CN108978765A - One kind changing wheel excavator and its changes wheel method - Google Patents
One kind changing wheel excavator and its changes wheel method Download PDFInfo
- Publication number
- CN108978765A CN108978765A CN201810780818.8A CN201810780818A CN108978765A CN 108978765 A CN108978765 A CN 108978765A CN 201810780818 A CN201810780818 A CN 201810780818A CN 108978765 A CN108978765 A CN 108978765A
- Authority
- CN
- China
- Prior art keywords
- wheel
- excavator
- hydraulic cylinder
- crawler belt
- helical gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/02—Travelling-gear, e.g. associated with slewing gears
- E02F9/04—Walking gears moving the dredger forward step-by-step
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Toys (AREA)
- Earth Drilling (AREA)
Abstract
The present invention provides one kind to change wheel excavator and its application method, including excavator ontology, crawler belt mobile mechanism, wheeled locomotion mechanism, power connecting mechanism, auxiliary support apparatus and control system；The crawler belt mobile mechanism is divided into four groups, and the bottom of excavator ontology is arranged in, and is connected with the inclined hydraulic cylinder I of "eight" shape；The wheeled locomotion mechanism is equipped with traveling wheel, bending track and helical gear I；The bending track is fixed on the lower section of excavator ontology, and is bent downwardly；The traveling wheel is actively socketed on bending track, and is connected with hydraulic cylinder II；The engine of the power connecting mechanism connecting excavator, and it is equipped with the two-way helical gear of diamond shape；The two-way helical gear of diamond shape is connect with crawler belt mobile mechanism, and corresponding with the helical gear I；The bottom of excavator ontology is arranged in the auxiliary support apparatus.The present invention is ingenious in design, and it is practical to change wheel form uniqueness, can flexibly be used on excavator equipment.
Description
Technical field
The invention belongs to excavating machinery technical fields, are related to one kind and change wheel excavator and its application method.
Background technique
Existing mini-excavator often needs to carry out trans-regional operation during carrying out road construction, generally by automobile
Excavator transport is gone to.But when travelling to and fro between the short distance building site process at about 200 to 500 meters of interval, it is clear that by small-sized excavation
Machine automatic moving goes to more convenient；However general excavator often uses crawler belt to adapt to more complicated site terrain
As mobile device, the trace of crawler belt can be left when moving with tracked excavator, damage the road of cement or asphalt pavement
Face.In existing construction technology, to protect road surface, worker need to hold backing plate and alternately place on road surface, and excavator is on backing plate
Slowly traveling, this not only hinders traffic, while being greatly reduced the mobile efficiency of excavator, increases cost.Therefore it need to set
A kind of new mechanism is counted, using crawler belt when meeting excavator operation, while road surface will not be destroyed again when walking on paved road,
Improve the mobile efficiency of excavator short distance.
A kind of multifunctional excavator of Chinese invention Shen Qing Publication that publication number is CN201410794775.0, belongs to
Earth and rock works field of mechanical technique.The present invention uniformly distributed circle equal part on excavator walking device two sides driving wheel and follower
Screw hole, 4 wheel hubs of standard configuration and tire on board a dredger, wherein wheel hub can smoothly be utilized with the screw hole of driving wheel and follower
It is bolted；By being equipped with detachable tire, equipment is jacked up the form realization crawler belt for changing wheel by cooperation excavator itself bucket
With the conversion of tire.
Though above scheme can be realized crawler of excavator and be used alternatingly with tire, automatic switchover cannot achieve, and install
Bucket is also needed to jack up excavator itself when tire, balance is poor, and there are overturning security risks, while tire also needs to be further provided with
It carries, influences convenience.
Summary of the invention
To solve the above problems, the present invention provides one kind to change wheel excavator and its application method.By using diagonal
The mode for changing wheel in batches solves the problems, such as to injure road surface when excavator is mobile, and increases power device without other, no
Large Hydraulic Equipment need to be used, the arrangement of mechanism is reasonable, it is ensured that the space utilization of excavator and equipment when changing wheel are flat
Stability.The present invention is ingenious in design, and it is practical to change wheel form uniqueness, is very suitable to flexibly be used on excavator equipment.
Technical scheme is as follows:
One kind changes wheel excavator and its application method, including excavator ontology, crawler belt mobile mechanism, wheeled locomotion mechanism, dynamic
Power bindiny mechanism, auxiliary support apparatus and control system；The crawler belt mobile mechanism is divided into four groups, with two groups preceding, two groups
The bottom of excavator ontology is arranged in form afterwards, and every group is respectively connected with the inclined hydraulic cylinder I of "eight" shape；The wheel type mobile
Mechanism is equipped with traveling wheel, wheel, bending track, hydraulic cylinder II, wheel shaft I and helical gear I；The bending track is fixed on excavation
The lower section of machine ontology, and be bent downwardly；The traveling wheel is actively socketed on bending track by wheel；The hydraulic cylinder II is cut with scissors
It connects in the lower section of excavator ontology, and connects the traveling wheel diagonally downward；The helical gear I is arranged on wheel shaft I；It is described dynamic
The engine of power bindiny mechanism connecting excavator, and it is equipped with the two-way helical gear of diamond shape；The two-way helical gear one side of diamond shape with
The connection of crawler belt mobile mechanism, another side are corresponding with the helical gear I on the wheeled locomotion mechanism；It is set on the auxiliary support apparatus
There is turntable；The middle of excavator body bottom portion is arranged in the turntable；The control system is established based on single-chip microcontroller；The digging
Pick machine ontology, crawler belt mobile mechanism, wheeled locomotion mechanism and power connecting mechanism are connect with control system.Four groups of crawler belts
Mobile mechanism independently, but passes through the power device of the power connecting mechanism connecting excavator；The bending track court
It is straight to the positive one end of excavator, it is bent downwardly toward towards the one end for excavating drive end unit；The hydraulic cylinder II is with hinged shape
Formula is fixed, and can change direction with the bending of bending track in the flexible push-and-pull traveling wheel；The traveling wheel and wheel
On be equipped with rolling bearing.
