Excavator

Abstract

The invention relates to an excavator (1), preferably a wheeled excavator or tracked excavator, comprising a frame (38), which is preferably formed by a mobile undercarriage (2) and a superstructure (3) rotatably arranged on the undercarriage (2) about an axis of rotation, and an attachment (5) attached directly or indirectly to the frame (38), wherein the attachment (5) is multi-sectioned, comprising a boom (6), a stick (7) and a bucket (8), wherein the boom (6) has a starting section and an end section and is attached to the frame (38) with its starting section being power-operated about at least one pivot axis (4) within its pivot range in at least two directions of movement, wherein the stick (7) further comprises a starting section and an end section and is pivotable about a pivot axis (48) which is provided either at its starting section or spaced apart from its starting section in the direction of the end section.The bucket (8) is mounted on the end of the boom (6) and is pivotable within its swivel range in two directions of movement by means of a power-operated mechanism, and the bucket (8) is mounted on the end of the stick (7) and is pivotable within its swivel range in two directions of movement by means of a power-operated mechanism about a pivot axis (49), and the pivoting of the boom (6) and / or the pivoting of the stick (7) and / or the pivoting of the bucket (8) in both respective directions of movement can each be effected by a motor-driven cable pull (11, 15, 19, 23, 32, 36). In order to specify an excavator (1) that is hydraulic-free and can be used without restriction of the working space, the excavator (1) shall be designed such that for pivoting the boom (6) in its first direction of movement a first drive is provided with a motor provided on the superstructure (3) and with a first cable pull (11) driven by it,wherein this cable (11) runs from this motor to a first force pivot point (12) provided on the boom (6) at a distance from the pivot axis (4) of the boom (6), and that for pivoting the boom (6) in its second direction of movement, a second drive (13) is provided with a motor (14) provided on the superstructure (3) and with a second cable (15) driven by this motor, wherein this cable (15) runs from this motor (14) to a second force pivot point (16) provided on the boom (6) at a distance from the pivot axis (4) of the boom (6), and / or for pivoting the stick (7) in its first direction of movement, a first drive (17) is provided with a motor (18) provided on the boom (6) and with a first cable (19) driven by this motor, wherein this cable (19) runs from this motor (18) to a first force pivot point (20) proceeds,which is provided on the stick (7) in the direction of the initial region of the stick (7) in front of the pivot axis (48) of the stick (7), and that for pivoting the stick (7) in its second direction of movement a second drive (21) is provided with a motor (22) provided on the boom (6) and with a second cable (23) driven by this motor, wherein this cable (23) runs from this motor (18) to a second force pivot point (24) provided on the underside of the stick (7) at a distance from the pivot axis (48) of the stick (7), and / or that for pivoting the bucket (8) a multi-segment, preferably four-segment, coupling mechanism (29) is provided, which is articulated on one side to a first pivot point (27) on the stick (7) and on the other side to a second pivot point (28) on the bucket (8),wherein a first drive is provided for pivoting the bucket (8) in its first direction of movement, comprising a motor provided on the stick (7) and a first cable (32) driven by it, wherein this cable (32) runs from this motor to a first force pivot point (33) on the linkage (29) spaced apart from the pivot axis (49) of the bucket (8), and wherein a second drive (34) is provided for pivoting the bucket (8) in its second direction of movement, comprising a motor (35) provided on the stick (7) and a second cable (36) driven by it, wherein this cable (36) runs from this motor (35) via a pulley (37) to a second force pivot point (33) on the linkage (29), wherein the pulley on the stick (7) is located in front of the pivot point (27) of the linkage when viewed in the direction of the pivot axis (49) of the bucket (8). (29) is provided on the stem (7).

Description

[0001] The invention relates to an excavator, preferably a wheeled excavator or a tracked excavator, comprising a frame, which is preferably formed by a mobile undercarriage and an upper carriage arranged on the undercarriage so as to be rotatable about a rotation axis, as well as an equipment attached directly or indirectly to the frame, wherein the equipment is designed in several parts with a boom, a stick and a bucket, wherein the boom has a starting region and an end region and is attached to the frame with its starting region so as to be pivotable about at least one pivot axis in a power-operated manner within its pivoting range in at least two directions of movement, wherein the stick further has a starting region and an end region and is pivotable about a pivot axis which is provided either at its starting region or at a distance from its starting region in the direction of the end region,is mounted on the end region of the boom in a power-operated manner within its pivoting range in two directions of movement, and wherein the bucket is mounted on the end region of the stick in a power-operated manner about a pivot axis within its pivoting range in two directions of movement, and wherein, in addition, the pivoting of the boom and / or the pivoting of the stick and / or the pivoting of the bucket in both respective directions of movement can be effected by a motor-driven cable pull.

[0002] Such excavators are known in various designs. The equipment is usually mounted on the superstructure.

