Distributed power unmanned excavator

Abstract

The utility model relates to excavator technical field, concretely discloses a kind of distributed power unmanned excavator, including excavator main body, travelling mechanism and control system, travelling mechanism is equipped as four groups and is respectively connected in excavator main body both sides, for driving it in base surface travel, control system communication connection in excavator main body and travelling mechanism, so that excavator realizes automatic driving;Wherein, travelling mechanism includes track, transmission wheel, tension pulley, first support wheel, mounting plate and driver, wherein, mounting plate is connected in excavator main body by swivel pedestal mechanism;Transmission wheel, tension pulley and first support wheel are triangularly arranged and all are connected in mounting plate, track is around the outer periphery of transmission wheel, tension pulley and first support wheel;Driver is connected in mounting plate, and its output shaft transmission is connected in transmission wheel.

Description

Technical Field

[0001] This utility model relates to the field of excavator technology, specifically to a distributed power unmanned excavator. Background Technology

[0002] Excavators are heavy machines commonly used in civil engineering, construction, and mining. Driven by a hydraulic system, they use buckets or other attachments to excavate, transport, and stack earth. Depending on the job requirements, excavators can be equipped with different buckets, grapples, breakers, and other attachments to adapt to diverse working conditions. Excavators are highly efficient, capable of completing large volumes of earthmoving work in a short time, making them an indispensable piece of equipment in modern engineering construction.

[0003] Existing excavators still have certain problems in actual construction projects, specifically as follows: 1. Traditional excavators are highly dependent on manual operation. Operators need to perform complex operations in the cab, and prolonged high-intensity work can lead to operator fatigue, resulting in reduced work efficiency, inaccurate work, or safety accidents; 2. Excavators have poor adaptability. The working environment usually requires manual judgment and adjustment, and operators find it difficult to adapt quickly to complex and irregular terrain; 3. Traditional excavators have poor maneuverability in complex terrain. They are usually equipped with two tracks or tires, and their traction is limited when facing uneven, steep, or muddy terrain. Especially in confined spaces, slopes, or soft soil areas, traditional excavators are prone to getting stuck in the mud or slipping; 4. Traditional excavators usually rely on a single power source with limited power output, and are prone to insufficient power and stability in complex working environments.

[0004] To address the existing technical problems, it is necessary to optimize and improve the current excavator structure to enhance its ability to navigate complex road conditions. Utility Model Content

[0005] The purpose of this invention is to provide a distributed-power unmanned excavator to solve the problem of poor passability of excavators when encountering complex road surfaces in the prior art.

[0006] This utility model is achieved through the following technical solution:

[0007] A distributed-power unmanned excavator includes an excavator body, a traveling mechanism, and a control system. The traveling mechanism is configured with four sets and is respectively connected to both sides of the excavator body for driving it to travel on a base surface. The control system is communicatively connected to the excavator body and the traveling mechanism to enable the excavator to achieve automatic driving.

[0008] The traveling mechanism includes tracks, drive wheels, tension wheels, first support wheels, a mounting plate, and a driver. The mounting plate is connected to the excavator body via outriggers. The drive wheels, tension wheels, and first support wheels are arranged in a triangle and are all connected to the mounting plate. The tracks are wound around the outer periphery of the drive wheels, tension wheels, and first support wheels. The driver is connected to the mounting plate, and its output shaft is driven to the drive wheels.

[0009] Alternatively, the walking mechanism may further include a second support wheel, which is rotatably connected to the mounting plate and is located on the side of the line connecting the first support wheel and the tension wheel, on the side of the base surface.

[0010] Alternatively, the second support wheel may be configured as a plurality of spaced-apart wheels.

[0011] Alternatively, the diameter of the second support wheel may be smaller than the diameter of the first support wheel.

[0012] Alternatively, the traveling mechanism may further include a track roller rotatably connected to the mounting plate, and the track roller is located on the side of the line connecting the drive wheel and the tension wheel, which is located on the return side of the track.

[0013] Alternatively, the walking mechanism is provided with a spring seat for mounting a spring, and the tension wheel is connected to the spring seat through the spring so as to float against the track.

[0014] Alternatively, the excavator body is provided with a support platform, and the outrigger mechanism is connected to the support platform so that the position of the support platform can be changed by the posture of the outrigger mechanism.

