Lower frame of three-wheel excavator
By designing a three-wheeled excavator underframe, combining a front wheel, swivel wheel, and auxiliary wheel, and utilizing a rotary drive and slewing device to achieve multiple walking modes, the problem of excavators walking on roads and complex terrains has been solved, improving self-rescue capabilities and adaptability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-21
- Publication Date
- 2026-03-27
AI Technical Summary
Existing excavators cannot simultaneously travel on roads and operate in complex terrain, resulting in high operating costs and poor adaptability.
Design a three-wheeled excavator underframe, which adopts a combination structure of front wheel, swivel wheel and auxiliary wheel. Through the cooperation of rotary drive device, slewing device and mechanical arm, it can realize the switching of three-wheel, four-wheel or five-wheel working mode. The auxiliary wheel can be independently controlled to adapt to different terrains and has 360-degree rotation and self-rescue function.
It enables self-rescue capabilities in complex terrain, allows for flexible movement under different road conditions, reduces the operating costs for engineering teams, and improves operational adaptability in roads and complex terrain.
Smart Images
Figure CN224045267U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to excavator technical field, especially a three-wheel excavator lower frame. BACKGROUND
[0002] The excavator is earthmoving machinery that uses a bucket to excavate materials above or below the surface of the machine and loads them into transport vehicles or unloads them into a stockpile. The excavator now has an upper frame, a lower frame, and a walking device installed on the lower frame. The walking device can be divided into a wheel-type walking device and a track-type walking device. The wheel-type walking device has two front wheels at the front end of the lower frame and two rear wheels at the rear end of the lower frame. The four wheels can walk on the road, and the excavator can be self-transported over a long distance. However, the contact area between the wheels and the ground is small, so it is not suitable for walking in complex terrains such as mines and swamps. The track-type walking device has walking tracks on the left and right sides of the lower frame and extends in the front and rear directions. The large contact area of the walking tracks allows the excavator to easily walk in complex terrains such as mines and swamps. However, the shock absorption effect of the walking tracks is poor, and the road surface may be damaged when the excavator walks on a cement or asphalt paved road. Therefore, the excavator is not suitable for walking on the road, and the track-type excavator needs to be transported by a car when it is used in different areas. The construction team selects the excavator according to the actual road conditions and operation, which increases the use cost of the entire construction team. Therefore, there is a need for an excavator that can walk on the road and work and walk in complex terrains.
[0003] Therefore, the present inventors have conducted in-depth research on the problem and have developed the present application. SUMMARY
[0004] The utility model discloses a three-wheel excavator lower frame, which solves the problem that the existing excavator cannot walk on the road and work and walk in complex terrains at the same time.
[0005] To achieve the purpose, the utility model adopts the following technical scheme:
[0006] A lower frame of a three-wheel excavator, comprising a lower frame and a walking device installed on the lower frame for walking, the walking device having front wheels and rear wheels, the front wheels having two, the two front wheels being arranged opposite to each other, the front wheels being outside the front end of the lower frame, and the front end of the lower frame being detachably installed with a rotating drive device for driving the front wheels to rotate circumferentially, the output end of the rotating drive device being detachably installed and matched with the front wheels, the rear wheels having a universal single wheel and two auxiliary wheels, the universal single wheel being circumferentially rotatably installed at the bottom of the rear end of the lower frame through a mounting frame, the two auxiliary wheels being between the universal single wheel and the front wheels and being outside the left and right sides of the lower frame, respectively, the outer end wall of the lower frame being installed with a swivel device capable of rotating circumferentially at a position corresponding to the auxiliary wheels, the output end of the swivel device being installed with a mechanical arm capable of driving the auxiliary wheels to stand, lie flat, translate left and right, and ascend and descend, and the auxiliary wheels being rotatably installed on the output end of the mechanical arm.
[0007] The two rotating drive devices are locked on the left and right sides of the front end of the lower frame, the output ends of the two rotating drive devices being arranged opposite to each other, the output end of the rotating drive device being locked with an inner detachable plate, the inner detachable plate being connected with a connecting rod, the outer end of the connecting rod being locked with the hub of the vertically arranged front wheel through an outer detachable plate.
[0008] The mounting frame has side plate bodies, an upper plate body, and a connecting plate, the side plate bodies being two, the side plate bodies being vertically arranged, the two side plate bodies being arranged opposite to each other, the universal single wheel being vertically arranged, and the universal single wheel having rotating rods horizontally arranged and extending out of the center of the universal single wheel, the horizontal direction of the rotating rods being consistent with the extension direction of the axis of the universal single wheel, the two ends of the rotating rods being connected with the lower ends of the two side plate bodies, respectively, the upper plate body being connected between the upper ends of the two side plate bodies, and the upper plate body being rotatably connected with the upper plate body through a horizontally arranged rolling bearing, the connecting plate being above the upper plate body, the outer ring of the rolling bearing being connected with the upper plate body, the inner ring of the rolling bearing being connected with the connecting plate, and the connecting plate being locked with the bottom of the rear end of the lower frame.