Further, the crawler belt mobile mechanism further includes wheel shaft II, tooth connection ball, circle-arc tooth, helical gear II, crawler belt
Wheel, transmission tooth cavity, wheel inner orbit I and hydraulic cylinder connected ball I；The both ends of wheel shaft II are arranged in two tooth connection balls；It is described
Circle-arc tooth is arranged on tooth connection ball；The helical gear II is fixed on the middle part of wheel shaft II, nibbles with the two-way helical gear of the diamond shape
It closes；The both ends of wheel shaft II are arranged in the Athey wheel；The center of Athey wheel is arranged in the transmission tooth cavity, and inside is equipped with groove；
The transmission tooth cavity is corresponding with tooth connection ball；Wheel I annular of inner orbit is arranged on the inner surface of Athey wheel；The hydraulic cylinder
Connected ball I is socketed in the top of wheel inner orbit I；The end of the hydraulic cylinder I and hydraulic cylinder connected ball I, which roll, to be connected.The company
Tooth ball, circle-arc tooth and transmission tooth cavity are connect for being sleeved and fixed Athey wheel, while ensuring that the Athey wheel in the band of hydraulic cylinder I
It can be detached from wheel shaft II easily or combined with wheel shaft II when dynamic lower overturning；The helical gear II makes the wheel shaft for transmitting power
II rotation；The wheel inner orbit I and hydraulic cylinder connected ball I guarantee when hydraulic cylinder I is connected to Athey wheel always, the Athey wheel
Normal rotation.
Further, the wheeled locomotion mechanism further includes wheel inner orbit II and hydraulic cylinder connected ball II；The hydraulic cylinder
II, take turns the connection type of inner orbit II and hydraulic cylinder connected ball II and hydraulic cylinder I in crawler belt mobile mechanism, wheel inner orbit I and
Hydraulic cylinder connected ball I is essentially identical, unlike the hydraulic cylinder I to pick machine ontology at left and right sides of tilt down, the liquid
Cylinder pressure II is tilted down to the rear of pick machine ontology.The wheeled locomotion mechanism run well when can also keep hydraulic cylinder II with
Traveling wheel connection.
Further, one in front and one in back two groups of main shafts are additionally provided on the power connecting mechanism；The institute of front end is set
The engine of one end connecting excavator of main shaft is stated, the other end connects the crawler belt mobile mechanism of front end；Rear end is set
The engine of one end connecting excavator of the main shaft, the other end connect the two-way helical gear of diamond shape；The helical gear I
It is arranged on the rear axle I of wheeled locomotion mechanism；The front-wheel wheel shaft I of the wheeled locomotion mechanism is connected with tire and turns to dress
It sets.Crawler belt mobile mechanism described in two groups of front and rear ends is set passes through the main shafts of front and rear ends respectively and is sent out from excavator
Power is obtained at motivation；The wheeled locomotion mechanism is pushed by rear-wheel, and the form of front-wheel steer drives excavator mobile.
Further, the auxiliary support apparatus further includes two groups of supporting cylinders；It cuts with scissors the tail portion of the supporting cylinder
It connects on turntable, end is towards the center of the turntable；Rotating electric machine is connected on the turntable.The supporting cylinder is not
Used time is received on turntable, as long as being downwardly turned over when enabling by hinge；The rotating electric machine is stepper motor.
Application method of the invention the following steps are included:
1) lower whorl: when being converted to wheel type mobile by crawler belt is mobile, hydraulic cylinder II pushes down on traveling wheel along bending track, and pushes up
Residence face；Helical gear I is engaged with the two-way helical gear of diamond shape at this time；
2) Auxiliary support: turntable turns over certain angle, keeps two of two groups of supporting cylinder difference face excavator ontologies diagonal；
Supporting cylinder is routed up downward vertically, and is extended and withstood ground；At this time under the cooperation of traveling wheel and supporting cylinder, crawler belt is moved
Motivation structure is detached from ground；
3) turning wheel: two groups of hydraulic cylinders I on two of supporting cylinder face are diagonal are shunk, and the upper end of Athey wheel slopes inwardly,
Lower end is inclined outwardly, and Athey wheel is made to leave tooth connection ball, is detached from wheel shaft II；In the same way by another two it is diagonal on crawler belt
Mobile mechanism's fold；
4) complete: supporting cylinder is withdrawn, and can pass through the mobile excavator of the wheeled locomotion mechanism at this time.
Compared with prior art, advantages of the present invention:
1. the present invention mutually converts the method used by crawler belt mobile mechanism and wheeled locomotion mechanism, solve conventional excavators
When short distance is mobile the problem of crawler belt injury paved road.
