Construction equipment

Abstract

Construction equipment (100) comprising a hydraulic tank (810) with a hydraulic pump (820) arranged therein, and a bellhouse (830) arranged as interface between the hydraulic pump (820) and a drive motor (840). The bellhouse (830) comprises a first plate (1110) and a second plate (1120), where the first plate (1110) is arranged to sealingly engage a wall of the tank (810), and the second plate (1120) is arranged to support the drive motor (840). Moreover, the second plate (1120) is separated from the first plate (1110) by a distance (D).

Description

[0001] TITLE

[0002] CONSTRUCTION EQUIPMENT

[0003] TECHNICAL FIELD

[0004] The present disclosure relates to tracked construction equipment such as remote controlled demolition robots and other tracked machines. There are disclosed track adjustment mechanisms which allow for convenient adjustment of track tension and that also simplifies track servicing and track replacement.

[0005] BACKGROUND

[0006] Tracked machines, sometimes referred to as crawlers, comprise a continuous band of treads or track plates driven by one or more drive wheels or sprockets. The large surface area of the tracks distributes the weight of the machine better than steel or rubber tyres on an equivalent vehicle, enabling continuous tracked vehicles to traverse soft ground with less likelihood of getting stuck. Modern continuous tracks may comprise soft belts of synthetic rubber, reinforced with steel wires.

[0007] Track tension refers to how taut the track is on the wheels. A non-powered wheel, commonly referred to as an idler, can be placed at an end of the track opposite to the drive wheel to tension the track in order to avoid that the track is thrown (slipped) off the support wheels. A too high track tension will, however, make it more difficult to traverse uneven ground.

[0008] It is desirable that the track tension is adjustable in a convenient and reliable manner, such that a desired track tension can be obtained.

[0009] CN 203958364 U and CN 206466048 U present track adjusters based on cooperating wedges, where four wedge elements arranged in a rectangular configuration are used to generate a track tensioning force.

[0010] US 2016031 1481 A1 discloses a track adjustment system that comprises a sensor module which generates a signal indicative of a sag in the track. WO 2020213851 A1 discloses a system for monitoring caterpillar tension.

[0011] SUMMARY

[0012] It is an objective of the present disclosure to provide improved demolition robots. This objective is at least in part obtained by construction equipment comprising a hydraulic tank with a hydraulic pump arranged therein, and a bellhouse arranged as interface between the hydraulic pump and a drive motor. The bellhouse comprises a first plate and a second plate, where the first plate is arranged to sealingly engage a wall of the tank, and the second plate is arranged to support the drive motor, where the second plate is separated from the first plate by a distance.

[0013] A technical effect of the separated first and second plates of the bellhouse is that the distance D allows for removing the drive motor without first emptying the hydraulic tank, e.g., to access nuts or bolt heads on the inside of the tank. This would not have been possible if the motor mount had been integrally formed with the tank wall as is customary on at least some similar hydraulic systems. A service technician can now remove the electric motor in order to trouble-shoot it or service it, without going through the cumbersome process of first emptying the hydraulic tank to allow the drive motor to be dismantled from the pump.

[0014] It is a further objective of the present disclosure to provide improved track adjustment mechanisms suitable for light tracked construction equipment such as demolition robots, tracked cranes, tracked trenchers, smaller excavators and tracked drill rigs. The teachings herein are also applicable to other types of tracked vehicles such as snowmobiles, all-terrain vehicles (ATV) and the like.

[0015] The objective is at least in part obtained by a track adjuster for adjusting tension of a continuous track on construction equipment, where the continuous track extends in an endless loop in a plane. The track adjuster comprises a wedge arrangement with at least one pair of parallel planar surfaces arranged in sliding engagement with each other. This wedge arrangement is configured to convert an input force applied at an angle to the parallel planar surfaces of the wedge arrangement into a track tensioning force aligned with the plane. The wedge arrangement can be used to provide a desired track tension in an efficient manner. The wedge arrangement can be operated manually, and hence does not require hydraulics or other powered actuators, which is an advantage. The wedge arrangement is also robust and does not require much maintenance. The wedge arrangement is spatially efficient, and thus suitable for smaller tracked vehicles.

[0016] According to a preferred embodiment, the wedge arrangement is configured to convert an input force applied in a direction normal of the plane into the track tensioning force aligned with the plane. This input force can, for instance, be provided by a bolt or other threaded member in a cost efficient and robust manner. The threaded member is preferably a threaded member configured to provide a prevailing torque but can also be a threaded member configured with some form of locking mechanism, such as a locking pin or striker.

[0017] A first part of the wedge arrangement, comprising a first surface of the pair of parallel planar surfaces, is preferably arranged to be connected to an idler wheel of the continuous track on the construction equipment, however, it can also be connected elsewhere along the track to provide a desired track tension.

[0018] According to some aspects, a first guide arrangement is arranged to guide the first part of the wedge arrangement in a direction aligned with the plane, where the first guide arrangement is integrated with a support for the idler wheel of the continuous track. It is an advantage that the first guide arrangement is integrally formed with the support for the idler wheel, since this reduces the number of parts of the track assembly. A second part of the wedge arrangement, comprising a second surface of the pair of parallel planar surfaces, may be arranged to slidingly abut against a support arranged to be fixedly connected to a chassis of the construction equipment. This support can also be arranged to guide the second part of the wedge arrangement in a direction transversal to the plane. A threaded member can, as mentioned above, be arranged to provide the input force. This threaded member preferably extends through the pair of parallel planar surfaces in at least one state of the wedge arrangement, thereby providing increased mechanical strength in a spatially efficient manner.