[0009] The two rotary devices are locked on the left and right sides of the rear end of the lower frame, and the output ends of the two rotary devices are arranged opposite to each other, and the rotary device and the auxiliary wheel have the first movable arm, the second movable arm and the third movable arm in sequence, the first movable arm is arranged horizontally along the left and right directions, the first end of the first movable arm is hinged with the output end of the rotary device, and the output end of the rotary device is provided with the first driving device capable of driving the first movable arm to rotate along the output end of the rotary device, the second movable arm is arranged vertically, the second end of the first movable arm is hinged with the upper end of the second movable arm, the first movable arm is provided with the second driving device capable of driving the first end of the second movable arm to rotate around the second end of the first movable arm, the first end of the third movable arm is hinged with the lower end of the second movable arm, the second end of the third movable arm is rotationally connected with the vertically arranged auxiliary wheel, and the second movable arm is provided with the third driving device capable of driving the first end of the third movable arm to rotate around the lower end of the second movable arm, and the second end of the third movable arm is rotationally connected with the front walking wheel through the rotating device, and the first movable arm, the second movable arm and the third movable arm constitute the above-mentioned mechanical arm.
[0010] The output end of the rotary device is connected with the fixed plate, the first end of the first movable arm is hinged with the fixed plate, and the first driving device is a first driving rod capable of driving the first end of the first movable arm to swing up and down along the fixed plate, the first driving rod is arranged upwardly and obliquely from bottom to top, the lower end of the first driving rod is directly below the first end of the first movable arm and is hinged with the fixed plate, and the upper end of the first driving rod is hinged with the first end of the first movable arm.
[0011] The second driving device is a second driving rod capable of driving the upper end of the second movable arm to swing up and down around the second end of the first movable arm, the second driving rod is horizontally arranged on the top surface of the first movable arm, the second driving rod is arranged upwardly and obliquely from bottom to top, the upper end of the second movable arm extends out of the top surface of the first movable arm, and the upper end of the second driving rod is hinged with the upper end of the second movable arm, and the lower end of the second driving rod is hinged with the top surface of the first end of the first movable arm.
[0012] The third driving device is a third driving rod capable of driving the second movable arm and the third movable arm to move relatively or oppositely, the third movable arm is arranged downwardly and obliquely from the lower end of the second movable arm, the lower end of the third movable arm is rotationally connected with the auxiliary wheel, the third driving rod is vertically arranged on the side of the second movable arm away from the first movable arm, the third driving rod is vertically arranged, the upper end of the third driving rod is hinged with the upper end of the second movable arm, and the lower end of the third driving rod is connected with the driving block capable of driving the lower end of the second movable arm and the upper end of the third movable arm to move relatively or oppositely.
[0013] The drive block has two drive rods. The first ends of the two drive rods are hinged together to the lower end of the third drive rod. The second end of one drive rod is hinged together to the lower end of the second movable arm, and the second end of the other drive rod is hinged together to the upper end of the third movable arm.
[0014] The first drive rod, the second drive rod, and the third drive rod are all hydraulic cylinders. The output end of the first drive rod is connected to the first end of the first movable arm, the output end of the second drive rod is connected to the upper end of the second movable arm, and the output end of the third drive rod is hinged to the drive block.
[0015] This novel three-wheeled excavator underframe allows for independent disassembly, installation, and control of the two auxiliary wheels, front wheels, and swivel wheels. In different terrains, the two auxiliary wheels can be controlled separately, enabling switching between three-wheel, four-wheel, or five-wheel operation. If the walking mechanism becomes stuck in complex terrain, the auxiliary wheels are driven upwards to free them from the terrain. They are then moved to a relatively flat area, parallel to the ground. The wheels are then placed horizontally on the flat surface, with their sides acting as support surfaces to suspend the front wheels and swivel wheels, allowing them to escape the complex terrain. The auxiliary wheels are then positioned vertically, and the excavator moves on the flat surface to escape the complex terrain. Finally, the front wheels and swivel wheels return to their original position and continue moving. The excavator is first driven by a rotary mechanism, which rotates the auxiliary wheels to move them out of the complex terrain and onto flatter terrain. Using the auxiliary wheels as fulcrums, the front wheels and swivel wheels are then suspended in the air to escape the complex terrain. The auxiliary wheels then move on flatter terrain, allowing the entire excavator to escape the complex terrain and achieve self-rescue. If the complex terrain causes the excavator to have a height difference and the body to be tilted and unstable, the mechanical arm can independently control the vertical height of the two auxiliary wheels, allowing the entire body to be stably supported by the two auxiliary wheels. This also allows the auxiliary wheels to be driven parallel to the ground, increasing the contact area between the auxiliary wheels and the ground for more stable support. The above are some hypothetical operating methods for encountering complex terrain. In actual situations involving complex terrain, the operator inside the excavator controls the mechanical arm to adjust the movement of the auxiliary wheels according to the specific circumstances to achieve self-rescue and escape from the complex terrain.