2. a set of dynamical system is used only in the present invention, realized by the mobile combination between power connecting mechanism gear a set of
Dynamical system drives the effect of crawler belt mobile mechanism and wheeled locomotion mechanism, saves manufacturing cost and the device space.
3. hydraulic cylinder when controlling crawler belt mobile mechanism and wheeled locomotion mechanism conversion in the present invention uses slant setting, machine
Structure arrangement is more reasonable, saves excavator bottom space, also making the mechanism being newly added not influences the passage capacity of excavator.
4. crawler belt mobile mechanism is designed as four groups by the present invention, diagonally turns in batches, reduce the load of hydraulic cylinder I, nothing
Large_sized hydraulic cylinder need to be equipped with；It is aided with rotatable auxiliary support apparatus simultaneously to be supported, keeps the switching of crawler belt mobile mechanism wheeled
Equipment is more firm when mobile mechanism.
5. structure of the invention design is simple ingenious, it is mobile to solve excavator by using the mode for diagonally changing wheel in batches
When injury road surface the problem of, and without in addition increasing power device, be not required to using Large Hydraulic Equipment, the arrangement of mechanism is closed
Reason, it is ensured that the space utilization of excavator and equipment stationarity when changing wheel in batches.
Detailed description of the invention
Fig. 1 is device overall schematic.
Fig. 2 is crawler belt mobile mechanism schematic diagram one.
Fig. 3 is crawler belt mobile mechanism schematic diagram two.
Fig. 4 is wheeled locomotion mechanism schematic diagram.
Fig. 5 is power connecting mechanism schematic diagram.
Fig. 6 is auxiliary support apparatus schematic diagram one.
Fig. 7 is auxiliary support apparatus schematic diagram two.
Parts title and serial number in figure:
Excavator ontology 1, crawler belt mobile mechanism 2, wheeled locomotion mechanism 3, power connecting mechanism 4, wheel shaft II 5, tooth connection ball 6,
Circle-arc tooth 7, helical gear II 8, Athey wheel 9, transmission tooth cavity 10, hydraulic cylinder I 11, wheel inner orbit I 12, hydraulic cylinder connected ball I 13, wheel
Axis I 14, helical gear I 15, traveling wheel 16, wheel 17, bending track 18, hydraulic cylinder II 19, wheel inner orbit II 20, hydraulic cylinder connection
The two-way helical gear 24 of ball II 21, tire transfer 22, main shaft 23, diamond shape, auxiliary support apparatus 25, turntable 26, support
Hydraulic cylinder 27.
Specific embodiment
The following further describes the present invention with reference to the drawings.
4) embodiment 1:(haves no right 3, power
As shown in Figure of description, one kind changing wheel excavator and its application method, including excavator ontology 1, crawler belt moving machine
Structure 2, wheeled locomotion mechanism 3, power connecting mechanism 4, auxiliary support apparatus 25 and control system；The crawler belt mobile mechanism 2 divides
It is four groups, with two groups preceding, the bottom of excavator ontology 1 is arranged in two groups of posterior forms, and every group is respectively connected with "eight" shape
Inclined hydraulic cylinder I 11；The wheeled locomotion mechanism 3 be equipped with traveling wheel 16, wheel 17, bending track 18, hydraulic cylinder II 19,
Wheel shaft I 14 and helical gear I 15；The bending track 18 is fixed on the lower section of excavator ontology 1, and is bent downwardly；The walking
Wheel 16 is actively socketed on bending track 18 by wheel 17；The hydraulic cylinder II 19 is hinged on the lower section of excavator ontology 1, and
The traveling wheel 16 is connected diagonally downward；The helical gear I 15 is arranged on wheel shaft I 14；The connection of power connecting mechanism 4 is dug
The engine of pick machine, and it is equipped with the two-way helical gear 24 of diamond shape；The one side of the two-way helical gear 24 of diamond shape and crawler belt mobile mechanism 2
Connection, another side are corresponding with the helical gear I 15 on the wheeled locomotion mechanism 3；The auxiliary support apparatus 25 is equipped with turntable
26；The middle of 1 bottom of excavator ontology is arranged in the turntable 26；The control system is established based on single-chip microcontroller；The digging
Pick machine ontology 1, crawler belt mobile mechanism 2, wheeled locomotion mechanism 3 and power connecting mechanism 4 are connect with control system.
The crawler belt mobile mechanism 2 further includes wheel shaft II 5, tooth connection ball 6, circle-arc tooth 7, helical gear II 8, Athey wheel 9, passes
Movable tooth chamber 10, wheel inner orbit I 12 and hydraulic cylinder connected ball I 13；The both ends of wheel shaft II 5 are arranged in two tooth connection balls 6；Institute
Circle-arc tooth 7 is stated to be arranged on tooth connection ball 6；The helical gear II 8 is fixed on the middle part of wheel shaft II 5, with the diamond shape bidirectional oblique
Gear 24 engages；The both ends of wheel shaft II 5 are arranged in the Athey wheel 9；The center of Athey wheel 9 is arranged in the transmission tooth cavity 10,
Inside is equipped with groove；The transmission tooth cavity 10 is corresponding with tooth connection ball 6；Athey wheel 9 is arranged in wheel I 12 annular of inner orbit
On inner surface；The hydraulic cylinder connected ball I 13 is socketed in the top of wheel inner orbit I 12；The end of the hydraulic cylinder I 11 with it is hydraulic
Cylinder connected ball I 13 rolls connection.