[0019] According to some aspects the track adjuster is arranged at least partly enclosed in a casing which protects the track adjuster from dirt which may otherwise make track adjustment more difficult. The casing may comprise an access hatch for accessing the track adjuster. The casing may be formed in sheet metal and / or at least partly in plastic.

[0020] According to other aspects, the track adjuster comprises at least one resilient member that is compressible by the track tensioning force aligned with the plane. This resilient member provides an increased flexibility in the track which may be desired in some cases. The resilient member may be formed as a piece of resilient material such as rubber of resilient polymer, or by a spring assembly of some sort.

[0021] According to further aspects, the track adjuster comprises a force sensor arranged to measure the track tensioning force. This way current track tension force can be measured, and optionally communicated to an operator or service technician. The track adjuster may also comprise a control unit arranged to automatically compare the track tensioning force measured by the force sensor to a reference force value indicative of a desired track tensioning force. This means that a target track tension can be maintained more easily. The control unit can also be configured to trigger a warning or a notification in response to detecting that the current track tension does not comply with some predetermined track tension acceptance criteria, such as an allowable range of track tensions.

[0022] The track adjuster may furthermore comprise a layer of lubricant inbetween at least one pair of parallel planar surfaces arranged in sliding engagement with each other. This layer of lubricant reduces friction between the surfaces of the wedge arrangement, thereby improving the transfer of the input force into the track tensioning force aligned with the plane. Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a / an / the element, apparatus, component, means, step, etc." are to be interpreted openly as referring to at least one instance of the element, apparatus, component, means, step, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated. Further features of, and advantages with, the present invention will become apparent when studying the appended claims and the following description. The skilled person realizes that different features of the present invention may be combined to create embodiments other than those described in the following, without departing from the scope of the present invention.

[0023] BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present disclosure will now be described in more detail with reference to the appended drawings, where:

[0025] Figure 1 shows an example of tracked construction equipment.

[0026] Figure 2 illustrates an example track adjustment mechanism.

[0027] Figures 3A-C schematically illustrate wedge-based adjustment mechanisms.

[0028] Figure 4 shows an additional in-line component, such as a spring or a load cell.

[0029] Figures 5A-C illustrate an example track tensioning operation,

[0030] Figure 6 shows an example remote control device,

[0031] Figure 7 illustrates examples of support pad surface geometries,

[0032] Figure 8 illustrates details of a hydraulic tank with a bell house,

[0033] Figures 9-10 illustrate disassembly of an electric drive motor,

[0034] Figure 1 1 shows an example bell house with separated plates,

[0035] Figures 12-13 show an assembly comprising a drive motor and a bell house,

[0036] Figure 14 shows a protective plate for construction equipment, Figure 15 illustrates assembly of a protective plate with a chassis,

[0037] Figures 16-17 show an electrical installation and a hydraulic installation,

[0038] Figures 18-19 illustrate example brackets for construction equipment,

[0039] Figure 20 illustrates a tool carrier arm for construction equipment,

[0040] Figures 21 -22 show details of a tool carrier arm, and

[0041] Figures 23-24 show details of a tool carrier arm segment.

[0042] DETAILED DESCRIPTION

[0043] The invention will now be described more fully hereinafter with reference to the accompanying drawings, in which certain aspects of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments and aspects set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout the description.

[0044] It is to be understood that the present invention is not limited to the embodiments described herein and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the appended claims.

[0045] Figure 1 shows an example of tracked construction equipment 100. This particular example is a demolition robot which is supported on continuous tracks 110 on both sides of the machine. The construction equipment 100 comprises a tool carrier arm 150 which may support various tools on its distal end 155, such as a bucket, breaker, shearer, or the like. The tool carrier arm 150 comprises three segments 151 , 152, 153 which are hydraulically controlled.

[0046] A track is a continuous band or loop of treads or track plates driven by one or more drive wheels. A track extends in a plane P which is aligned with a longitudinal direction L of the track as indicated in Figure 1. The tracks 1 10 distribute the weight of the equipment 100 on the ground. Steering is achieved by applying different drive speeds on the two tracks.

[0047] A track adjuster is used to adjust the tension of the track. As mentioned above, it is desired to apply sufficient tension such that the track does not slip off the idler wheel and the drive sprocket in use. Too high tension will, however, result in that unevenness in the ground cannot be handled as well. The track tension is often necessary to adjust over time, e.g., as the track is worn down, to maintain the desired amount of tension in the track.

[0048] Track adjustment mechanisms on heavy tracked vehicles, such as armored tanks, large excavators, and the like, often comprise hydraulic actuators. The tracked construction equipment discussed herein is however of the lighter type, such as smaller demolition robots, tracked cranes, tracked trenchers, smaller excavators and tracked drill rigs. In this type of equipment, it is possible to adjust track tension manually, by a manual track adjuster. A manual track adjuster is more cost efficient compared to a hydraulic adjuster, and often also smaller in size, which is an advantage in smaller construction equipment where space around the tracks is often scarce.

[0049] Known manual track adjusters comprise threaded members such as bolts and the like which interact directly with the idler to move the idler in the longitudinal direction L. It may, however, be cumbersome to operate such track adjusters, especially if space around the track adjuster is tight.

[0050] The length of the continuous track 110, often referred to as the track circumference, measured as the length of the loop of the track 100 in the plane P may be between 200-600 cm. The track width W of the continuous track 1 10, as indicated in Figure 2, may be between 10-50 cm. The techniques disclosed herein are mostly intended for tracked vehicles and devices of the smaller type. Some smaller type machines may comprise tracks having a length between 200-240 cm, such as 220 cm, with a track width between 1 1 -15 cm, such as 13 cm. Slightly larger machines where the techniques disclosed herein finds use may comprise tracks of length between 240-260 cm, such as 252 cm, with tracks widths between 16-20 cm, such as 18 cm. Even larger tracked machines where the present disclosure is applicable comprise tracks of length between 300-320 cm, such as 3096mm, with track widths between 22-25 cm, such as 23 cm.