[0003] The moving parts of the equipment, such as the boom, stick, and bucket, are typically driven by hydraulic cylinders. The boom usually consists of a welded steel frame with individual joints, which are held in position or moved by hydraulic cylinders at specific points on other joints.

[0004] In industry, hydraulic cylinders are gradually being replaced with electric actuators, making the corresponding excavators hydraulic-free. This has the advantage, among other things, that electric applications, if properly dimensioned, are more efficient and generally maintenance-free.

[0005] Excavators are also known in which the movement of the moving elements of the equipment such as the boom, stick and bucket is effected by rope pulls.

[0006] The disadvantage here is that a single cable pull can usually only achieve movement in one direction, namely the direction in which the cable is pulled. This movement must be directed against gravity, since otherwise, without a counterforce, the movement would already be caused by gravity. A movement in the direction of gravity can only be controlled to a limited extent by such a cable pull acting against gravity, since the force is limited to the force caused by gravity, and movement can only occur to the extent that it is caused by gravity.

[0007] A second cable pull is therefore required for a second direction of movement, the force of which opposes that of the first cable pull. Another disadvantage is that the respective cable guides can sometimes significantly restrict the excavator's working space.

[0008] The object of the invention is to avoid the aforementioned disadvantages and to provide an excavator which is hydraulic-free and can be used without a significant restriction of the working space.

[0009] This object is achieved in a generic excavator in that for pivoting the boom in its first direction of movement, a first drive is provided with a motor provided on the superstructure and with a first cable drive that can be driven by the latter, wherein the cable runs from the motor to a first power linkage point provided on the boom at a distance from the pivot axis of the boom, and in that for pivoting the boom in its second direction of movement, a second drive is provided with a motor provided on the superstructure and with a second cable drive that can be driven by the latter, wherein the cable runs from the motor to a second power linkage point provided on the boom at a distance from the pivot axis of the boom and / or for pivoting the stick in its first direction of movement, a first drive is provided with a motor provided on the boom and with a first cable driveable by the latter, this cable running from this motor to a first power articulation point provided on the stick in front of the pivot axis of the stick as seen in the direction of the initial area of ​​the stick, and that for pivoting the stick in its second direction of movement, a second drive is provided with a motor provided on the boom and with a second cable driveable by the motor, this cable running from this motor to a second power articulation point provided on the underside of the stick at a distance from the pivot axis of the stick and / or that for pivoting the bucket, a multi-linked, preferably four-linked,A coupling mechanism is provided, wherein for pivoting the bucket in its first direction of movement, a first drive is provided with a motor provided on the arm and with a first cable drivable by the latter, wherein this cable runs from this motor to a first power articulation point on the coupling mechanism spaced from the pivot axis of the bucket, and wherein for pivoting the bucket in its second direction of movement, a second drive is provided with a motor provided on the arm and with a second cable drivable by the latter, wherein this cable runs from this motor via a deflection pulley to a second power articulation point on the coupling mechanism, wherein the deflection pulley is provided on the arm in front of the articulation point of the coupling mechanism on the arm, as seen in the direction of the pivot axis of the bucket.

[0010] Thus, the equipment of the excavator according to the invention can be very similar to, or even identical to, the equipment of a conventional hydraulic excavator, allowing the excavator according to the invention to be used in a similar or identical manner to a conventional hydraulic excavator and offering similar or even identical reach, installation space, and accessible working area. The cable hoists, whose drive does not require hydraulics, make it possible to eliminate the need for hydraulics.

[0011] For the different directions of movement of the boom and / or the stick and / or the bucket, a first motor for the first direction of movement and a second motor for the second direction of movement can be provided.

[0012] Preferably, the axis of the pulley provided on the arm may be in line with the pivot axis of the bucket, thus ensuring a simplified structure of the equipment.

[0013] Furthermore, the first power linkage point for pivoting the bucket and the second power linkage point for pivoting the bucket can be designed as a single power linkage point for pivoting the bucket in both directions. This design eliminates the need for additional components and simplifies the equipment design.

[0014] Advantageously, at least one motor can be designed as an electric motor, and preferably, several motors can each be designed as electric motors, and very preferably, all motors can each be designed as electric motors. Electric motors offer the advantage of high achievable torques even at low speeds. Furthermore, they are low-maintenance and require only a small installation space. It is particularly advantageous that an excavator equipped exclusively with electric motors can be operated entirely electrically and therefore does not require a hydraulic system. In this respect, such excavators can also be used in situations with increased safety requirements regarding the possible release of harmful substances, such as hydraulic fluid or diesel.

[0015] Preferably, the pulley of the cable pulley for pivoting the boom in its second direction of movement can be arranged on the uppercarriage. Such a configuration allows the pivoting of the boom in its second direction of movement to be implemented by the cable pulley without simultaneously impeding relative movements between the uppercarriage and undercarriage of the excavator. In this respect, a rotational movement of the uppercarriage around its axis of rotation relative to the undercarriage is still possible.