The auxiliary support apparatus 25 further includes two groups of supporting cylinders 27；The tail portion of the supporting cylinder 27 is hinged on
On turntable 26, end is towards the center of the turntable 26；Rotating electric machine is connected on the turntable 26.
Application method of the invention is as follows:
When being converted to wheel type mobile by crawler belt is mobile, hydraulic cylinder II 19 pushes down on traveling wheel 16 along bending track 18, and pushes up
Residence face；Helical gear I 15 is engaged with the two-way helical gear 24 of diamond shape；Turntable 26 turns over certain angle, makes two groups of supporting cylinders 27
Two of difference face excavator ontology 1 are diagonal；Supporting cylinder 27 is routed up downward vertically, and is extended and withstood ground；Exist at this time
Under the cooperation of traveling wheel 16 and supporting cylinder 27, crawler belt mobile mechanism 2 is detached from ground；Two of 27 face of supporting cylinder are right
Two groups of hydraulic cylinders I 11 on angle are shunk, and the upper end of Athey wheel 9 slopes inwardly, and lower end is inclined outwardly, and Athey wheel 9 is made to leave connection
Tooth ball 6 is detached from wheel shaft II 5；In the same way by another two it is diagonal on crawler belt mobile mechanism 2 turn down；Supporting cylinder 27
It withdraws, the mobile excavator of the wheeled locomotion mechanism can be passed through at this time.
Embodiment 2:(has the right 3, haves no right 4)
As shown in Figure of description, one kind changing wheel excavator and its application method, including excavator ontology 1, crawler belt moving machine
Structure 2, wheeled locomotion mechanism 3, power connecting mechanism 4, auxiliary support apparatus 25 and control system；The crawler belt mobile mechanism 2 divides
It is four groups, with two groups preceding, the bottom of excavator ontology 1 is arranged in two groups of posterior forms, and every group is respectively connected with "eight" shape
Inclined hydraulic cylinder I 11；The wheeled locomotion mechanism 3 be equipped with traveling wheel 16, wheel 17, bending track 18, hydraulic cylinder II 19,
Wheel shaft I 14 and helical gear I 15；The bending track 18 is fixed on the lower section of excavator ontology 1, and is bent downwardly；The walking
Wheel 16 is actively socketed on bending track 18 by wheel 17；The hydraulic cylinder II 19 is hinged on the lower section of excavator ontology 1, and
The traveling wheel 16 is connected diagonally downward；The helical gear I 15 is arranged on wheel shaft I 14；The connection of power connecting mechanism 4 is dug
The engine of pick machine, and it is equipped with the two-way helical gear 24 of diamond shape；The one side of the two-way helical gear 24 of diamond shape and crawler belt mobile mechanism 2
Connection, another side are corresponding with the helical gear I 15 on the wheeled locomotion mechanism 3；The auxiliary support apparatus 25 is equipped with turntable
26；The middle of 1 bottom of excavator ontology is arranged in the turntable 26；The control system is established based on single-chip microcontroller；The digging
Pick machine ontology 1, crawler belt mobile mechanism 2, wheeled locomotion mechanism 3 and power connecting mechanism 4 are connect with control system.
The crawler belt mobile mechanism 2 further includes wheel shaft II 5, tooth connection ball 6, circle-arc tooth 7, helical gear II 8, Athey wheel 9, passes
Movable tooth chamber 10, wheel inner orbit I 12 and hydraulic cylinder connected ball I 13；The both ends of wheel shaft II 5 are arranged in two tooth connection balls 6；Institute
Circle-arc tooth 7 is stated to be arranged on tooth connection ball 6；The helical gear II 8 is fixed on the middle part of wheel shaft II 5, with the diamond shape bidirectional oblique
Gear 24 engages；The both ends of wheel shaft II 5 are arranged in the Athey wheel 9；The center of Athey wheel 9 is arranged in the transmission tooth cavity 10,
Inside is equipped with groove；The transmission tooth cavity 10 is corresponding with tooth connection ball 6；Athey wheel 9 is arranged in wheel I 12 annular of inner orbit
On inner surface；The hydraulic cylinder connected ball I 13 is socketed in the top of wheel inner orbit I 12；The end of the hydraulic cylinder I 11 with it is hydraulic
Cylinder connected ball I 13 rolls connection.
The wheeled locomotion mechanism 3 further includes wheel inner orbit II 20 and hydraulic cylinder connected ball II 21；The hydraulic cylinder II 19,
Take turns the connection type of inner orbit II 20 and hydraulic cylinder connected ball II 21 and hydraulic cylinder I 11, wheel inner orbit in crawler belt mobile mechanism 2
I 12 and hydraulic cylinder connected ball I 13 it is essentially identical, unlike the hydraulic cylinder I 11 to pick machine ontology 1 the left and right sides dip down
Tiltedly, the hydraulic cylinder II 19 is tilted down to the rear of pick machine ontology 1.
The auxiliary support apparatus 25 further includes two groups of supporting cylinders 27；The tail portion of the supporting cylinder 27 is hinged on
On turntable 26, end is towards the center of the turntable 26；Rotating electric machine is connected on the turntable 26.