[0051] The construction equipment 100 illustrated in Figure 1 comprises front outriggers 120 and rear outriggers 130 hingedly attached to the construction equipment chassis. Each outrigger comprises an associated actuator which can be used to move the elongated outrigger arm from a raised position into a deployed position which is illustrated in Figure 1. The example outriggers 120, 130 in Figure 1 move in a lateral plane of the machine, i.e., in a plane that is transversal to the longitudinal direction L of the equipment 100. The outriggers 120, 130, when deployed, support the construction equipment 100 on the ground, making it more stable and able to better resist forces acting on the construction equipment. Each outrigger comprises support pads 125, 135 arranged at the distal end of the outrigger arranged to contact the ground in the deployed position of the outrigger. These support pads 125, 135 are not disc shaped, but has a square shape or a rectangular shape. The support pads 125, 136 are in other words formed as cuboids, optionally with rounded corners, and possibly also with a slight convexity of the support pad surface arranged to contact the ground. The outriggers and the support pads are not inextricably linked to any other features disclosed herein and can be used on construction equipment that lack the track tensioning devices disclosed herein.

[0052] In other words, there is disclosed herein construction equipment 100 comprising at least one outrigger 120, 130. The at least one outrigger 120, 130 comprises a support pad 125, 135 which has a rectangular or square support pad surface arranged to contact the ground. Figure 7 shows examples of support pad surfaces 700, i.e., the geometry of the contact surface of the support pads 125 of the construction equipment 100 and the ground on which the construction equipment 100 stands. In other words, the support pad 125 is interleaved between the outrigger 130 and the ground surface when the outrigger ins in its deployed position. The round support pad surface 710 is common on prior art construction equipment. However, this support pad surface geometry has been shown to result in suboptimal support in some operating scenarios, in particular when it comes to resisting tipping over by the construction equipment 100. An improved support between the construction equipment 100 and ground can be obtained if instead a rectangular or square support pad geometry is used, as illustrated by the example 720, 730, 740.

[0053] The support pads 125 of the construction equipment 100 are preferably formed in a material softer than the outriggers 130, i.e., not in metal but in some more resilient material such as plastic or rubber. The support pads are preferably formed as replaceable elements that can be replaced in a convenient manner when they have been exposed to wear or have been damaged.

[0054] A support pad 125 according to the present teaching can be attached to the outrigger arm by two or more fastening elements, such as bolts. This prevents rotation by the support pad 125 relative to the outrigger 130.

[0055] The support pad 125 covers more than 80% of the contact surface between outrigger and the ground surface when the outrigger is in its deployed position.

[0056] The construction equipment 100 may comprise a control unit 140. This control unit 140 may be configured to control various functions of the construction equipment 100 and also to communicate with a remote control device 600 which will be exemplified and discussed in more detail in connection to Figure 6 below.

[0057] Figure 2 illustrates a track adjuster 200 which operates on an idler 210 to apply tension to a continuous track 1 10 by moving the idler 210 in the longitudinal direction L of the track 1 10. The track adjuster 200 is preferably supported by the construction equipment chassis and may be arranged at least partly enclosed in a casing 220 in order to protect the mechanism from dirt and debris at the work site. An access hatch 225 can be arranged in the casing such that an operator can obtain access to the track adjuster mechanism in a convenient manner. This particular casing 220 comprises a slot 280 through which the idler 210 extends to engage the continuous track 1 10. The slot is long enough such that the idler can move in the longitudinal direction L as track tension is changed. The idler can move far enough towards the drive sprocket to allow the continuous track to be removed from the idler, e.g., if it is desired to replace or service the continuous track 110.

[0058] The track adjusters disclosed herein are based on various forms of wedge arrangements which generate the track tension force. A wedge arrangement generally comprises at least one pair of parallel planar surfaces arranged in sliding engagement with each other. As the planar surfaces move in relation to each other, a displacement of at least a part of the wedge arrangement occurs in a direction transversal to the parallel planar surfaces in a known manner. This displacement is used to apply and to release track tension. The wedge arrangement is configured to convert an input force applied at an angle to the parallel planar surfaces into a track tensioning force aligned with the plane P. In other words, the parallel planar surfaces extend in a plane that is angled in relation to a normal of the plane P, such that at least one part of the wedge arrangement moves in the plane P when the surfaces move relative to each other.

[0059] A wedge arrangement generally comprises at least one angularly shaped component, normally a triangular shaped component, and is one of the six simple machines. It can be used to separate two objects or portions of an object, lift up an object, or hold an object in place. It functions by converting a force applied to its blunt end into forces perpendicular (normal) to its inclined surfaces. The mechanical advantage of a wedge is given by the ratio of the length of its slope to its width. Although a short wedge with a wide angle may do a job faster, it requires more force than a long wedge with a narrow angle.

[0060] An advantage of using a wedge arrangement in this manner is that a mechanical advantage is obtained. The amount of mechanical advantage that is obtained is a function of the angle of the planar surfaces relative to the direction of the input force. Another advantage of using a wedge arrangement for track tension is that the wedge arrangement is relatively insensitive to dirt and rust and also mechanically durable, which is a particular advantage in demolition robots that often operate in challenging harsh environments. The wedge arrangement in Figure 2 comprises a first part 230 and a second part 240 with parallel planar surfaces 235, 245 arranged in sliding engagement with each other. Note that the planar surface 235 on the first part 230 is split by a slot formed in the first part to allow the first part to enter past the threaded member 260. Thus, it is appreciated that the planar surfaces forming part of the wedge arrangements discussed herein are not necessarily continuous planar surfaces.

[0061] A threaded member 260 supported by a mounting plate 250 extends through the first part 230 and the second part 240 of the wedge arrangement. A washer and nut 270 engage the threaded member to press the wedge arrangement together. The washer and nut 270 preferably generate sufficient prevailing torque such that a configured track tension setting is maintained during operation of the track 1 10. A locknut or the like can be used to increase prevailing torque, and lock washers may also be used.

[0062] In the example of Figure 2, the first part 230 comprises a slot which allows it to enter over the threaded member, while the second part 240 has a hole adapted to receive the threaded member. This simplifies assembly of the components of the track adjuster, without a complete disassembly of the continuous track arrangement on the construction equipment 100. To assemble the track adjuster, the first part is slid in place (which is possible due to the slot formed in the first part 230). Once the first part is in place, the second part is assembled with the threaded member and held in place by the nut 270. The track adjuster is conveniently operated by, e.g., a ratchet wrench tool applied to the nut to press the wedge arrangement together in order to increase track tension. Track tension is released by the same nut 270.

[0063] A more detailed description of the track adjustment operations involving the example track adjuster in Figure 2 will be given in connection to Figures 5A-C below.

[0064] Different types of wedge arrangements can be used in the track adjusters disclosed herein. Figures 3A-C illustrate some example wedge arrangements. The wedge arrangement 300 in Figure 3A comprises a first part 310 which is constrained to move in the longitudinal direction L in the plane P. Various guides 340 can be used to obtain the desired movement by the first part in response to an input force F1 on the wedge. The second part 320 in Figure 3A moves transversally T relative to the longitudinal direction L. The second part 320 also abuts against a support 330 which resists movement in the longitudinal direction L, but allows sliding by the second part 320 in the transversal direction T. The transversal direction may also be referred to as a lateral direction. Thus, an input force F1 applied to the wedge arrangement is converted into a track tensioning force F2 that is aligned with the plane P. In this case the track tensioning force acts on the idler wheel 210 to move the idler wheel in the plane such that track tension increases with increasing track tensioning force and decreases with decreasing track tensioning force.

[0065] Figure 3B illustrates another type of wedge arrangement that can be used in a track adjuster according to the teachings herein. This track adjuster 301 has a first part 360 that is arranged to move in the longitudinal direction L in response to a relative displacement between the wedge part 350 and the first part 360. A fixed part 365 abuts against a support 330. This wedge arrangement comprises two pairs of parallel planar surfaces arranged in sliding engagement with each other.

[0066] Figure 3C shows an example where a direction of the input force F1 instead lies in the plane P. A first part of the wedge arrangement 370 is constrained to move in the longitudinal direction L in the plane P by a guide 340, while a second part moves transversally in abutment with the support 330. This way an input force F1 that is aligned with the plane P and transversal to the longitudinal direction L is applied at an angle to the parallel planar surfaces of the wedge arrangement in order to convert the input force F1 into a track tensioning force F2 that is also aligned with the plane P, but in the longitudinal direction L.

[0067] Figure 4 shows an example track adjuster 400 where in-line elements 410, 420 have been arranged in connection to the first part 230 and the second part 240. These in-line elements may comprise force sensors such as load cells, or resilient elements such as spring packs or rubber bushings, as will be discussed in more detail below. In-line elements of this kind can be arranged together with any of the wedge arrangements discussed herein, i.e., also with the example wedge arrangements 200, 300, 301 , and 302.

[0068] Figures 5A-C illustrate an example track tension operation involving a track adjuster. In this example the track adjuster in Figure 2 is used, but the principle is more generally applicable. Figure 5A illustrates the track adjuster in released state, i.e., after initial assembly of the wedge arrangement. The first part 230 of the wedge arrangement is guided in the longitudinal direction by a first guide arrangement 510 and the second part 240 abuts in sliding contact with a support 520 that is fixed relative to a part of the chassis of the construction equipment. The locknut 270 has been threaded onto the bolt 260 but not tightened. In Figure 5B an input force F1 is applied by tightening the locknut 270, which can be done in a convenient manner using, e.g., a ratchet wrench. The input force F1 results in relative movement of the parallel planar surfaces of the wedge arrangement. Since the second part 240 abuts against the support 520 it resists movement in the longitudinal direction. Thus, as a result, a track tension force F2 is generated by the first part 230 of the wedge arrangement. Figure 5C shows the track adjuster in its end position. In this position the second part 240 also abuts against the mounting plate 250. The mounting plate 250 may be realized as a separate plate or integrally formed with the chassis of the construction equipment 100, e.g., formed as a protruding abutment from the chassis that extends laterally from a chassis beam of the construction equipment 100 or the like.

[0069] Note the optional small shelf 540 in Figure 5B against which the second part 240 rests. This shelf prevents the second part from pivoting about the threaded member during assembly, which makes assembly easier. The shelf 540 also guides the second part as it slides transversally T during track tensioning. Also note the optional shelf 515 on the first guide arrangement 510 against which the support 530 rests. To summarize, various track adjusters 200, 300, 301 , 302, 400 for adjusting tension of a continuous track 1 10 on construction equipment 100 are described herein. The track adjusters all comprise a wedge arrangement 230, 240, 310, 320, 350, 360, 370, 380 with at least one pair of parallel planar surfaces arranged in sliding engagement with each other. The wedge arrangement is configured to convert an input force F1 applied at an angle to the parallel planar surfaces of the wedge arrangement into a track tensioning force F2 aligned with the plane P. The wedge arrangement advantageously provides a mechanical advantage that allows manual adjustment of track tension. The wedge arrangement is also mechanically durable, which is an advantage in many types of construction equipment which operate in harsh environments. It is a further advantage that the wedge arrangement can be arranged such that the input force can be generated in a convenient manner by manual means, even if space around the track is tight. This is particularly advantageous on smaller machines, such as smaller demolition robots. The wedge arrangement 230, 240, 310, 320, 350, 360, 370, 380 can for instance be configured to convert an input force F1 applied in a direction normal of the plane P into the track tensioning force F2 aligned with the plane P. Such an input force can be provided by a bolt and nut, where the nut is operable by a ratchet wrench or the like in a convenient manner.