[0016] Compared with the prior art, the new type of underframe for a three-wheeled excavator has the following advantages:
[0017] The independent drive of the two front wheels eliminates the need for a chassis, resulting in a simple structure. The independent drive mechanism and slewing mechanism are detachable from the lower chassis, and the omnidirectional wheel is also detachable from the lower chassis, allowing the various parts of the lower chassis to be assembled in a modular fashion. The circumferential rotation of the omnidirectional wheel enables the entire excavator to rotate 360 degrees, allowing it to turn around 360 degrees.
[0018] The cooperation of the front wheels, the universal single wheels and the auxiliary wheels makes the whole excavator work in three-wheel mode, four-wheel mode or five-wheel mode, the walking working modes are various, and the excavator can adapt to various road conditions;
[0019] The cooperation of the rotary device and the mechanical arm makes the two auxiliary wheels move forward or backward along the front-back direction of the lower frame, so that the function of self-rescue is realized by lifting and moving the two auxiliary wheels forward and backward when the excavator is trapped in complex road conditions, and the rotation of the rotary device can push the whole vehicle forward when the auxiliary wheels are in force;
[0020] The cooperation of the mechanical arm makes the two auxiliary wheels move in the up-down direction and the left-right direction, so that the excavator can adapt to uneven road conditions, and the height difference of the two auxiliary wheels can be adjusted to keep the whole vehicle stable and not inclined. BRIEF DESCRIPTION OF DRAWINGS
[0021] Fig. 1 The figure is a structure schematic diagram of the utility model.
[0022] Fig. 2 The figure is a structure schematic diagram of the utility model.
[0023] Fig. 3 The figure is another structure schematic diagram of the utility model. DETAILED DESCRIPTION
[0024] In order to further explain the technical scheme of the utility model, the following will be described in detail in combination with the drawings.
[0025] A lower frame of a three-wheel excavator, like Figs. 1-3As shown, including the upper frame 1, the lower frame 2 is rotatably installed below the upper frame 1, and the walking device is installed on the lower frame 2 for walking, the connection mode of the upper frame 1 and the lower frame 2 is a known technology, the walking device has front wheels 3 and rear wheels 4, the front wheels 3 have two, two front wheels 3 are arranged opposite to each other, the front wheels 3 are outside the front end of the lower frame 2, and the front end of the lower frame 2 is detachably mounted with a rotating drive device 5 for driving the front wheels 3 to rotate circumferentially, the output end of the rotating drive device 5 is detachably mounted with the front wheels 3; Specifically, the rotating drive device is a wheel motor, which can also be a hydraulic motor, the two wheel motors are locked on the left and right sides of the front end of the lower frame 2, the wheel motor is locked on the left and right sides of the lower frame, which is a known technology to those skilled in the art, the output ends of the two wheel motors are arranged opposite to each other, the output end of the wheel motor is locked with an inner detachable plate 51, that is, the inner detachable plate 51 is provided with a locking hole penetrating the inner detachable plate 51 in the left-right direction, the wheel motor is provided with a locking plate 52 corresponding to the position of the inner detachable plate 51, the locking plate 52 is provided with a locking through hole penetrating in the left-right direction corresponding to the position of the locking hole, the locking plate 52 is locked together with the inner detachable plate 51 through the locking hole and the locking through hole by locking bolts, and the end of the rod portion of the locking bolt is screwed with a nut, the inner detachable plate 51 is connected with a connecting rod 511 arranged horizontally in the left-right direction, the outer end of the connecting rod 511 is locked together with the hub of the vertically arranged front wheel 3 through an outer detachable plate, and the outer detachable plate is locked together with the hub of the front wheel 3 in a similar manner as the inner detachable plate and the locking plate 52. When used, since the wheel motor is locked together with the lower frame and the front wheel respectively, the wheel motor can be detached, which facilitates the later maintenance and detachment of the rotating drive device 5, and also allows the front wheel 3 to be independently detached and installed.
[0026] The rear wheel 4 has a universal single wheel 41 and two auxiliary wheels 42, the universal single wheel 41 is installed at the bottom of the rear end of the lower frame 2 through the mounting bracket 6, and is rotatable in the circumferential direction. Specifically, the mounting bracket 6 has a side plate body 61, an upper plate body 62 and a connecting plate 63. The side plate body 61 is provided with two side plate bodies 61, which are vertically arranged and spaced apart from each other. The universal single wheel 41 is vertically arranged and has a rotating rod which is horizontally arranged along the left-right direction and extends outward from the center of the universal single wheel 41. The horizontal direction of the rotating rod is consistent with the extension direction of the axis of the universal single wheel 41. The two ends of the rotating rod are respectively connected to the lower ends of the two side plate bodies 61. The upper plate body 62 is connected between the upper ends of the two side plate bodies 61 and is rotatably connected to the connecting plate 53 through a horizontally arranged rolling bearing. The connecting plate 63 is above the upper plate body 62. The outer ring of the rolling bearing is connected to the upper plate body 62, and the inner ring of the rolling bearing is connected to the connecting plate 63. The connecting plate 63 is locked together with the bottom of the rear end of the lower frame 2. The upper plate body 62 can rotate around the bottom surface of the connecting plate 63 in the circumferential direction through the rolling bearing, which is known to those skilled in the art, and will not be described here. That is, the bottom surface of the lower frame 2 is concave, and the connecting plate 63 is provided with a lower locking hole which penetrates the upper and lower positions. The connecting plate 63 is locked together with the lower frame through the locking bolt which penetrates the lower locking hole into the upper locking groove.
[0027] Two said auxiliary wheels 42 are between the universal single wheel 41 and the front wheel 3, and are respectively outside the left and right sides of the lower frame 2, the outer end walls of the lower frame 2 are provided with the rotation devices 7 which can rotate in the circumferential direction at the positions corresponding to the auxiliary wheels 42, the output ends of the rotation devices 7 are provided with the mechanical arms 8 which can drive the auxiliary wheels 42 to stand, lay, translate left and right, and ascend and descend, the auxiliary wheels 42 are rotatably installed on the output ends of the mechanical arms 8; specifically, the two said rotation devices 7 are locked on the left and right sides of the rear end of the lower frame 2, the rotation device 7 is a rotation motor, the locking mode of the rotation motor on the left and right sides of the rear end of the lower frame 2 is a known technology, the output ends of the two rotation devices 7 are oppositely arranged, the rotation device 7 and the auxiliary wheel 42 sequentially have the first movable arm 81, the second movable arm 82 and the third movable arm 83, the first movable arm 81, the second movable arm 82 and the third movable arm 83 constitute the above-mentioned mechanical arm 8, the first movable arm 81 is horizontally arranged along the left and right directions, the first end of the first movable arm 81 is hinged with the output end of the rotation device 7, and the output end of the rotation device 7 is provided with the first driving device which can drive the first movable arm 81 to rotate along the output end of the rotation device 7;The output end of the rotating device 7 is connected with a fixed plate 71, the first end of the first movable arm 81 is hinged with the fixed plate 71, the first driving device is a first driving rod 72 capable of driving the first end of the first movable arm 81 to swing up and down along the fixed plate 71, the first driving rod 72 is a hydraulic cylinder, the output end of the first driving rod 72 is connected with the first end of the first movable arm 81, the first driving rod 72 is arranged in an upward inclination from bottom to top, the lower end of the first driving rod 72 is right below the first end of the first movable arm 81 and is hinged with the fixed plate 71, the upper end of the first driving rod 72 is hinged with the first end of the first movable arm 81, the side of the fixed plate 71 facing away from the output end of the rotating device 7 is protrudingly provided with an upper hinge block and a lower hinge block below the upper hinge block, the upper hinge block and the lower hinge block are both composed of two hinge pieces 711 arranged in a spacing along the front and back directions, the two hinge pieces and the fixed plate 71 enclose a hinge space which is open to the side facing away from the rotating device 7 and penetrates up and down, the two hinge pieces are provided with hinge holes penetrating along the front and back directions, the first end of the first movable arm 81 is provided with an upper hinge through hole penetrating along the front and back directions and capable of being arranged in a position opposite to the upper hinge hole, the first end of the first movable arm is arranged in the upper hinge space so that the upper hinge hole and the upper hinge through hole are arranged in a position opposite to each other, and the first end of the first movable arm is hinged with the upper hinge block through the upper hinge through hole and the upper hinge hole by an upper hinge rod, the lower end of the first driving rod is provided with a lower hinge through hole penetrating along the front and back directions, the lower end of the first driving rod 72 is arranged in the lower hinge space so that the lower hinge hole and the lower hinge through hole are arranged in a position opposite to each other, and the lower end of the first driving rod 72 is hinged with the lower hinge block through the lower hinge through hole and the lower hinge hole by a lower hinge rod, the bottom surface of the first end of the first movable arm 81 is protrudingly provided with a lower hinge connecting block hinged with the upper end of the first driving rod 72, and the upper end of the first driving rod 72 is hinged with the lower hinge connecting block in a similar way as the lower end of the first driving rod 72 is hinged with the lower hinge block. In application, the first driving rod 72 is started, the output end of the first driving rod 72 is extended, the first movable arm 81 moves upward, the first movable arm 81 swings upward, the output end of the first driving rod 72 is retracted, the first movable arm moves downward, and then the first movable arm swings downward.The rotary device 7 is started to drive the fixed plate 71 to rotate, thereby driving the first movable arm 81 to rotate to the required angle, so as to control the first movable arm 81 to freely swing in different directions along the output end of the rotary device 7. The manner in which the rotary device drives the first movable arm 81 to rotate and the manner in which the hydraulic cylinder controls the first movable arm 81 to move by a specific angle are known to those skilled in the art, and will not be described in detail here. Moreover, the two auxiliary wheel rotary devices 7 work independently, and the movement of the two auxiliary wheels can be independently controlled, so that the entire excavator can switch between three-wheel, four-wheel or five-wheel operation according to different road conditions, and the walking mode is various. It can also balance the entire excavator when encountering a road surface with a large height difference, so that the excavator remains in a stable state.
[0028] The second movable arm 82 is vertically arranged, the second end of the first movable arm 81 is hinged with the upper end of the second movable arm 82, and the first movable arm 81 is provided with a second driving device for driving the first end of the second movable arm 82 to rotate around the second end of the first movable arm 81. Specifically, the second driving device is a second driving rod 811 capable of driving the upper end of the second movable arm 82 to swing up and down around the second end of the first movable arm 81, the second driving rod 811 is a hydraulic cylinder, the second driving rod 811 is horizontally arranged on the top surface of the first movable arm 81, the horizontal direction of the second driving rod 811 is the same as the horizontal direction of the first movable arm 81, the second driving rod 811 is arranged upwardly inclined from bottom to top, the upper end of the second movable arm 82 extends out of the top surface of the first movable arm 81, and the upper end of the second driving rod 811 (as the output end of the second driving rod 811) is hinged with the upper end of the second movable arm 82, the lower end of the second driving rod 811 is hinged with the top surface of the first end of the first movable arm 81, that is, the second end of the first movable arm 81 is concavely provided with a lower hinge slot penetrating up and down, the second movable arm 82 is provided with a lower outer hinge hole penetrating the lower hinge slot in the front-rear direction at the position of the lower hinge slot, the upper end of the second movable arm 82 is concavely provided with a lower inner hinge hole oppositely arranged with the lower outer hinge hole at the position corresponding to the lower outer hinge hole, and the upper end of the second movable arm 82 is hinged with the upper end of the second movable arm 82 through a lower side hinge rod penetrating the lower outer hinge hole and the lower inner hinge hole. The upper end of the second movable arm 82 is concavely provided with an upper hinge slot penetrating in the left-right direction, the upper end of the second driving rod 811 penetrates the upper hinge slot, the upper end of the second movable arm 82 is provided with an upper outer hinge hole penetrating the upper hinge slot in the front-rear direction, the upper end of the second driving rod 811 is concavely provided with an upper inner hinge hole penetrating in the front-rear direction and oppositely arranged with the upper outer hinge hole, and the upper end of the second driving rod 811 is hinged with the upper end of the second movable arm 82 through an upper side hinge rod penetrating the upper outer hinge hole and the upper inner hinge hole. The first end of the first movable arm 81 is upwardly protrudingly provided with an upper protrusion, the upper protrusion is concavely provided with an upper hinge through slot penetrating in the left-right direction, the lower end of the second driving rod 811 is hinged in the upper hinge through slot, the hinging mode of the lower end of the second driving rod 811 in the upper protrusion is similar to the hinging mode of the upper end of the second driving rod 811 in the second movable arm 82, and the mode that the hydraulic cylinder drives the upper end of the second movable arm 82 to rotate a specific angle around the second end of the first movable arm 81 is a known technology, which is not described herein.In use, the second driving rod 811 is started, the output end of the second driving rod 811 is retracted, the second movable arm 82 swings upward around the second end of the first movable arm 81, the output end of the second driving rod 811 is extended, and the second movable arm 82 swings downward around the second end of the first movable arm; at the same time, if the rotating device 7 is started, the first movable arm is driven to rotate, and the second movable arm is also driven to rotate, so that the second movable arm 82 is driven to rotate to the required angle along with the first movable arm 81, so that the second movable arm 82 can freely swing in different directions along the second end of the first movable arm 81.
[0029] The first end of the third movable arm 83 is hinged with the lower end of the second movable arm 82, the second end of the third movable arm 83 is rotationally connected with the auxiliary wheel 42 arranged vertically, and the second movable arm 82 is provided with a third driving device for driving the first end of the third movable arm 83 to rotate around the lower end of the second movable arm 82, and the second end of the third movable arm 83 is rotationally connected with the front traveling wheel through a rotating device; specifically, the third driving device is a third driving rod 821 capable of driving the second movable arm 82 and the third movable arm 83 to move towards or away from each other, the third driving rod 821 is also a hydraulic oil cylinder, the third movable arm 83 is arranged downwardly and obliquely away from the first movable arm 81 from the lower end of the second movable arm 82, the lower end of the third movable arm 83 is rotationally connected with the auxiliary wheel 42 through a rotating device, the rotating device is a wheel-side motor, the rotating device is installed on the lower end of the third movable arm 83, the rotating device is arranged horizontally along the left-right direction, and the output end of the rotating device is arranged away from the side of the first movable arm 81, the output end of the rotating device is locked with the hub of the auxiliary wheel, and the rotating device is locked with the third movable arm 83 and the auxiliary wheel 42 in a similar manner to the manner in which the rotary driving device is locked with the lower frame and the inner dismounting plate 51.The third driving rod 821 is erected on the side of the second movable arm 82 away from the first movable arm 81, the upper end of the third driving rod 821 is hinged with the upper end of the second movable arm, and the lower end of the third driving rod 821 is connected with a driving block 822 which drives the lower end of the second movable arm 82 to move oppositely or away from the upper end of the third movable arm 83, that is, the driving block 822 has two driving rods, the first ends of the two driving rods are hinged together with the lower end of the third driving rod 821, the second end of one driving rod is hinged with the lower end of the second movable arm 82, and the second end of the other driving rod is hinged with the upper end of the third movable arm 83, that is, the driving rod has a first driving rod and a second driving rod, the first end of the first driving rod is recessed with a first hinge recess through upward and downward for the first end of the second driving rod to rotate and extend into, the first end of the second driving rod is recessed with a second hinge recess through upward and downward for the lower end of the third driving rod 821 to rotate and extend into, and the first end of the first driving rod, the first end of the second driving rod and the lower end of the third driving rod 821 are all provided with hinge through holes penetrating in the front-rear direction, the lower end of the third driving rod 821 (as the output end of the third driving rod 821) is hinged with the first end of the driving rod through a hinge connecting rod hinged in the hinge through hole, the second end of the first driving rod is recessed with an upper hinge recess penetrating upward and downward, the lower end of the second movable arm 82 extends into the upper hinge recess through an upper hinge connecting rod to be hinged with the first driving rod, the second end of the second driving rod is recessed with a lower hinge recess, the upper end of the third movable arm 83 extends into the lower hinge recess through a lower hinge connecting rod to be hinged with the second driving rod, and the hinged positions of the lower end of the second movable arm 82 and the upper end of the third movable arm 83 are between the first driving rod and the second driving rod, the hinged mode of the first end of the third movable arm 83 with the lower end of the second movable arm 82 is similar to the hinged mode of the second end of the first movable arm 81 with the upper end of the second movable arm 82, and the mode that the hydraulic cylinder controls the movable arms to move oppositely or away from each other by a specific angle through the driving block is a known technology, which will not be described here. In application, the third driving rod 821 is started, the output end of the third driving rod 821 is extended, the third movable arm 83 swings downward, when the third movable arm 83 swings downward to be on the same straight line with the second movable arm 82, the auxiliary wheel is arranged flat, which can increase the contact area of the auxiliary wheel with the ground; the output end of the third driving rod 821 is retracted, when the third movable arm 83 swings to a certain angle with the second movable arm 82, the auxiliary wheel is arranged vertically;When the first movable arm 82 is horizontally arranged along the left-right direction, the auxiliary wheels can be horizontally translated or vertically lifted under the driving of the first driving rod, the second driving rod and the third driving rod, and if the auxiliary wheels are rotated to horizontally arrange the first movable arm 82 along the front-back direction under the rotation control of the rotating device, the auxiliary wheels can be controlled to move forward and backward under the driving of the first driving rod, the second driving rod and the third driving rod. When the mechanical arm works, the first movable arm 81, the second movable arm 82 or the third movable arm 83 can be independently controlled to work according to the needs, the first movable arm 81 and the second movable arm 82 can be controlled to work simultaneously, the first movable arm 82 and the third movable arm 83 can be controlled to work simultaneously, and the second movable arm 82 and the third movable arm 83 can be controlled to work simultaneously, so as to realize the change of the auxiliary wheels in the operation space, facilitate the work of the auxiliary wheels in different complex terrains, and enable the operator to control the movement of the mechanical arm in the operation room of the excavator through the operation device. The control connection mode between the mechanical arm and the operation device in the operation room is known to those skilled in the art, and will not be described here.
[0030] When the two auxiliary wheels and the front wheels and the universal single wheel are independently disassembled and installed and independently controlled, the two auxiliary wheels can be controlled respectively to realize the switching of the three-wheel, four-wheel or five-wheel working mode. When the traveling device is trapped in the complex terrain and cannot move, the auxiliary wheels are driven to move upward, the auxiliary wheels 42 are pulled out of the complex terrain, the two auxiliary wheels 42 are moved to the upper side of the relatively flat terrain, the auxiliary wheels are driven to be parallel to the ground of the flat terrain, the auxiliary wheels 42 are placed flat on the flat terrain, the side surfaces of the two auxiliary wheels 42 are used as the supporting surfaces, the two front wheels and the universal single wheel 41 are suspended and pulled out of the complex terrain, the auxiliary wheels are vertically arranged, and finally the auxiliary wheels are driven to travel on the flat terrain to get out of the complex terrain and perform self-rescue, and the two front wheels and the universal single wheel 41 are reset to contact the bottom surface to travel. Alternatively, the rotating device is driven to rotate the auxiliary wheels to pull them out of the complex terrain to the flat terrain, the front wheels 3 and the universal single wheel 41 are suspended and arranged to pull them out of the complex terrain, and the auxiliary wheels are moved on the flat terrain to pull the entire excavator out of the complex terrain to perform self-rescue. If the complex terrain has a height difference on the horizontal plane and the vehicle body is inclined and unstable, the height of the two auxiliary wheels in the up-down direction is controlled by the mechanical arm, the entire vehicle body is stably supported under the support of the two auxiliary wheels, the auxiliary wheels can be driven to be parallel to the ground to increase the contact area between the auxiliary wheels and the ground, and the support is more stable. The above is some assumed operation mode when the complex terrain is encountered. When the complex terrain is actually encountered, the operator controls the mechanical arm to adjust the up-down, left-right or front-back movement of the auxiliary wheels according to the specific conditions in the excavator to perform self-rescue and pull out of the complex terrain.
[0031] Compared with the prior art, the lower frame of the three-wheel excavator has the following beneficial effects:
[0032] 1. The entire excavator is not required to be provided with a frame by using independent driving of two front wheels, the structure is simple, and the wheel edge motor for independent driving, the rotary device and the lower frame are detachably matched, and the universal single wheel and the lower frame are detachably matched, so that each part of the entire lower frame is in modular assembly matching, the circumferential rotation of the universal single wheel enables the entire excavator to rotate by 360 degrees, and enables the entire excavator to turn by 360 degrees;
[0033] 2. The cooperation of the front wheels, the universal single wheel and the auxiliary wheels enables the entire excavator to work in three-wheel mode, four-wheel mode or five-wheel mode, the walking working mode is various, and various road conditions can be adapted to;
[0034] 3. The cooperation of the rotary device and the mechanical arm enables the two auxiliary wheels to move forward or backward along the front-back direction of the lower frame, so that the function of self-rescue can be realized by lifting and moving the two auxiliary wheels forward and backward when the excavator is trapped in complex road conditions, and the rotation of the rotary device enables the auxiliary wheels to push the entire vehicle body forward when the auxiliary wheels are in force;
[0035] The extension of the mechanical arm enables the two auxiliary wheels to move in the up-down direction and the left-right direction, so that the height difference of the two auxiliary wheels can be adjusted on uneven road conditions to keep the entire vehicle body stable and not inclined, and the mechanical arm can also enable the auxiliary wheels to be in a flat state, which plays a significant supporting role in self-rescue.
[0036] In the new type, preferably, the universal single wheel 41 is a non-powered universal wheel, which can rotate freely in 360 degrees under the action of the rolling bearing, or the universal single wheel 41 is a powered universal wheel with a steering wheel operation, so that a person can control the rolling direction of the universal single wheel 41 in the excavator, facilitate better cooperation between the universal single wheel 41 and the front wheels 3, and the powered universal wheel is similar to the powered universal wheel in the new type in working mode, which can control the rolling direction of the universal wheel by a motor, and the motor is electrically connected to the operating room of the excavator for control, which is a known technology and will not be described here.
[0037] In the new type, preferably, the auxiliary wheels can also be installed with a driving motor for allowing the auxiliary wheels to rotate on the output end of the mechanical arm, that is, the rotating device can also be a driving motor, so that the active rotation of the auxiliary wheels by the driving motor can improve the walking speed and the self-rescue effect.
[0038] In the new type, an engine 100 providing a power source can be installed on the lower frame.
[0039] The product form of the utility model is not limited to the case of the drawings and the embodiments, and any person can make appropriate changes or modifications to the similar ideas, which should be considered as not departing from the patent category of the utility model.
Claims
1. A lower frame of a three-wheel excavator, comprising a lower frame and a traveling device mounted on the lower frame for traveling, the traveling device having a front wheel and a rear wheel, the front wheel having two, the two front wheels being arranged left and right opposite to each other, characterized in that: The front wheel is outside the front end of the lower frame, and the front end of the lower frame is detachably mounted with a rotating drive device for driving the front wheel to rotate, and the output end of the rotating drive device is detachably mounted with the front wheel.
2. A lower frame for a three-wheeled excavator according to claim 1, characterized in that: The two rotating drive devices are locked on the left and right sides of the front end of the lower frame, and the output ends of the two rotating drive devices are arranged opposite to each other, and the output end of the rotating drive device is locked with an inner detachable plate, and the inner detachable plate is connected with a connecting rod, and the outer end of the connecting rod is locked with the hub of the vertically arranged front wheel through an outer detachable plate.
3. The lower frame of a three-wheel excavator according to claim 1, characterized in that: The mounting frame has a side plate body, an upper plate body and a connecting plate, the side plate body is provided with two side plate bodies, the side plate bodies are vertically arranged, and the two side plate bodies are oppositely and spaced apart, the universal single wheel is vertically arranged, and the universal single wheel has a rotating rod which is horizontally arranged and extends out of the center of the universal single wheel, the horizontal direction of the rotating rod is consistent with the extension direction of the axis of the universal single wheel, the two ends of the rotating rod are respectively connected with the lower ends of the two side plate bodies, the upper plate body is connected between the upper ends of the two side plate bodies, and the upper plate body is rotatably connected with the upper plate body through a horizontally arranged rolling bearing, the connecting plate is above the upper plate body, the outer ring of the rolling bearing is connected with the upper plate body, the inner ring of the rolling bearing is connected with the connecting plate, and the connecting plate is locked with the rear end bottom of the lower frame.
4. The lower frame of a three-wheel excavator according to claim 1, characterized in that: The two rotating devices are locked on the left and right sides of the rear end of the lower frame, and the output ends of the two rotating devices are arranged opposite to each other, and the rotating device and the auxiliary wheel have a first movable arm, a second movable arm and a third movable arm in sequence, the first movable arm is horizontally arranged along the left and right directions, the first end of the first movable arm is hingedly connected with the output end of the rotating device, and the output end of the rotating device is provided with a first driving device capable of driving the first end of the first movable arm to rotate along the output end of the rotating device, the second movable arm is vertically arranged, the second end of the first movable arm is hingedly connected with the upper end of the second movable arm, the first end of the second movable arm is provided with a second driving device for driving the first end of the second movable arm to rotate around the second end of the first movable arm, the first end of the third movable arm is hingedly connected with the lower end of the second movable arm, the second end of the third movable arm is rotatably connected with the vertically arranged auxiliary wheel, and the second end of the third movable arm is provided with a third driving device for driving the first end of the third movable arm to rotate around the lower end of the second movable arm, and the second end of the third movable arm is connected with the front walking wheel, and the first movable arm, the second movable arm and the third movable arm constitute the above-mentioned mechanical arm.
5. A lower frame for a three-wheeled excavator according to claim 4, characterised in that: The output end of the rotating device is connected with a fixed plate, the first end of the first movable arm is hinged to the fixed plate, the first driving device is a first driving rod capable of driving the first end of the first movable arm to swing up and down along the fixed plate, the first driving rod is arranged upwardly and obliquely from bottom to top, the lower end of the first driving rod is right below the first end of the first movable arm and is hinged to the fixed plate, and the upper end of the first driving rod is hinged to the first end of the first movable arm.
6. A lower frame for a three-wheeled excavator according to claim 5, characterised in that: The second driving device is a second driving rod capable of driving the upper end of the second movable arm to swing up and down around the second end of the first movable arm, the second driving rod is horizontally arranged on the top surface of the first movable arm, the second driving rod is arranged upwardly and obliquely from bottom to top, the upper end of the second movable arm extends out of the top surface of the first movable arm, the upper end of the second driving rod is hinged to the upper end of the second movable arm, and the lower end of the second driving rod is hinged to the top surface of the first end of the first movable arm.
7. A lower frame for a three-wheeled excavator according to claim 5, characterized in that: The third driving device is a third driving rod capable of driving the second movable arm and the third movable arm to move oppositely or in opposite directions, the third movable arm is arranged downwardly and obliquely from the lower end of the second movable arm, the lower end of the third movable arm is rotationally connected to the auxiliary wheel through a rotating device, the third driving rod is vertically arranged on the side of the second movable arm away from the first movable arm, the upper end of the third driving rod is hinged to the upper end of the second movable arm, and the lower end of the third driving rod is connected with a driving block capable of driving the lower end of the second movable arm and the upper end of the third movable arm to move oppositely or in opposite directions.
8. A lower frame for a three-wheeled excavator according to claim 7, characterised in that: The driving block has two driving rods, the first ends of the two driving rods are hinged to the lower end of the third driving rod, the second end of one of the driving rods is hinged to the lower end of the second movable arm, and the second end of the other driving rod is hinged to the upper end of the third movable arm.
9. A lower frame for a three-wheeled excavator according to claim 5, characterized in that: The first driving rod, the second driving rod and the third driving rod are all hydraulic cylinders, the output end of the first driving rod is connected to the first end of the first movable arm, the output end of the second driving rod is connected to the upper end of the second movable arm, and the output end of the third driving rod is hinged to the driving block.