Application method of the invention is as follows:
When being converted to wheel type mobile by crawler belt is mobile, hydraulic cylinder II 19 pushes down on traveling wheel 16 along bending track 18, and pushes up
Residence face；Helical gear I 15 is engaged with the two-way helical gear 24 of diamond shape；Turntable 26 turns over certain angle, makes two groups of supporting cylinders 27
Two of difference face excavator ontology 1 are diagonal；Supporting cylinder 27 is routed up downward vertically, and is extended and withstood ground；Exist at this time
Under the cooperation of traveling wheel 16 and supporting cylinder 27, crawler belt mobile mechanism 2 is detached from ground；Two of 27 face of supporting cylinder are right
Two groups of hydraulic cylinders I 11 on angle are shunk, and the upper end of Athey wheel 9 slopes inwardly, and lower end is inclined outwardly, and Athey wheel 9 is made to leave connection
Tooth ball 6 is detached from wheel shaft II 5；In the same way by another two it is diagonal on crawler belt mobile mechanism 2 turn down；Supporting cylinder 27
It withdraws, the mobile excavator of the wheeled locomotion mechanism can be passed through at this time.
Embodiment 3:(haves no right 3, has the right 4)
As shown in Figure of description, one kind changing wheel excavator and its application method, including excavator ontology 1, crawler belt moving machine
Structure 2, wheeled locomotion mechanism 3, power connecting mechanism 4, auxiliary support apparatus 25 and control system；The crawler belt mobile mechanism 2 divides
It is four groups, with two groups preceding, the bottom of excavator ontology 1 is arranged in two groups of posterior forms, and every group is respectively connected with "eight" shape
Inclined hydraulic cylinder I 11；The wheeled locomotion mechanism 3 be equipped with traveling wheel 16, wheel 17, bending track 18, hydraulic cylinder II 19,
Wheel shaft I 14 and helical gear I 15；The bending track 18 is fixed on the lower section of excavator ontology 1, and is bent downwardly；The walking
Wheel 16 is actively socketed on bending track 18 by wheel 17；The hydraulic cylinder II 19 is hinged on the lower section of excavator ontology 1, and
The traveling wheel 16 is connected diagonally downward；The helical gear I 15 is arranged on wheel shaft I 14；The connection of power connecting mechanism 4 is dug
The engine of pick machine, and it is equipped with the two-way helical gear 24 of diamond shape；The one side of the two-way helical gear 24 of diamond shape and crawler belt mobile mechanism 2
Connection, another side are corresponding with the helical gear I 15 on the wheeled locomotion mechanism 3；The auxiliary support apparatus 25 is equipped with turntable
26；The middle of 1 bottom of excavator ontology is arranged in the turntable 26；The control system is established based on single-chip microcontroller；The digging
Pick machine ontology 1, crawler belt mobile mechanism 2, wheeled locomotion mechanism 3 and power connecting mechanism 4 are connect with control system.
The crawler belt mobile mechanism 2 further includes wheel shaft II 5, tooth connection ball 6, circle-arc tooth 7, helical gear II 8, Athey wheel 9, passes
Movable tooth chamber 10, wheel inner orbit I 12 and hydraulic cylinder connected ball I 13；The both ends of wheel shaft II 5 are arranged in two tooth connection balls 6；Institute
Circle-arc tooth 7 is stated to be arranged on tooth connection ball 6；The helical gear II 8 is fixed on the middle part of wheel shaft II 5, with the diamond shape bidirectional oblique
Gear 24 engages；The both ends of wheel shaft II 5 are arranged in the Athey wheel 9；The center of Athey wheel 9 is arranged in the transmission tooth cavity 10,
Inside is equipped with groove；The transmission tooth cavity 10 is corresponding with tooth connection ball 6；Athey wheel 9 is arranged in wheel I 12 annular of inner orbit
On inner surface；The hydraulic cylinder connected ball I 13 is socketed in the top of wheel inner orbit I 12；The end of the hydraulic cylinder I 11 with it is hydraulic
Cylinder connected ball I 13 rolls connection.
One in front and one in back two groups of main shafts 23 are additionally provided on the power connecting mechanism 4；The main biography of front end is set
The engine of one end connecting excavator of moving axis 23, the other end connect the crawler belt mobile mechanism 2 of front end；It is arranged in described in rear end
The engine of one end connecting excavator of main shaft 23, the other end connect the two-way helical gear 24 of diamond shape；The helical gear I
15 are arranged on the rear axle I 14 of wheeled locomotion mechanism 3；The front-wheel wheel shaft I 14 of the wheeled locomotion mechanism 3 is connected with tire
Transfer 22.
The auxiliary support apparatus 25 further includes two groups of supporting cylinders 27；The tail portion of the supporting cylinder 27 is hinged on
On turntable 26, end is towards the center of the turntable 26；Rotating electric machine is connected on the turntable 26.
Application method of the invention is as follows:
When being converted to wheel type mobile by crawler belt is mobile, hydraulic cylinder II 19 pushes down on traveling wheel 16 along bending track 18, and pushes up
Residence face；Helical gear I 15 is engaged with the two-way helical gear 24 of diamond shape；Turntable 26 turns over certain angle, makes two groups of supporting cylinders 27
Two of difference face excavator ontology 1 are diagonal；Supporting cylinder 27 is routed up downward vertically, and is extended and withstood ground；Exist at this time
Under the cooperation of traveling wheel 16 and supporting cylinder 27, crawler belt mobile mechanism 2 is detached from ground；Two of 27 face of supporting cylinder are right
Two groups of hydraulic cylinders I 11 on angle are shunk, and the upper end of Athey wheel 9 slopes inwardly, and lower end is inclined outwardly, and Athey wheel 9 is made to leave connection
Tooth ball 6 is detached from wheel shaft II 5；In the same way by another two it is diagonal on crawler belt mobile mechanism 2 turn down；Supporting cylinder 27
It withdraws, the mobile excavator of the wheeled locomotion mechanism can be passed through at this time.