[0070] A layer of lubricant such as grease can be applied inbetween the at least one pair of parallel planar surfaces arranged in sliding engagement with each other, in order to promote relative movement of the surfaces and to prevent build-up of rust between the surfaces.

[0071] A first part of the wedge arrangement 230, 310, 360, 370, comprising a first surface of the pair of parallel planar surfaces, is preferably arranged to be connected to an idler wheel 210 of the continuous track 110 on the construction equipment 100, as illustrated in, e.g., Figures 5A-C. A first guide arrangement 340, 510 can be arranged to guide the first part of the wedge arrangement 230 in a direction aligned with the plane P, where the first guide arrangement 340, 510 is integrated with a support 530 for the idler wheel 210 of the continuous track 1 10. Thus, the track adjuster also supports the idler wheel, which is both cost efficient and spatially efficient. In the example of Figures 5A-C, a longitudinal gap G first exists between the front of the first part of the wedge arrangement 230 and the rear end 535 of the support 530 (shown in Figure 5A). The first part of the wedge arrangement 230 is then pushed forward by the action of the wedge arrangement in response to the input force F1 , whereupon the gap G is reduced until it finally engages the rear end 535 of the support 530 and starts to push the support 530 forward, thus generating the track tensioning force F2. It is appreciated that the gap G may be arranged on most if not all realizations of the techniques disclosed herein.

[0072] The in-line elements 410, 420 which were schematically illustrated in Figure 4 may advantageously be arranged in connection to the rear end 535 of the support 530. Thus, one or more in-line elements such as force sensors or resilient elements may be arranged in connection to the support 530, and preferably between the rear end of the support and the first part of the wedge arrangement.

[0073] A second part of the wedge arrangement 240, 320, 380, comprising a second surface of the pair of parallel planar surfaces, can be arranged to slidingly abut against a support 330, 520 arranged to be fixedly connected to a chassis of the construction equipment 100. The support 330, 520 is then preferably arranged to guide the second part of the wedge arrangement 240 in a direction transversal to the plane P.

[0074] A threaded member 260, such as a bolt, can advantageously be arranged to provide the input force F1. The threaded member 260 may be arranged to extend through the pair of parallel planar surfaces in at least one state of the wedge arrangement, as illustrated in Figures 5A-C.

[0075] According to some aspects the track adjuster 200, 300, 301 , 302, 400 is at least partly enclosed in a casing 220 which protects the track adjuster parts from dirt and damage at the construction site. The casing 220 preferably comprises an access hatch 225 for accessing the track adjuster. Thus, an operator of the construction equipment or a technician can access the track adjuster via the hatch in a convenient manner. The track adjuster 400 optionally comprises at least one resilient member 410, 420 arranged compressible by the track tensioning force F2 aligned with the plane P. This resilient member allows for some movement in the track adjustment mechanism, e.g., a small movement of the idler wheel in the longitudinal direction. The small movement may improve handling of the construction equipment in some cases. A force sensor 410, 420 can also be arranged in connection to the track adjuster to measure the track tensioning force F2. This allows a service technician or machine operator to set the track tension more accurately at a desired tension value. A control unit 140 can also be arranged to automatically compare the track tensioning force F2 measured by the force sensor 410, 420 to a reference force value indicative of a desired track tensioning force.

[0076] Figure 6 illustrates an example remote control device 600 which can be used to control the construction equipment 100, and in particular the example construction equipment 100 illustrated in Figure 1 . Hence, it is appreciated that at least some of the construction equipment discussed herein is arranged to be remote controlled from a portable remote control device, which can be carried by an operator walking beside the equipment 100.

[0077] The example remote control device 600 in Figure 6 comprises two joysticks 610, 620, each with an upper control input device 630, 640 and a lower control input device 650, 660. The joysticks are protected by protrusions 670, 680 which extends from a location at the front of the remote control device F and rearwards R above the joysticks 610, 620 in use. The protrusions protect the joysticks from impact by objects at a work site, which could otherwise cause unwanted motion by the construction equipment 100.

[0078] The remote control device 600 also comprises a display unit 670 and an assortment of additional control input devices such as knobs and buttons.

[0079] The data provided by the force sensors 410, 420 discussed above in connection to Figure 4 and Figures 5A-C can be processed by the control unit 140 of the track adjuster and sent via wireless radio link 145 to the remote control device 600, or by a wired connection between the control unit 140 and the remote control device 600, to inform the operator about the current track tension state. A notification or alarm signal indicating suboptimal track tension can be displayed on the display unit 670.

[0080] According to some aspects, the remote control device 600 is arranged to transmit control signals to the control unit 140 of the track adjuster, e.g., to adjust track tension or to configure the desired track tensioning force discussed above. This way an operator can adjust track tension according to operating conditions. A more uneven ground surface may, e.g., call for a reduced track tension in order to better absorb the unevenness, as discussed above.

[0081] The communication between the control unit 140 and the remote control device 600 may also comprise a control signal to an actuator of a track tensioning arrangement of the construction equipment 100, such as an actuator that generates the input force F1. This actuator can for instance be an electric servo, a hydraulic device, or an electric motor that generates the input force F1 discussed above.

[0082] Figure 8 illustrates some details of a construction equipment chassis 800. It is appreciated that although this particular chassis 800 corresponds to the chassis of the example demolition robot 100 shown in Figure 1 , the features described in connection to this particular chassis are more generally applicable. The hydraulic system can be used also on other construction equipment such as other types of demolition robots, tracked cranes, tracked trenchers, smaller excavators and tracked drill rigs.

[0083] With reference also to Figures 9-13, the chassis 800 supports a hydraulic tank 810 with a hydraulic pump 820 arranged therein. The pump 820 is thus submerged in the tank, where it is drenched in the hydraulic fluid in a known manner. The pump 820 provides an operating pressure and hydraulic flow to power actuators on the construction equipment 100, such as the tool carrier arm 150 and the tracks 1 10. A bellhouse 830 provides an interface between the hydraulic pump 820 and a drive motor 840, which in this example is an electric motor. Combustion engines such as propane or gasoline motors may also be used to drive the hydraulic pump 820.

[0084] An example bellhouse 830 is illustrated in detail in Figure 1 1 , where it is again appreciated that this is one example bellhouse, and that the principles discussed herein can be applied also to other bellhouse geometries. Such as bellhouse examples comprising various bearings, seals, gears and so on.

[0085] The example bellhouse 830 comprises a first plate 1 110 and a second plate 1120. The first plate 1 1 10 is arranged to engage a wall of the tank 810 in sealing contact there inbetween. This means that the first plate 1 1 10 seals the hydraulic tank against the exterior environment. A seal, such as a gasket, may be provided between the first plate 1 110 and the wall of the hydraulic tank 810.

[0086] A hydraulic interface 850 is integrated with the first plate 1 1 10 and provides a hydraulic connection to the pump 820 inside the tank 810. The second plate 1120 is separated from the first plate 1 1 10 by a distance D on the order of a few centimeters. The second plate constitutes an adapter or support to which the drive motor 840 can be attached. In this example the second plate 1 120 is a flange adapter against which the drive motor 840 can be bolted. The motor axle of the drive motor 840 then extends into the tank where it drives the hydraulic pump 820. A third plate 1 130 provides an attachment for the hydraulic pump 820. The motor axle 845 extends in through the first plate and the second plate 1120 to drive the hydraulic pump 820 which is attached to the third plate 1 130, e.g., by bolts.

[0087] The first plate 1 1 10 and the second plate 1 120 are separated by a distance D in a direction normal to an extension plane of the first plate and the second plate. The first plate 1 1 10 is at least approximately parallel to the second plate 1120.

[0088] A technical effect of the separated first and second plates 1 1 10, 1 120 of the bellhouse 830 is that the distance D allows for removing the drive motor 840 without first emptying the hydraulic tank 810, e.g., to access nuts or bolt heads on the inside of the tank 810. This would not have been possible if the motor mount had been integrally formed with the tank wall as is customary on at least some similar hydraulic systems. A service technician can now remove the electric motor 840 as illustrated in Figure 10 in order to trouble-shoot it or service it, without going through the cumbersome process of first emptying the hydraulic tank to allow the drive motor 840 to be dismantled from the pump. Figure 12 illustrates the drive motor 840 attached to the bellhouse and ready to power the hydraulic pump 820. Figure 13 illustrates the drive motor 840 as it has been removed from the bellhouse 830.

[0089] To summarize, Figures 8-13 illustrate example construction equipment 100 that comprises a hydraulic tank 810 with a hydraulic pump 820 arranged therein. A bellhouse 830 is arranged as interface between the hydraulic pump 820 and a drive motor 840. The bellhouse 830 comprises a first plate 1 1 10 and a second plate 1 120, where the first plate 11 10 is arranged to sealingly engage a wall of the tank 810, and the second plate 1 120 is arranged to support the drive motor 840. The second plate 1120 is separated from the first plate 1 110 by a distance D such that the drive motor 840 can be conveniently removed from the hydraulic tank without first emptying the hydraulic tank.

[0090] Figure 14 shows the example construction equipment 100. View C is a closeup view showing a protective plate 1400 with a ventilation grate 1410. The protective plate 1400 is angled relative to a horizontal plane in use and located above the track 1 10 on both sides of the equipment 100. A ventilation grate 1410 is formed in the protective plate 1400 in order to allow air to escape from inside the body interior to the ambient environment. A fan generates an overpressure (defined herein as a pressure above an ambient pressure or ambient atmospheric pressure) inside the body interior, which means that there is a flow of air exiting out through the ventilation grate 1410 when the construction equipment 100 is powered on and active.

[0091] The ventilation grate is located between the drive wheel 215 and the idler 210, as seen in Figure 14, i.e., above the track 1 10 and between the idler 210 and the drive wheel 215 in a normal operating position of the construction equipment 100. This location has been found particularly suitable since there is not so much debris thrown up into the air by the tracks 110 at this location. The machine body is thus an at least partly sealed volume with a fan or blower that is used to generate an overpressure relative to atmospheric pressure. In other words, air from the ambient environment is sucked into the body interior, preferably in connection to at least coarse filtering of the air. The fan generates an overpressure relative to the ambient atmospheric pressure, which means that there is an outwardly directed air flow from every small aperture in the body housing, and in particular from the ventilation grates 1410.

[0092] The protective plate 1400 prevent dirt and other unwanted matter from entering into the body interior, where it may damage various components such as the fan used to cool the hydraulic system and the drive motor 840. Due to the overpressure generated by the fan inside the body interior, dirt cannot easily enter in through the ventilation grate 1410. This keeps the body interior free from dirt, or at least reduces the amount of dirt entering into the body interior to some extent.

[0093] Figure 15 shows another view of the construction equipment 100 and illustrates how the protective plate fits in with the rest of the chassis details on the equipment 100.

[0094] Thus, there is disclosed herein construction equipment 100 comprising at least one track 1 10, where a protective plate 1400 is arranged above the track 1 10 to seal a body interior of the construction equipment 100 at least partially, and where the protective plate 1400 comprises a ventilation grate 1410 as illustrated by the example in Figures 14-15.

[0095] Figure 14 also shows some details of the tool carrier arm 150 of the construction equipment 100, in particular the arm segments 151 , 152, 153, as well as the distal end 155 of the arm 150 where the tool is attached. The tool carrier arm 150 will be discussed in more detail below in connection to Figures 20-24.

[0096] Figure 16 shows a view 1600 of an example electrical junction box 1610 and a hydraulic valve arrangement 1620, such as a stack valve. The electrical junction box 1610 is supported on a first bracket part 1615 and the hydraulic valve arrangement 1620 is supported on a second bracket part 1625. The first and the second bracket parts 1615, 1625 are arranged to be connected into a joint bracket 1800.

[0097] During servicing and maintenance, it is undesired to open up the hydraulic connections on the construction equipment 100 since this may cause oil to spill out and dirt may enter into the hydraulic system. To avoid having to dismantle the hydraulic system in order to, e.g., access the drive motor 840, the first and second bracket parts may be separated from each other.

[0098] Figure 17 illustrates the first bracket part 615 removed from the second bracket part 1625, i.e., when the joint bracket is separated into its first and second parts. Note that the hydraulic arrangement 1620 remains in place while the electrical junction box 1610 has been removed to allow access to the interior of the construction equipment housing. Figure 18 illustrates the support bracket in one piece, while Figure 19 illustrates the joint bracket in dismantled state. The first bracket part 615 is in this example attached to the second bracket part 1625 by bolts 1900.

[0099] To summarize, there is disclosed herein construction equipment 100 comprising an electrical junction box 1610 and a hydraulic valve arrangement 1620 supported by a joint bracket 1800, where the joint bracket 1800 is separable into a first bracket part 1615 and a second bracket part 1625, where the first bracket part 1615 supports the electrical junction box 1610 and the second bracket part 1625 supports the hydraulic valve arrangement 1620.

[0100] Figures 20-24 illustrate some details of a tool carrier arm 150 suitable for use with construction equipment such as the demolition robot 100 and other similar machines.

[0101] As mentioned above, the tool carrier arm 150 comprises three segments 151 , 152, 153. The first segment 151 is pivotably attached to the construction equipment chassis about a first axis A1 , and a first cylinder 2010 can be used to control the pivoting by the first segment about the first axis A1 . The second segment 152 is attached to the first segment 151 such that it can pivot about axis A2. The pivoting by the second segment 152 about axis A2 is controlled by a second cylinder 2020. The second segment 152 is attached to the third segment 153 such that the third segment 153 may pivot about axis A3. A third cylinder 2030 control the pivoting about axis A3. A fourth cylinder 2040 control the pivoting of the distal end 155.

[0102] Figure 21 shows a more detailed view E of the first and second segment around the pivoting axis A2. Figure 22 shows a more detailed view F of the second and third segments around the pivoting axis A3. The views E and F are both indicated in Figure 20.

[0103] Figures 23 and 24 show views of the second arm segment 152. Notably, the segment 152 has planar side surfaces 2310, 2320 which extend in the extension direction of the segment 152. A center piece 2330 hold the two side surfaces together. An attachment 2340 for the third cylinder 2030 is provided as part of the side surfaces 2310, 2320. By forming the arm segment 152 in this manner stronger joints are provided between the first and the second arm segment, and also between the second and third arm segments. The arm can also be manufactured from planar plate metal in a straightforward manner, and no advanced plate bending is required to form the arm segment. This particular segment shape provides for reduced wear on bushings due to the wider interface between arm segments, longer shafts and larger distance between bushings at the pivoting axes A2, A3, and also reduced radial forces on bushings at the pivoting axes A2, A3.

[0104] Thus, Figures 20-24 illustrate an example tool carrier arm 150 with first, second and third arm segments 151 , 152, 153, where at least the second arm segment 152 is formed by two planar and parallel side plates 2310, 2320 held together by a centerpiece 2330.

Claims

CLAIMS1. Construction equipment (100) comprising a hydraulic tank (810) with a hydraulic pump (820) arranged therein, and a bellhouse (830) arranged as interface between the hydraulic pump (820) and a drive motor (840), the bellhouse (830) comprising a first plate (1 110) and a second plate (1 120), where the first plate (1 1 10) is arranged to sealingly engage a wall of the tank (810), and the second plate (1 120) is arranged to support the drive motor (840), where the second plate (1120) is separated from the first plate (1 1 10) by a distance (D).

2. Construction equipment (100) according to claim 1 , where a seal, such as a gasket, is provided between the first plate (1 110) and the wall of the hydraulic tank (810).

3. Construction equipment (100) according to claim 1 or 2, where a hydraulic interface (850) is integrated with the first plate (1 1 10) and provides a hydraulic connection to the pump (820) inside the tank (810).

4. Construction equipment (100) according to any previous claim, where second plate (1 120) constitutes an adapter or support to which the drive motor (840) can be attached.

5. Construction equipment (100) according to claim 4, where the second plate (1 120) is a flange adapter against which the drive motor (840) can be bolted.

6. Construction equipment (100) according to any previous claim, where a third plate (1 130) provides an attachment for the hydraulic pump (820).

7. Construction equipment (100) according to any previous claim, where the first plate (1 110) and the second plate (1 120) are parallel and separated by the distance (D) in a direction normal to an extension plane of the first plate (1 1 10) and the second plate (1 120).