[0016] Furthermore, the pulley of the cable pulley for pivoting the boom in its second direction of movement can be provided on the underside of the boom between the boom's initial area and the second force pivot point. Such a design allows the cable pulley to pivot the boom in its second direction of movement without simultaneously changing the distance between this pulley and the second force pivot point.

[0017] Advantageously, the boom can have a curved shape or an obtuse angle. For example, a shape essentially corresponding to a boomerang is conceivable. In this respect, the boom has, for example, an "L" shape with two legs of approximately equal length, arranged at an angle, preferably greater than 90°, to each other. The legs can be thicker where they meet, with the two legs tapering from there. Preferably, this curved shape or obtuse angle also continues into the stick. Such a design allows one of the buckets to be positioned more flexibly, and an improved bucket reach can be achieved.

[0018] Preferably, at least one cable can be routed through a hollow space in the boom, and preferably also over a pulley. This protects the cable from external influences, such as contamination. Furthermore, accidental contact of the cable with other equipment elements, such as the bucket, or other objects in the excavator's vicinity can be avoided. Furthermore, routing the cable through the boom ensures that the excavator's working space is not restricted.

[0019] Furthermore, at least one cable can be routed through a hollow space in the boom, and preferably also via a pulley. This protects the cable from external influences, such as dirt. Furthermore, accidental contact of the cable with other equipment elements or other objects in the excavator's vicinity can be avoided. Furthermore, routing the cable through the boom ensures that the excavator's working space is not restricted.

[0020] Advantageously, with at least one cable pull for pivoting the boom, the arrangement of the motor, power linkage point, and, if applicable, the deflection pulley can be selected such that, across the entire pivoting range of the boom, the cable pull, in its area between the motor and power linkage point or deflection pulley and power linkage point, is no more than 20% of the distance between the pivot axis of the boom and the pivot axis of the stick from that part of the boom to which it runs approximately parallel in this area. Such an arrangement can ensure that the excavator's working space is only slightly restricted. Furthermore, accidental contact of the cable pull with other elements of the equipment or other objects in the excavator's vicinity can be avoided.

[0021] Preferably, with at least one cable pull for pivoting the boom, the arrangement of the motor, power linkage point, and optionally the deflection pulley can be selected such that, across the entire pivoting range of the boom, the cable pull in its area between the motor and power linkage point or deflection pulley and power linkage point is no more than 20% of the distance between the pivot axis of the boom and the pivot axis of the bucket from that part of the boom to which it runs approximately parallel in this area. Such an arrangement can ensure that the working space of the excavator is only slightly restricted. Furthermore, accidental contact of the cable pull with other elements of the equipment or other objects in the vicinity of the excavator can be avoided.

[0022] Furthermore, at least one cable pulley can be guided over a pulley mounted on a spacer on the boom or stick, with the pulley either pushing the cable pulley away from the boom or stick or pulling it toward the boom or stick. In this way, the necessary angles in the cable pulley guide can be achieved to achieve the desired leverage, with the excavator's working space only slightly restricted by the cable pulley.

[0023] Advantageously, the two cable pulleys for the two directions of movement of the boom and / or the two cable pulleys for the two directions of movement of the stick and / or the two cable pulleys for the two directions of movement of the bucket can each be designed completely independently of each other with separate and independently controllable motors. In this respect, the boom and / or the stick and / or the bucket can be pivoted as desired in any of their directions of movement, while simultaneously preventing the boom, stick, or bucket from pivoting unintentionally in both directions.To pivot the respective element in one direction of movement, one motor is driven for the cable pull for one direction of movement of the respective element, and to pivot the respective element in the other direction of movement, the other motor is driven for the cable pull for the other direction of movement of the respective element. While one motor is retracting its assigned cable pull, it is necessary for the other motor to release its assigned cable pull. It is therefore possible to keep the cables of the respective element of the equipment taut against pivoting in both directions of movement.

[0024] Preferably, the two cable pulls for the two directions of movement of the boom and / or the two cable pulls for the two directions of movement of the stick and / or the two cable pulls for the two directions of movement of the bucket can each be designed independently of one another with a single motor driving two different cam disks for the two cable pulls, wherein the shape of the two cam disks is each matched to the geometric conditions of the boom, stick or bucket, the arrangement of the cam disks and the position of the force articulation points. In this respect, by rotating the two cam disks about the same axis of rotation of the same motor, the cable pull for one direction of movement of the associated element, i.e. the boom, stick or bucket, can be output and simultaneously the cable pull for the other direction of movement of the associated element, i.e. the boom, stick or bucket, can be retracted.To pivot the respective element in one direction of movement, the motor of the respective element is driven in one direction of rotation, and to pivot the respective element in the other direction of movement, the motor of the respective element is driven in the other direction of rotation. It is therefore possible to keep the cables of the respective element of the equipment taut for pivoting in both directions of movement.