Embodiment 4:(have the right 3 and power 4)
As shown in Figure of description, one kind changing wheel excavator and its application method, including excavator ontology 1, crawler belt moving machine
Structure 2, wheeled locomotion mechanism 3, power connecting mechanism 4, auxiliary support apparatus 25 and control system；The crawler belt mobile mechanism 2 divides
It is four groups, with two groups preceding, the bottom of excavator ontology 1 is arranged in two groups of posterior forms, and every group is respectively connected with "eight" shape
Inclined hydraulic cylinder I 11；The wheeled locomotion mechanism 3 be equipped with traveling wheel 16, wheel 17, bending track 18, hydraulic cylinder II 19,
Wheel shaft I 14 and helical gear I 15；The bending track 18 is fixed on the lower section of excavator ontology 1, and is bent downwardly；The walking
Wheel 16 is actively socketed on bending track 18 by wheel 17；The hydraulic cylinder II 19 is hinged on the lower section of excavator ontology 1, and
The traveling wheel 16 is connected diagonally downward；The helical gear I 15 is arranged on wheel shaft I 14；The connection of power connecting mechanism 4 is dug
The engine of pick machine, and it is equipped with the two-way helical gear 24 of diamond shape；The one side of the two-way helical gear 24 of diamond shape and crawler belt mobile mechanism 2
Connection, another side are corresponding with the helical gear I 15 on the wheeled locomotion mechanism 3；The auxiliary support apparatus 25 is equipped with turntable
26；The middle of 1 bottom of excavator ontology is arranged in the turntable 26；The control system is established based on single-chip microcontroller；The digging
Pick machine ontology 1, crawler belt mobile mechanism 2, wheeled locomotion mechanism 3 and power connecting mechanism 4 are connect with control system.
The crawler belt mobile mechanism 2 further includes wheel shaft II 5, tooth connection ball 6, circle-arc tooth 7, helical gear II 8, Athey wheel 9, passes
Movable tooth chamber 10, wheel inner orbit I 12 and hydraulic cylinder connected ball I 13；The both ends of wheel shaft II 5 are arranged in two tooth connection balls 6；Institute
Circle-arc tooth 7 is stated to be arranged on tooth connection ball 6；The helical gear II 8 is fixed on the middle part of wheel shaft II 5, with the diamond shape bidirectional oblique
Gear 24 engages；The both ends of wheel shaft II 5 are arranged in the Athey wheel 9；The center of Athey wheel 9 is arranged in the transmission tooth cavity 10,
Inside is equipped with groove；The transmission tooth cavity 10 is corresponding with tooth connection ball 6；Athey wheel 9 is arranged in wheel I 12 annular of inner orbit
On inner surface；The hydraulic cylinder connected ball I 13 is socketed in the top of wheel inner orbit I 12；The end of the hydraulic cylinder I 11 with it is hydraulic
Cylinder connected ball I 13 rolls connection.
The wheeled locomotion mechanism 3 further includes wheel inner orbit II 20 and hydraulic cylinder connected ball II 21；The hydraulic cylinder II 19,
Take turns the connection type of inner orbit II 20 and hydraulic cylinder connected ball II 21 and hydraulic cylinder I 11, wheel inner orbit in crawler belt mobile mechanism 2
I 12 and hydraulic cylinder connected ball I 13 it is essentially identical, unlike the hydraulic cylinder I 11 to pick machine ontology 1 the left and right sides dip down
Tiltedly, the hydraulic cylinder II 19 is tilted down to the rear of pick machine ontology 1.
One in front and one in back two groups of main shafts 23 are additionally provided on the power connecting mechanism 4；The main biography of front end is set
The engine of one end connecting excavator of moving axis 23, the other end connect the crawler belt mobile mechanism 2 of front end；It is arranged in described in rear end
The engine of one end connecting excavator of main shaft 23, the other end connect the two-way helical gear 24 of diamond shape；The helical gear I
15 are arranged on the rear axle I 14 of wheeled locomotion mechanism 3；The front-wheel wheel shaft I 14 of the wheeled locomotion mechanism 3 is connected with tire
Transfer 22.
The auxiliary support apparatus 25 further includes two groups of supporting cylinders 27；The tail portion of the supporting cylinder 27 is hinged on
On turntable 26, end is towards the center of the turntable 26；Rotating electric machine is connected on the turntable 26.