[0015] Alternatively, the excavator body includes a body, a robotic arm, and a bucket, with the two ends of the robotic arm connected to the body and the bucket respectively, wherein the robotic arm is used to adjust the attitude of the bucket.

[0016] Optionally, the outrigger mechanism includes a motor, a reducer, an angle sensor, a slewing bearing, and a connecting seat; the slewing bearing is connected to the excavator body, the connecting seat is connected to the mounting plate, and the two ends of the slewing bearing are provided with rotating shafts and are rotatably connected to the connecting seat through the rotating shafts;

[0017] The motor is mounted on a connecting base and its output shaft is connected to the reducer. The output shaft of the reducer is drivenly connected to the rotating shaft. A sensor is provided on the output shaft of the reducer for communication with the control system.

[0018] Alternatively, the control system includes a detection device and a controller. The detection device is used to detect the current environmental information of the excavator body, and the controller is communicatively connected to the detection device, the excavator body, and the traveling mechanism to perform corresponding actions.

[0019] The detection device includes at least one of a position sensor, an attitude sensor, a vision sensor, an ultrasonic sensor, a temperature sensor, a lidar, a current and voltage sensor, and a GPS sensor.

[0020] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0021] The above technical solutions avoid the problems of leakage, high energy consumption, and high maintenance costs associated with traditional hydraulic systems by adopting an all-electric drive system. This significantly improves the environmental friendliness and operational stability of the excavator, while reducing usage and maintenance costs. The excavator uses independent drives to move the tracks, achieving a distributed power layout. Compared to traditional centralized power layouts, distributed power offers stronger obstacle-crossing capabilities and terrain adaptability in complex terrains. Each motor can independently adjust the speed and steering of each track, enhancing the excavator's maneuverability and flexibility. The excavator's overall structure adopts a modular design with clear functions, facilitating future maintenance, upgrades, and functional expansion to adapt to a wider range of working conditions. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the exemplary embodiments of this utility model, the drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this utility model and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0023] Figure 1 A three-dimensional structural schematic diagram of a distributed power unmanned excavator provided by this utility model in one embodiment;

[0024] Figure 2 A cross-sectional view of one embodiment of the distributed power unmanned excavator provided by this utility model;

[0025] Figure 3 yes Figure 2 Enlarged structural diagram of part A.

[0026] The attached diagram shows the following markings and corresponding component names: 1-Excavator body, 11-Body, 12-Mechanical arm, 13-Bucket, 2-Traveling mechanism, 20-Crawler, 21-Drive wheel, 22-Tension wheel, 23-First support wheel, 24-Mounting plate, 25-Driver, 26-Second support wheel, 27-Tow wheel, 28-Spring, 29-Spring seat, 3-Support platform, 4-Outrigger mechanism, 41-Slewing bearing, 42-Connecting seat, 5-Control system, 6-Protective armor. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that while the description of these embodiments is intended to aid in understanding the present invention, it does not constitute a limitation thereof. The specific structural and functional details disclosed herein are only for describing exemplary embodiments of the present invention. However, the present invention may be embodied in many alternative forms and should not be construed as being limited to the embodiments described herein.

[0028] According to a specific embodiment of this disclosure, a distributed-power unmanned excavator is provided. Wherein, Figures 1 to 3 Specific embodiments thereof are shown.

[0029] See Figures 1 to 3 As shown, the distributed power unmanned excavator includes an excavator body 1, a walking mechanism 2, and a control system 5. The walking mechanism 2 is configured with four sets and connected to both sides of the excavator body 1 to drive it to travel on the base surface. The control system 5 is communicatively connected to the excavator body 1 and the walking mechanism 2, enabling the excavator to achieve automatic driving. The walking mechanism 2 includes tracks 20, drive wheels 21, tension wheels 22, first support wheels 23, mounting plates 24, and drivers 25. The mounting plates 24 are connected to the excavator body 1 through outrigger mechanisms 4. The drive wheels 21, tension wheels 22, and first support wheels 23 are arranged in a triangle and are all connected to the mounting plates 24. The tracks 20 are wrapped around the outer periphery of the drive wheels 21, tension wheels 22, and first support wheels 23. The drivers 25 are connected to the mounting plates 24, and their output shafts are driven to the drive wheels 21.