[0025] In a preferred embodiment of the invention, the boom can be mounted on the frame with its initial section pivoted about two different pivot axes, each power-operated within its pivot range in at least two directions of movement, with one pivot axis oriented horizontally and the other pivot axis oriented vertically. Thus, in addition to the horizontally oriented pivot axis required for up and down movement, lateral pivoting is also possible via the vertically oriented pivot axis.

[0026] The following are exemplary embodiments of the invention illustrated in the drawings. They show: Fig. 1 shows a first embodiment of an excavator according to the invention in a first state of movement, Fig. 2 shows the equipment of the object according to Fig. 1 in a further state of movement, Fig. 3 a detailed view of a section of the object according to Fig. 2 , Fig. 4 a second embodiment of the equipment of an excavator according to the invention, Fig. 5 a detailed view of a section of the object according to Fig. 4 , Fig. 6 a detailed section of the object according to Fig. 1 in two different states of motion, Fig. 7 a section of the object after Fig. 1 in different states of movement.

[0027] In all figures, identical reference symbols are used for identical or similar components.

[0028] Fig. 1 shows an excavator 1 designed as a crawler excavator, comprising a mobile undercarriage 2 and an uppercarriage 3 mounted thereon so as to rotate about a pivot axis. Attached to the uppercarriage 3 is an attachment 5 pivotable about a pivot axis 4. The attachment 5 is multi-linked and includes a boom 6, a stick 7, and a bucket 8. The boom 6 has a curved shape. The pivot axis 4 is provided on a superstructure frame 38 arranged on the uppercarriage 3.

[0029] The boom 6 has a starting area and an end area, wherein its starting area is attached to the pivot axis 4 and can be pivoted by power in two directions of movement within its pivoting area.

[0030] The stem 7 also has a starting region and an end region. The stem 7 is mounted on the end region of the boom 6 in a power-operated manner about a pivot axis 48, allowing it to pivot in two directions of movement within its pivoting range. The pivot axis 48 is spaced apart from the starting region of the stem 7 in the direction of the end region.

[0031] The bucket 8 is mounted on the end region of the arm 7 in a power-operated manner about a pivot axis 49 in two directions of movement of its pivoting range.

[0032] For pivoting the boom 6 in its first direction of movement, a first drive 9 (not shown) is provided with a motor 10 (not shown) provided on the superstructure frame 38, and thus indirectly on the superstructure 3, and with a first cable 11 driven by the motor. This first cable 11 runs from this motor 10 (not shown) to a first power linkage point 12 provided on the boom 6 at a distance from the pivot axis 4 of the boom 6. In the illustrated embodiment, the first direction of movement of the boom 6 corresponds to an upward movement.

[0033] For pivoting the boom 6 in its second direction of movement, a second drive 13 is provided with a motor 14 provided on the superstructure frame 38, and thus indirectly on the superstructure 3, and with a second cable pull 15 driven by the motor. This second cable pull 15 runs from this motor 14 via a deflection pulley 39 arranged on the superstructure frame 38 to a second force pivot point 16 provided on the boom 6 at a distance from the pivot axis 4 of the boom 6. The force pivot point 16 is therefore located on the underside of the boom 6, i.e. on the side of the boom 6 opposite the force pivot point 12. In the Fig. 1 In the direction shown, the motor 10 is on the same axis as the motor 14 and is therefore in Fig. 1 not shown. In the illustrated embodiment, the second direction of movement of the boom 6 corresponds to a downward movement.

[0034] The arrangement of motor 10 or 14, power linkage point 12 or 16, and the deflection pulley 39 is selected such that, throughout the entire pivoting range of the boom 6, each cable pulley 11 or 15, with its area located between motor 10 and power linkage point 12, or with its area located between deflection pulley 39 and power linkage point 16, is no more than 20% of the distance between the pivot axis 48 of the boom 6 and the pivot axis 48 of the stick 7 from that part of the boom 6 to which it runs approximately parallel in this area. This prevents one of the cable pulleys 11 or 15 from engaging the working area of ​​the equipment 5 of the excavator 1.

[0035] For pivoting the stem 7 in its first direction of movement, a first drive 17 (not shown) is provided with a motor 18 (not shown) provided on the boom 6 and with a first cable 19 drivable by the motor. This first cable 19 runs from this motor 18 (not shown) to a first force articulation point 20 provided on the stem 7 at a distance from the pivot axis 48 of the stem 7. This first force articulation point 20 is provided on the stem 7 in front of the pivot axis 48 of the stem 7 in the direction of the initial region of the stem 7. In the illustrated embodiment, the first direction of movement of the stem 7 corresponds to an upward or stretching movement.