Application method of the invention is as follows:
When being converted to wheel type mobile by crawler belt is mobile, hydraulic cylinder II 19 pushes down on traveling wheel 16 along bending track 18, and pushes up
Residence face；Helical gear I 15 is engaged with the two-way helical gear 24 of diamond shape；Turntable 26 turns over certain angle, makes two groups of supporting cylinders 27
Two of difference face excavator ontology 1 are diagonal；Supporting cylinder 27 is routed up downward vertically, and is extended and withstood ground；Exist at this time
Under the cooperation of traveling wheel 16 and supporting cylinder 27, crawler belt mobile mechanism 2 is detached from ground；Two of 27 face of supporting cylinder are right
Two groups of hydraulic cylinders I 11 on angle are shunk, and the upper end of Athey wheel 9 slopes inwardly, and lower end is inclined outwardly, and Athey wheel 9 is made to leave connection
Tooth ball 6 is detached from wheel shaft II 5；In the same way by another two it is diagonal on crawler belt mobile mechanism 2 turn down；Supporting cylinder 27
It withdraws, the mobile excavator of the wheeled locomotion mechanism can be passed through at this time.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (6)
1. one kind changes wheel excavator, including excavator ontology (1), it is characterised in that: further include crawler belt mobile mechanism (2), wheel
Formula mobile mechanism (3), power connecting mechanism (4), auxiliary support apparatus (25) and control system；The crawler belt mobile mechanism (2)
It is divided into four groups, with two groups preceding, two groups of posterior forms are arranged in the bottom of excavator ontology (1), and every group is respectively connected with " eight "
The inclined hydraulic cylinder I (11) of font；The wheeled locomotion mechanism (3) is equipped with traveling wheel (16), wheel (17), bending track
(18), hydraulic cylinder II (19), wheel shaft I (14) and helical gear I (15)；The bending track (18) is fixed on excavator ontology (1)
Lower section, and be bent downwardly；The traveling wheel (16) is actively socketed in bending track (18) by wheel (17)；It is described hydraulic
Cylinder II (19) is hinged on the lower section of excavator ontology (1), and connects the traveling wheel (16) diagonally downward；The helical gear I
(15) it is arranged on wheel shaft I (14)；The engine of power connecting mechanism (4) connecting excavator, and it is equipped with diamond shape bidirectional oblique
Gear (24)；The one side of the two-way helical gear of diamond shape (24) is connect with crawler belt mobile mechanism (2), another side and the wheeled shifting
Helical gear I (15) on motivation structure (3) is corresponding；The auxiliary support apparatus (25) is equipped with turntable (26)；The turntable (26)
Middle in excavator ontology (1) bottom is set；The control system is established based on single-chip microcontroller；The excavator ontology (1),
Crawler belt mobile mechanism (2), wheeled locomotion mechanism (3) and power connecting mechanism (4) are connect with control system.
2. one kind according to claim 1 changes wheel excavator, it is characterised in that: the crawler belt mobile mechanism (2) is also wrapped
Include wheel shaft II (5), tooth connection ball (6), circle-arc tooth (7), helical gear II (8), Athey wheel (9), transmission tooth cavity (10), wheel inner orbit
I (12) and hydraulic cylinder connected ball I (13)；Two tooth connection balls (6) are arranged at the both ends of wheel shaft II (5)；The circle-arc tooth
(7) it is arranged on tooth connection ball (6)；The helical gear II (8) is fixed on the middle part of wheel shaft II (5), with the diamond shape bidirectional oblique
Gear (24) engagement；The Athey wheel (9) is arranged at the both ends of wheel shaft II (5)；The transmission tooth cavity (10) is arranged in Athey wheel
(9) center, inside are equipped with groove；The transmission tooth cavity (10) is corresponding with tooth connection ball (6)；Described I (12) ring of wheel inner orbit
Shape is arranged on the inner surface of Athey wheel (9)；The hydraulic cylinder connected ball I (13) is socketed in the top of wheel inner orbit I (12)；Institute
The end and hydraulic cylinder connected ball I (13) for stating hydraulic cylinder I (11), which roll, to be connected.
3. one kind according to claim 1 changes wheel excavator, it is characterised in that: the wheeled locomotion mechanism (3) is also wrapped
Include wheel inner orbit II (20) and hydraulic cylinder connected ball II (21)；The hydraulic cylinder II (19), wheel inner orbit II (20) and hydraulic cylinder
The connection type of connected ball II (21) and hydraulic cylinder I (11), wheel inner orbit I (12) and hydraulic cylinder on crawler belt mobile mechanism (2)
Connected ball I (13) is essentially identical, unlike the hydraulic cylinder I (11) to pick machine ontology (1) at left and right sides of tilt down, institute
Hydraulic cylinder II (19) is stated to tilt down to the rear of pick machine ontology (1).
4. one kind according to claim 1 changes wheel excavator, it is characterised in that: on the power connecting mechanism (4) also
Equipped with one in front and one in back two groups of main shafts (23)；The hair of one end connecting excavator of the main shaft (23) of front end is set
Motivation, the other end connect the crawler belt mobile mechanism (2) of front end；One end connection that the main shaft (23) of rear end is arranged in is dug
The engine of pick machine, the other end connect the two-way helical gear of diamond shape (24)；The helical gear I (15) is arranged in wheel type mobile machine
On the rear axle I (14) of structure (3)；The front-wheel wheel shaft I (14) of the wheeled locomotion mechanism (3) is connected with tire transfer
(22).
5. one kind according to claim 1 changes wheel excavator, it is characterised in that: the auxiliary support apparatus (25) is also wrapped
Include two groups of supporting cylinders (27)；The tail portion of the supporting cylinder (27) is hinged on turntable (26), and end turns towards described
The center of disk (26)；Rotating electric machine is connected on the turntable (26).