8. Construction equipment (100) comprising at least one track (1 10), where a protective plate (1400) is arranged above the track (1 10) to seal a bodyinterior of the construction equipment (100) at least partially, where the protective plate (1400) comprises a ventilation grate (1410).

9. Construction equipment (100) comprising an electrical junction box (1610) and a hydraulic valve arrangement (1620) supported by a joint bracket (1800), where the joint bracket (1800) is separable into a first bracket part (1615) and a second bracket part (1625), where the first bracket part (1615) supports the electrical junction box (1610), and the second bracket part (1625) supports the hydraulic valve arrangement (1620).

10. Construction equipment (100) comprising a tool carrier arm (150) with first, second and third arm segments (151 , 152, 153), where the second arm segment (152) is formed by two planar and parallel side plates (2310, 2320) held together by a centerpiece (2330).

11. A track adjuster (200, 300, 301 , 302, 400) for adjusting tension of a continuous track (1 10) on construction equipment (100), where the continuous track (1 10) extends in an endless loop in a plane (P), the track adjuster comprising a wedge arrangement (230, 240, 310, 320, 350, 360, 370, 380) with at least one pair of parallel planar surfaces arranged in sliding engagement with each other, where the wedge arrangement is configured to convert an input force (F1 ) applied at an angle to the parallel planar surfaces of the wedge arrangement into a track tensioning force (F2) aligned with the plane (P), characterized in that the wedge arrangement comprises a first part (230) and a second part (240) with parallel planar surfaces (235, 245) arranged in sliding engagement with each other, where the planar surface (235) on the first part (230) is split by a slot formed in the first part to allow the first part (230) to be slid in place.

12. The track adjuster (200, 300, 301 ) according to claim 11 , where the wedge arrangement (230, 240, 310, 320, 350, 360, 370, 380) is configured to convert an input force (F1 ) applied in a direction normal of the plane (P) into the track tensioning force (F2) aligned with the plane (P).

13. The track adjuster (200, 300, 301 , 302, 400) according to claim 11 or 12, where a first part (230, 310, 360, 370) of the wedge arrangement, comprising a first surface of the pair of parallel planar surfaces, is arranged to be connected to an idler wheel (210) of the continuous track (1 10) on the construction equipment (100).

14. The track adjuster (400) according to claim 13, comprising a first guide arrangement (340, 510) arranged to guide the first part (230, 310, 360, 370) of the wedge arrangement in a direction aligned with the plane (P), where the first guide arrangement (340, 510) is integrated with a support (530) for the idler wheel (210) of the continuous track (1 10).

15. The track adjuster (200, 300, 301 , 302, 400) according to any of claims 11 -14, where a second part (240, 320, 380) of the wedge arrangement, comprising a second surface of the pair of parallel planar surfaces, is arranged to slidingly abut against a support (330, 520) arranged to be fixedly connected to a chassis of the construction equipment (100).

16. The track adjuster (400) according to claim 15, where the support (330, 520) is arranged to guide the second part of the wedge arrangement (240) in a direction transversal to the plane (P).

17. The track adjuster (200, 300, 301 , 302, 400) according to any of claims 11 -16, comprising a threaded member (260) arranged to provide the input force (F1 ).

18. The track adjuster (200) according to claim 17, where the threaded member (260) extends through the pair of parallel planar surfaces in at least one state of the wedge arrangement.

19. The track adjuster (200, 300, 301 , 302, 400) according to any of claims 11 -18, arranged at least partly enclosed in a casing (220).

20. The track adjuster (200, 300, 301 , 302, 400) according to claim 19, where the casing (220) comprises an access hatch (225) for accessing the track adjuster.21 . The track adjuster (400) according to any of claims 1 1 -20, comprising at least one resilient member (410, 420) arranged compressible by the track tensioning force (F2) aligned with the plane (P).

22. The track adjuster (400) according to any of claims 1 1 -21 , comprising a layer of lubricant inbetween at least one pair of parallel planar surfaces arranged in sliding engagement with each other.

23. The track adjuster (400) according to any of claims 1 1 -22, comprising a force sensor (410, 420) arranged to measure the track tensioning force (F2).

24. The track adjuster (400) according to claim 23, comprising a control unit (140) arranged to compare the track tensioning force (F2) measured by the force sensor (410, 420) to a reference force value indicative of a desired track tensioning force.

25. The track adjuster (400) according to claim 24, where the control unit (140) is arranged to communicate with a remote control device (600) over a wireless radio link (145) and / or over a wired communication channel.

26. The track adjuster (400) according to claim 25, where the communication between the control unit (140) and the remote control device (600) comprises any of a desired track tension force, a current track tension force, a notification related to a difference between a current track tension force and a desired track tension force.

27. A track arrangement for construction equipment (100) comprising a track adjuster (200, 300, 301 , 302, 400) according to any of claims 1 1 -26.

28. The track arrangement according to claim 27, where a length of the continuous track (1 10) is between 200-600 cm.

29. The track arrangement according to claim 27 or 28, where a width (W) of the continuous track (110) is between 10-50 cm.

30. Construction equipment comprising the track arrangement according to any one of the claims 27-29.

31. Construction equipment (100) comprising at least one outrigger (120, 130), where the at least one outrigger (120, 130) comprises a support pad (125, 135) which has a rectangular or square support pad surface (720, 730, 740) arranged to contact the ground in a deployed state of the outrigger (120, 130).

32. Construction equipment (100) comprising a control unit (140) and a remote control device (600), where the control unit (140) is arranged to communicate with the remote control device (600) over a wireless radio link (145) and / or over a wired communication link, where the communication between the control unit (140) and the remote control device (600) comprises any of a desired track tension force, a current track tension force, a notification related to a difference between a current track tension force and a desired track tension force, and a control signal to an actuator of a track tensioning arrangement of the construction equipment (100).

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