[0036] For pivoting the stick 7 in its second direction of movement, a second drive 21 is provided with a motor 22 provided on the boom 6 and with a second cable 23 driven by the latter. This second cable 23 runs from this motor 22 to a second force pivot point 24 provided on the stick 7 at a distance from the pivot axis 48 of the stick 7. This second force pivot point 24 is provided on the underside 25 of the stick 7 at a distance from the pivot axis 48 of the stick 7. The second cable 23 is also deflected by a deflection pulley 26 arranged on the boom 6. From the Fig. 1 In the direction shown, the motor 18 is on the same axis as the motor 22 and is therefore in Fig. 1 not shown. In the illustrated embodiment, the second direction of movement of the stem 7 corresponds to a downward or pulling movement.

[0037] The arrangement of motor 18 or 22, power linkage point 20 or 24, and the deflection pulley 26 is selected such that, throughout the entire pivoting range of the boom 7, each cable pulley 19 or 23, with its area located between motor 18 and power linkage point 20, or with its area located between deflection pulley 26 and power linkage point 24, is no more than 20% of the distance between the pivot axis 48 of the boom 7 and the pivot axis 49 of the bucket 8 from that part of the boom 7 to which it runs approximately parallel in this area. This prevents one of the cable pulleys 19 or 23 from engaging the working area of ​​the equipment 5 of the excavator 1.

[0038] For pivoting the bucket 8, a four-link coupling gear 29 is provided, which is pivoted on the one hand to a first pivot point 27 on the arm 7 and on the other hand to a second pivot point 28 on the bucket 8.

[0039] For pivoting the bucket 8 in its first direction of movement, a first drive 30 (not shown) is provided with a motor 31 (not shown) provided on the arm 7 and with a first cable 32 driven by the motor. This first cable 32 runs from this motor 31 (not shown) to a first power linkage point 33 on the coupling gear 29, spaced from the pivot axis 49 of the bucket 8. In the illustrated embodiment, the first direction of movement of the bucket 8 corresponds to an opening movement.

[0040] For pivoting the bucket 8 in its second direction of movement, a second drive 34 is provided with a motor 35 provided on the arm 7 and with a second cable 36 driven by the latter. This second cable 36 runs from this second motor 35 via a deflection pulley 37 to the first power articulation point 33 on the coupling gear 29, which is spaced apart from the pivot axis 49 of the bucket 8. In this respect, the power articulation point 33 is a uniform power articulation point for pivoting the bucket 8 in both directions of movement. The deflection pulley 37 is provided on the arm 7 closer to the pivot axis 49 of the bucket 8 than the articulation point 27 of the coupling gear 29. The axis of the deflection pulley 37 provided on the arm 7 lies in line with the pivot axis 49 of the bucket 8. Fig. 1 In the direction of view shown, the motor 31 is on the same axis as the motor 34 and is therefore in Fig. 1 not shown. In the illustrated embodiment, the second direction of movement of the bucket 8 corresponds to a closing movement.

[0041] All motors intended for moving equipment 5 are electric motors.

[0042] Fig. 2 shows the equipment 5 of the excavator 1 after Fig. 1 in a further state of motion, which differs from the state of motion of the Fig. 1 insofar as, on the one hand, the boom 6 is shifted further forward, i.e., in the direction of the bucket 8. In this respect, the boom 6 was pivoted into its second direction of movement by activating the second drive 13 and partially retracting the second cable pull 15. This is done by driving the motor 14 of the drive 13 and winding the cable pull 15 onto a winch 42. The first cable pull 11 was correspondingly partially omitted, since otherwise the pivoting of the boom 6 in the second direction of movement would not be possible. In this respect, the boom 6 was viewed from the direction of Fig. 2 pivoted clockwise around its pivot axis 4.

[0043] On the other hand, the stick 7 is shifted further forward, i.e., in the direction of the bucket 8. In this respect, the stick 7 was pivoted in its first direction of movement by activating the first drive 17 (not shown) and partially retracting the first cable 19. This occurs when the motor 18 (not shown) of the first drive 17 starts to rotate and winds the first cable 19 onto a winch 51 (not shown). For this purpose, the second cable 23 was partially omitted, since otherwise the pivoting of the stick 7 in the second direction of movement would not be possible. In this respect, the stick 7 was pivoted from the viewing direction of Fig. 2 pivoted counterclockwise around its pivot axis 48.

[0044] Fig. 3 shows the first drive 17 and the second drive 21 of the stem 7, which are mounted on the Fig. 3 not shown boom 6. Both drives 17 and 21 are arranged coaxially, whereby the motors 18 and 22 can each be operated independently of one another. The motor 18 of the first drive 17, when actuated, winds the first cable 19 either onto the winch 51 or unwinds it from the winch 51, depending on the respective direction of rotation. The motor 22 of the second drive 21, on the other hand, when actuated, winds the second cable 23 either onto the winch 52 or unwinds it from the winch 52, depending on the respective direction of rotation. When the first cable 19 is wound onto the winch 51, the output length of the first cable 19 is reduced and the stick 7 (not shown) is pivoted in its first direction of movement. For this to happen, the second cable 23 must be unwound from the winch 52 at the same time so that the stick 7 does not jam.The length of the first cable 19 to be wound up is not necessarily identical to the length of the second cable 23 to be output.

[0045] To pivot the handle 7 in its second direction of movement, the motor 22 must wind the second cable 23 onto the winch 52, and at the same time, the motor 18 must unwind the first cable 19 from the winch 51. The length of the first cable 19 to be output is not necessarily identical to the length of the second cable 23 to be wound up.

[0046] Fig. 4 shows a further embodiment of the equipment 5 of an excavator 1 according to the invention. The equipment 5 differs in this respect from the equipment shown in Fig. 2 The illustrated equipment 5, in which the cable pulleys 11 and 15 are driven by a single motor (not shown), each with two camshafts on a common shaft. The same applies to the cable pulleys 19 and 23, as well as to the cable pulleys 32 and 36.

[0047] In this respect, the two cable pulleys 11 and 15 for the two directions of movement of the boom 6 are each driven independently of one another by a single motor (not shown) that drives two different cam discs 43 and 44. The shape of the two cam discs 43 and 44 is adapted to the geometric conditions of the boom 6 and the arrangement of the cam discs 43 and 44, as well as the position of the force pivot points 12 and 16 and the deflection pulley 39. The two cam discs 43 and 44 are arranged on the shaft 46 of the motor.

[0048] The two cable pulleys 19 and 23 for the two directions of movement of the rod 7 are each driven independently of one another by a single motor (not shown) that drives two different cam discs 53 and 54. The shape of the two cam discs 53 and 54 is adapted to the geometric conditions of the rod 7 and the arrangement of the cam discs 53 and 54, as well as the position of the force pivot points 20 and 24 and the deflection pulley 26. The two cam discs 53 and 54 are arranged on the motor shaft 56.

[0049] The two cable pulleys 32 and 36 for the two directions of movement of the bucket 8 are each designed to be interdependent and driven by a single motor (not shown) that drives two different cam disks 63 and 64. The shape of the two cam disks 63 and 64 is adapted to the geometric conditions of the bucket 8 and the arrangement of the cam disks 63 and 64, as well as the position of the power linkage point 33 and the deflection pulley 37. The two cam disks 63 and 64 are arranged on the motor shaft 66.

[0050] Fig. 5 shows the cam discs 53 and 54 as well as the associated motor 45 of the not shown stem 7 of the object according to Fig. 4 The motor 45 has a shaft 56 on which both cam disks 53 and 54 are arranged. Thus, when the motor 45 rotates its shaft 56, it necessarily pivots both cam disks 53 and 54 equally. The cam disks 53 and 54 are each approximately semicircular, each with a running surface 57 and 58, respectively, with the respective running surface 57 and 58 defining the desired cam geometry of the cam disk 53 and 54, respectively. The cam disks 53 and 54 each receive the shaft 56 eccentrically and have an angular offset from one another on the shaft 56.

[0051] The first cable 19 for pivoting the stem 7 (not shown) in its first direction of movement is arranged on the running surface 57 of the cam disc 53 on the side of the running surface 57 closest to the shaft 56 mount. Thus, the first cable 19 winds up onto the running surface 57 of the cam disc 53 when the motor 45 rotates counterclockwise.

[0052] The second cable 23 for pivoting the stem 7 (not shown) in its second direction of movement is arranged on the running surface 58 of the cam disc 54 on the side of the running surface 58 opposite the receptacle for the shaft 56. Thus, the second cable 23 unwinds from the running surface 58 of the cam disc 54 when the motor 45 rotates counterclockwise.

[0053] By rotating the shaft 56, the first cable 19 can be wound up and the second cable 23 can be unwound at the same time, thereby pivoting the stem 7 (not shown) in its first direction of movement without jamming. Due to the geometry of the running surfaces 57 and 58 of the respective cam discs 53 and 54 and the set angle of rotation offset between the two cam discs 53 and 54, different lengths of the respective cable 19 and 23 can be wound up or unwound with the same rotation. In this respect, account can be taken of the fact that the length of the first cable 19 to be output for pivoting without jamming the stem 7 (not shown) does not have to be identical to the length of the second cable 23 to be wound up in the illustrated embodiment.

[0054] Fig. 6 shows the coupling gear 29 for moving the bucket 8 of the object to Fig. 1 in two different states of motion. In this respect, Fig. 6 left the state of motion according to the representation in Fig. 1 depicted, whereas in Fig. 6 A further state of movement is shown on the right. This further state of movement differs from the first state of movement in that the bucket 8 has been pivoted in its first direction of movement, i.e. counterclockwise in the illustration, about its axis of rotation 49 which is arranged coaxially with the deflection pulley 37. In order to achieve this pivoting, the first cable 32 was partially wound up, as a result of which the first force pivot point 33 was displaced in the direction of the first cable 32. The first force pivot point 33 is a uniform force pivot point for pivoting the bucket 8 in both directions of movement. The second cable 36 was partially unwound. By displacing the first force pivot point 33, the second pivot point 28 was also displaced and in this respect the distance between the first pivot point 27 and the second pivot point 28 was reduced. The bucket 8 was thereby pivoted in its first direction of movement and thus opened.

[0055] Fig. 7 shows parts of the equipment 5 of the item according to Fig. 1in different states of motion. The letter a and dotted lines indicate the first state of motion, whereas the letter b and solid lines indicate the second state of motion. In this respect, the stem 7 is pivoted in its first direction of motion in its second state of motion (7b) compared to its first state of motion (7a). The unwound part of the first cable 19a in the first state of motion is longer than the unwound part of the first cable 19b in the second state of motion. Conversely, the unwound part of the second cable 23a in the first state of motion is shorter than the unwound part of the second cable 23b in the second state of motion.This makes it particularly clear that when the handle 7 is pivoted in its first direction of movement, the wound-up length of the first cable (difference 19a to 19b) is not identical to the unwound length of the second cable (difference 23a to 23b).

Claims

1. An excavator (1), preferably a wheeled excavator or a tracked excavator, comprising a frame (38), which is preferably formed by a mobile undercarriage (2) and a superstructure (3) arranged on the undercarriage (2) so as to be rotatable about a rotation axis, as well as an equipment (5) attached directly or indirectly to the frame (38), wherein the equipment (5) is designed as a multi-part unit with a boom (6), a stick (7), and a bucket (8), wherein the boom (6) has a starting region and an end region and is attached to the frame (38) with its starting region so as to be pivotable about at least one pivot axis (4) in a power-operated manner within its pivoting range in at least two directions of movement, wherein the stick (7) further has a starting region and an end region and is pivotable about a pivot axis (48) which is provided either at its starting region or at a distance from its starting region in the direction of the end region,is mounted on the end region of the boom (6) in a power-operated manner within its pivoting range in two directions of movement, and wherein the bucket (8) is mounted on the end region of the stick (7) in a power-operated manner about a pivot axis (49) within its pivoting range in two directions of movement, and wherein, in addition, the pivoting of the boom (6) and / or the pivoting of the stick (7) and / or the pivoting of the bucket (8) in both respective directions of movement can be effected by a motor-driven cable pull (11, 15, 19, 23, 32, 36), characterized in thatfor pivoting the boom (6) in its first direction of movement, a first drive is provided with a motor provided on the superstructure (3) and with a first cable pull (11) drivable by the latter, said cable pull (11) running from this motor to a first power linkage point (12) provided on the boom (6) at a distance from the pivot axis (4) of the boom (6), and that for pivoting the boom (6) in its second direction of movement, a second drive (13) is provided with a motor (14) provided on the superstructure (3) and with a second cable pull (15) drivable by the latter,wherein this cable (15) runs from this motor (14) to a second power articulation point (16) provided on the boom (6) at a distance from the pivot axis (4) of the boom (6), and / or a first drive (17) with a motor (18) provided on the boom (6) and with a first cable (19) drivable by the latter is provided for pivoting the boom (7) in its first direction of movement, wherein this cable (19) runs from this motor (18) to a first power articulation point (20) provided on the boom (7) in front of the pivot axis (48) of the boom (7) as seen in the direction of the initial region of the boom (7), and that a second drive (21) with a motor (22) provided on the boom (6) and with a second cable (23) drivable by the latter is provided for pivoting the boom (7) in its second direction of movement,wherein this cable (23) runs from this motor (18) to a second power articulation point (24) provided on the underside of the arm (7) at a distance from the pivot axis (48) of the arm (7), and / or that a multi-link, preferably four-link, coupling mechanism (29) is provided for pivoting the bucket (8), which is articulated on the one hand to a first articulation point (27) on the arm (7) and on the other hand to a second articulation point (28) on the bucket (8), wherein a first drive with a motor provided on the arm (7) and with a first cable (32) drivable by the motor is provided for pivoting the bucket (8) in its first direction of movement, wherein this cable (32) runs from this motor to a first power articulation point (33) on the coupling mechanism (29) spaced from the pivot axis (49) of the bucket (8),and that for pivoting the bucket (8) in its second direction of movement, a second drive (34) is provided with a motor (35) provided on the arm (7) and with a second cable (36) drivable by the latter, said cable (36) running from said motor (35) via a deflection pulley (37) to a second power articulation point (33) on the coupling gear (29), said deflection pulley being provided on the arm (7) in front of the articulation point (27) of the coupling gear (29) on the arm (7), as seen in the direction of the pivot axis (49) of the bucket (8).

2. Excavator (1) according to the preceding claim, characterized in that the axis of the deflection pulley (37) provided on the arm (7) is in line with the pivot axis (49) of the bucket.

3. Excavator (1) according to one of the preceding claims, characterized in thatthe first force articulation point (33) for pivoting the bucket (8) and the second force articulation point (33) for pivoting the bucket (8) are designed as a uniform force articulation point (33) for pivoting the bucket (8) in both directions.

4. Excavator (1) according to one of the preceding claims, characterized in that at least one motor (14, 18, 22, 35) is designed as an electric motor, preferably several motors (14, 18, 22, 35) are each designed as an electric motor, and very preferably all motors (14, 18, 22, 35) are each designed as an electric motor.

5. Excavator (1) according to one of the preceding claims, characterized in that the deflection pulley (39) of the cable pull (15) for pivoting the boom (6) in its second direction of movement is arranged on the superstructure (3).

6. Excavator (1) according to one of claims 1 to 4, characterized in thatthe deflection pulley of the cable pull for pivoting the boom (6) in its second direction of movement is provided on the underside of the boom (6) between the initial area of ​​the boom (6) and the second force articulation point (16).

7. Excavator (1) according to one of the preceding claims, characterized in that the boom (6) has a curved shape or an obtuse-angled shape.

8. Excavator (1) according to one of the preceding claims, characterized in that at least one cable pull (11, 15, 19, 23, 32, 36) is guided through a hollow space of the boom (6) and is preferably also guided over a deflection pulley.

9. Excavator (1) according to one of the preceding claims, characterized in that at least one cable pull (11, 15, 19, 23, 32, 36) is guided through a hollow space of the handle (7) and is preferably also guided over a deflection pulley.

10. Excavator (1) according to one of the preceding claims, characterized in thatin the case of at least one cable pull (11, 15) for pivoting the boom (6), the arrangement of the motor, the power linkage point (12, 16), and optionally the deflection pulley (39) is selected such that, in the entire pivoting range of the boom (6), the cable pull (11, 15) in its area between the motor and the power linkage point (12, 16) or the deflection pulley (39) and the power linkage point (12, 16) is not more than 20% of the distance between the pivot axis (4) of the boom (6) and the pivot axis (48) of the stick (7) from that part of the boom (6) to which it runs approximately parallel in this area.

11. Excavator (1) according to one of the preceding claims, characterized in thatin the case of at least one cable pull (19, 23) for pivoting the stick (7), the arrangement of the motor (18, 22), the power linkage point (20, 24), and optionally the deflection pulley (26) is selected such that, in the entire pivoting range of the stick (7), the cable pull (19, 23) in its area between the motor (18, 22) and the power linkage point (20, 24) or the deflection pulley (26) and the power linkage point (20, 24) is not more than 20% of the distance between the pivot axis (48) of the stick (7) and the pivot axis (49) of the bucket (8) from that part of the stick (7) to which it runs approximately parallel in this area.

12. Excavator (1) according to one of the preceding claims, characterized in that at least one cable pull (11, 15, 19, 23, 32, 36) is guided over a deflection pulley which is arranged on the boom (6) or the handle (7) on a spacer, wherein the deflection pulley either pushes the cable pull away from the boom (6) or the handle (7) or pulls it towards the boom (6) or the handle (7).

13. Excavator (1) according to one of the preceding claims, characterized in that the two cable pulleys (11, 15) for the two directions of movement of the boom (6) and / or the two cable pulleys (19, 23) for the two directions of movement of the stick (7) and / or the two cable pulleys (32, 36) for the two directions of movement of the bucket (8) are each designed completely independently of one another with separate and independently controllable motors (13, 18, 22, 35).

14. Excavator (1) according to one of the preceding claims, characterized in thatthe two cable pulleys (11, 15) for the two directions of movement of the boom (6) and / or the two cable pulleys (19, 23) for the two directions of movement of the stick (7) and / or the two cable pulleys (32, 36) for the two directions of movement of the bucket (8) are each designed to be dependent on one another with a single motor driving two different cam discs (43, 44, 53, 54, 63, 64) for the two cable pulleys (11, 15, 19, 23, 32, 36), wherein the shape of the two cam discs (43, 44, 53, 54, 63, 64) is adapted to the geometric conditions of the boom (6) or stick (7) or bucket (8), the arrangement of the cam discs (43, 44, 53, 54, 63, 64) and the position of the force pivot points (12, 16, 20, 24, 33) is tuned.

15. Excavator (1) according to one of the preceding claims, characterized in thatthe boom (6) is mounted on the frame (38) with its initial region pivotable about two different pivot axes, each power-operated within its pivot range in at least two directions of movement, wherein one pivot axis (4) is aligned horizontally and the other pivot axis is aligned vertically.

Images