6. it is according to claim 1-5 it is a kind of change wheel excavator change wheel method, it is characterised in that: including with
Lower step:
1) lower whorl: when being converted to wheel type mobile by crawler belt is mobile, hydraulic cylinder II (19) is by traveling wheel (16) along bending track
(18) it pushes down on, and withstands ground；Helical gear I (15) is engaged with the two-way helical gear of diamond shape (24)；
2) Auxiliary support: turntable (26) turns over certain angle, makes two groups of supporting cylinders (27) respectively face excavator ontology (1)
Two it is diagonal；Supporting cylinder (27) is routed up downward vertically, and is extended and withstood ground；At this time in traveling wheel (16) and support liquid
Under the cooperation of cylinder pressure (27), crawler belt mobile mechanism (2) is detached from ground；
3) turning wheel: two of supporting cylinder (27) face it is diagonal on two groups of hydraulic cylinders I (11) shrink, Athey wheel (9) it is upper
End slopes inwardly, and lower end is inclined outwardly, and leaves Athey wheel (9) tooth connection ball (6), is detached from wheel shaft II (5)；In the same way
By another two it is diagonal on crawler belt mobile mechanism (2) fold；
4) complete: supporting cylinder (27) is withdrawn, and can pass through the mobile excavator of the wheeled locomotion mechanism at this time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810780818.8A CN108978765B (en) | 2018-07-17 | 2018-07-17 | Wheel changing type excavator and wheel changing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810780818.8A CN108978765B (en) | 2018-07-17 | 2018-07-17 | Wheel changing type excavator and wheel changing method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108978765A true CN108978765A (en) | 2018-12-11 |
| CN108978765B CN108978765B (en) | 2021-04-09 |
Family
ID=64549724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810780818.8A Active CN108978765B (en) | 2018-07-17 | 2018-07-17 | Wheel changing type excavator and wheel changing method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108978765B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011099662A1 (en) * | 2010-02-12 | 2011-08-18 | 주식회사 한울로보틱스 | Variable traveling system using double driving tracks and a free wheel arm |
| CN102310403A (en) * | 2010-07-07 | 2012-01-11 | 中国科学院沈阳自动化研究所 | Wheel-track composite deformation mobile robot with adaptive capability |
| CN103359195A (en) * | 2012-04-09 | 2013-10-23 | 西北农林科技大学 | All-terrain hybrid power chassis |
| CN203740003U (en) * | 2013-12-26 | 2014-07-30 | 长安大学 | Track and tire switching mechanism of tracked engineering vehicle |
| CN206968812U (en) * | 2017-11-01 | 2018-02-06 | 北京海风智能科技有限责任公司 | A kind of robot chassis |
-
2018
- 2018-07-17 CN CN201810780818.8A patent/CN108978765B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011099662A1 (en) * | 2010-02-12 | 2011-08-18 | 주식회사 한울로보틱스 | Variable traveling system using double driving tracks and a free wheel arm |
| CN102310403A (en) * | 2010-07-07 | 2012-01-11 | 中国科学院沈阳自动化研究所 | Wheel-track composite deformation mobile robot with adaptive capability |
| CN103359195A (en) * | 2012-04-09 | 2013-10-23 | 西北农林科技大学 | All-terrain hybrid power chassis |
| CN203740003U (en) * | 2013-12-26 | 2014-07-30 | 长安大学 | Track and tire switching mechanism of tracked engineering vehicle |
| CN206968812U (en) * | 2017-11-01 | 2018-02-06 | 北京海风智能科技有限责任公司 | A kind of robot chassis |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108978765B (en) | 2021-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4022290A (en) | Off-road vehicle | |
| CN101407174B (en) | Walking device | |
| CN109263718B (en) | Pull rod steering, balance suspension and inclination angle adjustable unitized running gear | |
| CN203878633U (en) | Novel walking pedrail type double-arm hydraulic excavator | |
| CN105569106A (en) | Working machine | |
| CN205954723U (en) | Walking excavator | |
| CN202847856U (en) | Continuous track wheel type excavator | |
| CN207902599U (en) | A kind of wheel shoe switching locking device | |
| CN109537655B (en) | Bucket loader applicable to complex working conditions and application thereof | |
| CN108454717A (en) | A kind of changeable dredger of wheel shoe formula | |
| CN101716955B (en) | Steering device for tracked vehicle and tracked vehicle with steering device | |
| CN210191668U (en) | Wheel-track switching device of wheel-track composite vehicle | |
| CN108974159A (en) | It is a kind of can automated cleaning change wheel excavator and its change wheel method | |
| CN108945121A (en) | A kind of crawler belt is adjustable to be changed wheel excavator and its changes wheel method | |
| CN108978765A (en) | One kind changing wheel excavator and its changes wheel method | |
| CN108951733A (en) | It is a kind of can automatic inflating change wheel excavator and its change wheel method | |
| CN108945120A (en) | It is a kind of firm to change wheel excavator and its change wheel method | |
| CN204326131U (en) | The land leveller that a kind of driveability is superior | |
| CN108661095A (en) | One kind self-lubricated can change wheel excavator and its change wheel method | |
| CN107351930A (en) | The displacement device and method of a kind of caterpillar chassis | |
| CN202879633U (en) | Multifunctional agricultural machine wheel type traveling mechanism and crawler-type traveling mechanism | |
| CN201457466U (en) | Double-motor running driving device of land leveler | |
| CN114086626A (en) | Power transmission mechanism and wheel type excavator | |
| CN110466629B (en) | Agricultural machinery chassis suitable for different topography | |
| CN208411415U (en) | A kind of walking mechanism for loader-digger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |