 to facilitate the digging work of the digging bucket 13. The shape of the entire digging arm is controlled by the first digging arm cylinder 11, the second digging arm cylinder 12 and the digging bucket cylinder 14.

[0030] One end of the upper surface of the secondary digging arm 10 close to the first digging arm cylinder 11 is rotatably connected to the digging bucket cylinder 14, and the telescopic end of the digging bucket cylinder 14 is rotatably connected to the outside of the digging bucket 13. The connecting end of the secondary digging arm 10 and the primary digging arm 9 is arranged below the base of the second digging arm cylinder 12. The digging bucket cylinder 14 is used to conveniently control the digging bucket 13 to flip, thereby facilitating digging and shaking out the excavated materials.

[0031] When in use, through the combination of three legs, namely the third-level leg 2, the second-level leg 3 and the first-level leg 4, the extension and retraction of the cylinder assembly is used to control the angle between two adjacent legs, so that the combined legs have a larger degree of freedom to adapt to different complex terrain environments, and the leg swivel joint 5 can provide each leg connected thereto with the degree of freedom of horizontal rotation, so as to realize the front, back, left and right movement of the excavator. The six groups of combined legs are staggered and move alternately. The driver can control it in the cab 8 or use a remote control for remote operation. The equipment can be remotely controlled in a safe position. The excavation bucket 13 can be controlled to perform excavation work by extending and retracting the first excavation arm cylinder 11, the second excavation arm cylinder 12 and the excavation bucket cylinder 14, so as to transfer the excavated materials to other locations.

[0032] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A six-legged excavator, comprising a base (7), characterized in that: A cab (8) is mounted on the upper surface of the base (7), and six groups of combined outriggers are arranged on the lower surface of the base (7), the six groups of combined outriggers are symmetrically arranged, and each group of the combined outriggers is driven by a hydraulic assembly (6); The hydraulic assembly (6) comprises two groups of first hydraulic cylinders (61), two groups of second hydraulic cylinders (62) and a third hydraulic cylinder (63); The combined support leg comprises a three-stage support leg (2), a two-stage support leg (3), a one-stage support leg (4) and a leg swivel joint (5); the lower end of the three-stage support leg (2) is rotatably connected to a support foot (1); the upper end of the three-stage support leg (2) is rotatably connected to the lower end of the two-stage support leg (3); the upper end of the two-stage support leg (3) is rotatably connected to the lower end of the one-stage support leg (4); the upper end of the one-stage support leg (4) is rotatably connected to the lower end of the leg swivel joint (5); the leg swivel joint (5) is rotatably connected to the lower surface of the base (7) through a swivel mechanism; the bottoms of the two groups of the first hydraulic cylinders (61) are rotatably connected to the inside of the three-stage support leg (2); the telescopic ends of the two groups of the first hydraulic cylinders (61) are both rotatably connected to the inside of the two-stage support leg (3); the bottoms of the two groups of the second hydraulic cylinders (62) are rotatably connected to the lower end of the two-stage support leg (3); and the telescopic ends of the two groups of the second hydraulic cylinders (62) are both rotatably connected to the middle of the lower surface of the three-stage support leg (2).

2. A hexapod excavator according to claim 1, characterized in that: The base (7) comprises an upper base and a lower base, and the upper base and the lower base are rotatably connected via a slewing support structure. Six groups of short columns are detachably connected to the support foot (1), and the six groups of short columns are arranged in a rectangular array. The support foot (1) is a six-legged support chassis.

3. A hexapod excavator according to claim 2, characterized in that: The telescopic end of the third hydraulic cylinder (63) is rotatably connected to the upper end of the primary support leg (4); the third hydraulic cylinder (63) is arranged inside the leg swivel joint (5); and the base of the third hydraulic cylinder (63) is rotatably connected to the lower surface of the base (7).

4. A hexapod excavator according to claim 3, characterized in that: The upper surface of the base (7) is provided with engine and hydraulic system accessories (16); one end of the upper surface of the base (7) is detachably connected to a swivel seat (15); a first-stage digging arm (9) is rotatably connected to the swivel seat (15); the upper end of the first-stage digging arm (9) is rotatably connected to a second-stage digging arm (10); and the lower end of the second-stage digging arm (10) is rotatably connected to an excavation bucket (13).

5. A hexapod excavator according to claim 4, characterized in that: One end of the swivel seat (15) is rotatably connected to a first digging arm cylinder (11), and a telescopic end of the first digging arm cylinder (11) is rotatably connected to the middle of the lower surface of the primary digging arm (9).

6. A hexapod excavator according to claim 5, characterized in that: The middle part of the outer side of the primary digging arm (9) is rotatably connected to a second digging arm cylinder (12), and the telescopic end of the second digging arm cylinder (12) is rotatably connected to an end of the secondary digging arm (10) away from the digging bucket (13).

7. A hexapod excavator according to claim 6, characterized in that: An end of the upper surface of the secondary digging arm (10) close to the first digging arm cylinder (11) is rotatably connected to a digging bucket cylinder (14); a telescopic end of the digging bucket cylinder (14) is rotatably connected to the outside of the digging bucket (13); and a connecting end of the secondary digging arm (10) and the primary digging arm (9) is arranged below the base of the second digging arm cylinder (12).

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