[0030] The drive wheel 21 transmits torque from the motor output shaft, driving the track 20 to rotate. The tension wheel 22 adjusts and maintains the tension of the track 20, guiding its direction. The first support wheel 23 bears most of the vehicle's weight and distributes the load evenly to the ground. It also acts as a buffer, mitigating impacts from bumps. Since each independent walking mechanism 2 can move relatively independently, the built-in drive 25 (fixed to the mounting plate) can output different torques and rotation directions, enabling the excavator to move forward, backward, and turn at different angles. During travel, the outrigger structure can change the height of the excavator body 1 relative to the base surface, allowing the excavator to better adapt to different terrains and turn, thus better adapting to different road conditions.

[0031] Specifically, the working process of this distributed-power unmanned excavator is as follows: the drive unit 25 (such as a permanent magnet synchronous motor) starts, driving the transmission wheel 21 to rotate; based on the assembly mechanism of the transmission wheel 21, tension wheel 22, first support wheel 23, and track 20, when the transmission wheel 21 rotates, it can drive the tension wheel 22 and the first support wheel 23 to rotate, thereby enabling the track 20 to move synchronously relative to the transmission wheel 21, thus driving the excavator to move. When turning, the outrigger mechanism 4 can drive the traveling mechanism 2 to rotate, thereby changing the direction of movement of the excavator. For example, when encountering uneven ground conditions that could easily scrape the chassis of the excavator body 1, the height of the excavator body 1 can be adjusted by the movement of the outrigger mechanism 4, allowing it to safely pass through complex terrain.

[0032] When the excavator is working normally, the position and detection devices (such as attitude sensors, vision sensors, ultrasonic sensors, temperature sensors, lidar, current and voltage sensors, and GPS sensors) in the control system 5 collect relevant data information and send it to the controller (such as an embedded computing unit module) in the control system 5 for processing. After processing, the controller can combine remote task commands to precisely control the operation of each electronic component, autonomously complete tasks such as excavation and loading, and can dynamically avoid obstacles and adjust actions based on real-time perception. The entire process does not require the driver to operate in the cab, achieving efficient and safe automated operation.

[0033] The above technical solution avoids the problems of leakage, high energy consumption, and high maintenance costs associated with traditional hydraulic systems by adopting a fully electric drive system. This significantly improves the environmental friendliness and operational stability of the excavator, while reducing usage and maintenance costs. The excavator uses independent drive units 25 to drive the tracks 20, achieving a distributed power layout. Compared to traditional centralized power layouts, distributed power offers stronger obstacle-crossing capabilities and terrain adaptability in complex terrains. Each motor can independently adjust the speed and steering of each track 20, enhancing the excavator's maneuverability and flexibility. The excavator's overall structure adopts a modular design with clear functions, facilitating future maintenance, upgrades, and functional expansion to adapt to more working conditions.

[0034] In this disclosure, the track is equipped with a rubber track, and the inner wall of the track is provided with a boss so that it can be engaged in the groove of the drive wheel, thereby enabling the drive wheel to drive the track to move effectively when rotating, and avoiding slippage.

[0035] It should be noted that the directional terms used, such as "inner" and "outer," refer to the "inner" and "outer" relative to the outline of the component, facing the component (which can be combined with...). Figure 1 The direction of understanding is "inside," and vice versa. Furthermore, it should be noted that the terms used, such as "first" and "second," are used to distinguish one element from another and do not indicate sequence or importance. Moreover, in the following descriptions with accompanying drawings, the same reference numerals in different drawings represent the same element.

[0036] Specifically, each walking mechanism 2 is provided with protective armor 6 on its outer side, and the protective armor 6 covers each wheel set and internal structure, thereby preventing mud and rainwater from entering the interior and ensuring that the transmission structure inside the walking mechanism 2 can stably transmit power.

[0037] The protective armor 6 is made of high-strength wear-resistant steel, and its surface is coated with a wear-resistant coating and equipped with replaceable rubber liners. It has excellent impact resistance and toughness, making it suitable for working conditions with a lot of gravel.

[0038] Furthermore, the excavator body 1 is made of engineering plastic, which has electromagnetic transparency and collision buffering properties.

[0039] In one embodiment provided in this disclosure, the traveling mechanism 2 further includes a second support wheel 26, which is rotatably connected to the mounting plate 24 and is located on the side of the line connecting the first support wheel 23 and the tension wheel 22. This allows the second support wheel 26 to form a multi-position support structure with the first support wheel 23, thereby bearing most of the weight of the excavator body 1 and evenly distributing the load to the ground. Simultaneously, it also provides a certain degree of cushioning, enabling the traveling mechanism 2 to move smoothly on the base surface, thus reducing bumps and impacts.

[0040] Specifically, the second support wheel 26 is configured with multiple spaced-out components, which can form a multi-point support structure to further distribute the load evenly.

[0041] Furthermore, the diameter of the second support wheel 26 is smaller than that of the first support wheel 23. Based on this dimensional difference, they can have different support strengths, and their contact area with the track 20 can also be altered. Thus, through this differentiated design, the first support wheel 23 and the second support wheel 26 can stably bear the weight.

[0042] Furthermore, the driver 25 of each walking mechanism 2 is a permanent magnet synchronous motor.

[0043] Furthermore, the voltage of driver 25 is set to 300-400V.

[0044] In one embodiment provided in this disclosure, the traveling mechanism 2 further includes a track roller 27, which is rotatably connected to the mounting plate 24 and is located on the side where the connection between the drive wheel 21 and the tension wheel 22 is formed. The track roller 27 can support the return section of the track 20 to prevent it from sagging excessively, jumping, or slapping, thereby ensuring the tension of the track 20 and enabling efficient and stable power transmission, indirectly improving the stability of the traveling mechanism 2 during operation.

[0045] In one embodiment provided in this disclosure, the walking mechanism 2 is provided with a spring seat 29 for mounting a spring 28. The tension wheel 22 is connected to the spring seat 29 via the spring 28, so that it can float and press against the track 20. Since the tension wheel 22 floats and presses against the inner wall of the track 20, the lifting angle can be changed according to the terrain to obtain better passability.

[0046] In this disclosure, the excavator body 1 is provided with a support platform 3, and an outrigger mechanism 4 is connected to the support platform 3 so that the position of the support platform 3 can be changed by the posture of the outrigger mechanism 4. Based on the setting of the support platform 3, the outrigger mechanism 4 can be indirectly and securely connected to the excavating mechanism, and at the same time, it is also convenient to install other additional equipment and structures on the support platform 3.

[0047] Furthermore, the support platform 3 is made of high-strength aluminum alloy, which is strong, lightweight, has high torsional stiffness and is corrosion resistant, and can provide a certain degree of protection for the excavator body 1, making it better adaptable to harsh outdoor environments.

[0048] In one embodiment provided in this disclosure, the excavator body 1 includes a body 11, a robotic arm 12 and a bucket 13. The two ends of the robotic arm 12 are respectively connected to the body 11 and the bucket 13. The robotic arm 12 is used to adjust the posture of the bucket 13, thereby causing the bucket 13 to rotate around the robotic arm 12.

[0049] Specifically, the robotic arm 12 includes a main arm, a connecting arm, and a bucket arm 13. The main arm is connected to the excavator body 1, the connecting arm is connected to the main arm through a steering structure, and the bucket 13 is connected to the bucket arm 13 through a steering structure, thereby realizing the change of the excavator's digging direction.

[0050] Furthermore, the hinge material in key components is titanium alloy, which has high fatigue strength, strong impact resistance, and natural corrosion resistance.

[0051] The outer side of the walking mechanism 2 is equipped with protective armor 6, which is made of high-strength wear-resistant steel, coated with a wear-resistant coating and equipped with replaceable rubber liners. It has excellent impact resistance and toughness, and is suitable for working conditions with a lot of gravel.

[0052] In one embodiment provided in this disclosure, the outrigger mechanism 4 includes a motor, a reducer, an angle sensor, a slewing support 41, and a connecting seat 42; the slewing support 41 is connected to the excavator body 1, the connecting seat 42 is connected to the mounting plate 24, and the two ends of the slewing support 41 are provided with rotating shafts and are rotatably connected to the connecting seat 42 through the rotating shafts; the output shaft of the motor is connected to the reducer, and the output shaft of the reducer is drivenly connected to the rotating shaft; wherein, the output shaft of the reducer is provided with a sensor that is communicatively connected to the control system 5.

[0053] Specifically, the power output from the motor is reduced in speed and increased in torque by a reducer before being transmitted to the main shaft of the rotary joint, driving the slewing bearing to rotate around its horizontal axis, thus achieving the up-and-down swinging motion of the slewing bearing. This rotational motion further drives the track assembly connected to the end of the slewing bearing to rise and fall accordingly, enabling the entire machine to adjust its attitude and control its suspension height to different terrains. To ensure the accuracy and coordination of the movement, an angle sensor integrated into the rotary joint detects the swing angle of the slewing bearing in real time and feeds the data back to the embedded controller. Combined with terrain perception and motion control algorithms, this achieves coordinated height adjustment, adaptive support, and dynamic obstacle-crossing functions for the four slewing bearings. This transmission motion structure is compact, has high transmission efficiency, good controllability, and high reliability, making it suitable for autonomous operation requirements under complex working conditions.

[0054] In this disclosure, the front of the excavator body 1 is equipped with an explosion-proof light, which can provide light in environments with poor visibility, enabling the excavator to move forward safely.

[0055] In one embodiment provided in this disclosure, the control system 5 includes a detection device and a controller. The detection device is used to detect the current environmental information of the excavator body 1, and the controller is communicatively connected to the detection device, the excavator body 1, and the traveling mechanism 2 to execute corresponding actions. Thus, based on the detection of the external environment, the controller can adjust the working state of the excavator body 1 and the movement state of the traveling mechanism 2 according to the received information. This not only helps to better adapt to different environments and reduce the impact on the excavator, but also improves efficiency, enabling it to operate efficiently in various complex environments. Because the whole machine controller integrates multiple sensors and electronic component modules, it can support remote control and self-guided path planning functions, realizing fully unmanned operation of the excavator, significantly improving construction safety and operational efficiency in dangerous, complex, and harsh environments.

[0056] The detection device includes at least one of a position sensor, attitude sensor, vision sensor, ultrasonic sensor, temperature sensor, lidar, current and voltage sensor, and GPS sensor.

[0057] When the excavator is working normally, the position and attitude sensors, vision sensors, ultrasonic sensors, temperature sensors, lidar, current and voltage sensors, and GPS sensors in the control system 5 collect relevant data information and hand it over to the embedded computing unit module for processing. After processing, the module can combine remote task commands to precisely control the operation of each electronic component, autonomously complete tasks such as digging and loading, and can dynamically avoid obstacles and adjust actions based on real-time perception. The entire process does not require the driver to operate in the cab, achieving efficient and safe automated operation.

[0058] Specifically, the sensors include position and attitude sensors, including an accelerometer that measures the acceleration of the excavator's movement to obtain the excavator's speed and displacement; a gyroscope that measures the excavator's angular velocity to obtain the excavator's rotation angle; and a magnetometer that measures the magnetic field around the excavator to determine the excavator's working orientation.

[0059] Furthermore, the sensors include lidar, which is used for environmental perception, helping the excavator navigate autonomously in complex terrain and identify surrounding obstacles and target objects.

[0060] Furthermore, the sensors include vision sensors, which, combined with computer vision algorithms, can accurately model the ground to identify changes in the terrain of the working environment, changes in the working height, and the types of soil.

[0061] Furthermore, the sensors include ultrasonic sensors for detecting the distance between the excavator and obstacles, which are arranged around the excavator body 1 to ensure safety during operation.

[0062] Furthermore, the sensor includes a temperature sensor to monitor the real-time operating temperature of the excavator's battery and motor, preventing overheating and damage to the components.

[0063] Furthermore, the sensors include current and voltage sensors to monitor the operation of the electronic system in real time, prevent overload, and ensure the safe operation of the motor and controller.

[0064] Furthermore, the sensors include a GPS sensor for precise positioning and path planning of the excavator, ensuring that the excavator operates along the planned path.

[0065] Furthermore, the electronic components integrate an embedded computing unit module, which contains a central processing unit (CPU) to receive and process data collected by sensors in real time, enabling functions such as environmental modeling, obstacle recognition, and path planning. This computing module also controls the coordinated operation of the excavator's robotic arm and drive system to perform various operational actions, and conducts real-time monitoring and fault diagnosis of each subsystem, thereby ensuring the safety and stability of the entire machine's operation.

[0066] Furthermore, the electronic components include a wireless communication module, ensuring that operators can remotely control the equipment, which is crucial for intelligent unmanned operation.

[0067] Furthermore, the electronic components include a battery management system (BMS) that monitors the battery's charge / discharge status and health status in real time to ensure safe and efficient battery use.

[0068] It should be noted that the electrical components, testing instruments (meters) and sensors used in this disclosure are all prior art. Even if not described in detail in this disclosure, those skilled in the art can obtain them through routine improvements to commercially available products.

[0069] In this disclosure, the controller is configured as a central processing unit (CPU). Furthermore, the controller is integrated into the terminal. Of course, in other embodiments, the controller may also be configured as a PLC logic controller and located elsewhere besides the terminal.

[0070] Alternatively, the controller can be configured as a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or a field-programmable gate array (FPGA).

[0071] In this disclosure, the controller is communicatively connected to various sensors via cables. In other embodiments, the controller may also be connected to the sensors via wireless communication modules such as Wi-Fi or ZigBee modules. Those skilled in the art can flexibly configure the controller based on the concept of this disclosure.

[0072] Furthermore, the housing material of the controller is magnesium alloy, which has electromagnetic shielding and lightweight characteristics.

[0073] The above specific embodiments further illustrate the purpose, technical solution and beneficial effects of this utility model. It should be understood that the above are only specific embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A distributed power unmanned excavator, characterized by, The excavator includes a main body, a traveling mechanism, and a control system. The traveling mechanism is configured with four sets and is respectively connected to both sides of the main body of the excavator to drive it to travel on the base surface. The control system is communicatively connected to the main body of the excavator and the traveling mechanism to enable the excavator to achieve automatic driving. The traveling mechanism includes tracks, drive wheels, tension wheels, first support wheels, a mounting plate, and a driver. The mounting plate is connected to the excavator body via outriggers. The drive wheels, tension wheels, and first support wheels are arranged in a triangle and are all connected to the mounting plate. The tracks are wound around the outer periphery of the drive wheels, tension wheels, and first support wheels. The driver is connected to the mounting plate, and its output shaft is driven to the drive wheels.

2. The distributed power unmanned excavator of claim 1, wherein, The walking mechanism also includes a second support wheel, which is rotatably connected to the mounting plate and is located on the side of the line connecting the first support wheel and the tension wheel, which is located on the side of the base surface.

3. The distributed power unmanned excavator of claim 2, wherein, The second support wheel is configured as a plurality of spaced-apart wheels.

4. The distributed power unmanned excavator of claim 2, wherein, The diameter of the second support wheel is smaller than the diameter of the first support wheel.

5. The distributed power unmanned excavator of claim 1, wherein, The traveling mechanism also includes a track roller, which is rotatably connected to the mounting plate and is located on the side of the line connecting the drive wheel and the tension wheel, which is located on the return side of the track.

6. The distributed power unmanned excavator of claim 1, wherein, The walking mechanism is provided with a spring seat for mounting a spring, and the tension wheel is connected to the spring seat through the spring so that it can float and press against the track.

7. The distributed power unmanned excavator of claim 1, wherein, The excavator body is equipped with a support platform, and the outrigger mechanism is connected to the support platform so that the position of the support platform can be changed by the posture of the outrigger mechanism.

8. The distributed-power unmanned excavator according to claim 1, characterized in that, The excavator body includes a body, a robotic arm, and a bucket. The two ends of the robotic arm are connected to the body and the bucket, respectively. The robotic arm is used to adjust the attitude of the bucket.

9. The distributed-power unmanned excavator according to claim 1, characterized in that, The outrigger mechanism includes a motor, a reducer, an angle sensor, a slewing bearing, and a connecting seat; the slewing bearing is connected to the excavator body, the connecting seat is connected to the mounting plate, and the two ends of the slewing bearing are provided with rotating shafts and are rotatably connected to the connecting seat through the rotating shafts; The motor is mounted on a connecting base and its output shaft is connected to the reducer. The output shaft of the reducer is drivenly connected to the rotating shaft. A sensor is provided on the output shaft of the reducer for communication with the control system.

10. The distributed-power unmanned excavator according to any one of claims 1 to 9, characterized in that, The control system includes a detection device and a controller. The detection device is used to detect the current environmental information of the excavator body. The controller is communicatively connected to the detection device, the excavator body and the traveling mechanism to perform corresponding actions. The detection device includes at least one of a position sensor, an attitude sensor, a vision sensor, an ultrasonic sensor, a temperature sensor, a lidar, a current and voltage sensor, and a GPS sensor.

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