• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to an excavator with a chassis (8 ') and to the chassis (8') hinged support arms (10.1 ', 10.2') for locomotion and support of the excavator (1 '), wherein on at least one of the support arms (10.1', 10.2 ') is articulated a wheel (15'), and the at least one support arm (10.1 ', 10.2') relative to the chassis (8 ') is pivotable both in height and to the side.
    公开号:CH714056A1
    申请号:CH01019/17
    申请日:2017-08-11
    公开日:2019-02-15
    发明作者:Lendi Martin；Caduff Christian
    申请人:Menzi Muck Ag；
    IPC主号:
    专利说明:

    Description: The invention lies in the field of construction machinery and relates to an excavator, in particular a walking excavator, with a chassis and with, in particular four on the chassis on articulated support arms for locomotion and support of the excavator, a wheel being articulated on at least one of the support arms is, and the at least one support arm relative to the chassis is pivotable both in height and to the side. For this purpose, the support arm can in particular be pivoted both about at least one horizontal and at least one vertical axis of rotation or pivoting.
    In specialist circles, the support arms of walking excavators are also simply called supports or complete supports. In the context of this patent application, the term “support arm” is used in order to clearly distinguish the individual components.
    Walking excavators, also called spider excavators, are assigned to the so-called standing excavators, since these work processes are mainly carried out while standing. Similar to a conventional hydraulic excavator, the walking excavator has a rotatable superstructure on which there is a boom with a working device, such as an excavator bucket. The superstructure is placed on a undercarriage via a rotating mechanism and can be rotated about a vertical axis of rotation with respect to the latter.
    The undercarriage can be designed differently. However, the walking excavator does not have a conventional wheel drive, but is equipped with so-called support arms. The support arms are both laterally via hydraulic cylinders, i.e. horizontally, as well as in height, i.e. vertical, swiveling.
    At the distal end portions of the support arms, depending on the design or equipment wheels or claws or both are arranged together. These serve to move and / or support the walking excavator in the field. The front and rear support arms can be equipped differently in pairs, depending on the purpose of the walking excavator.
    Walking excavators are known in which all the support arms have wheels, with only the rear or only the front support arms additionally having claws. Walking excavators are also known, in which all support arms have both wheels and support claws.
    The support claws serve to prevent the walking excavator from slipping off-road. Furthermore, the support claws offer an additional support surface, which additionally supports the walking excavator on soft ground, in particular in shallow waters, in order to prevent the walking excavator from sinking in.
    For the sake of completeness, the walking excavators should also be mentioned, in which only the rear support arms are equipped with wheels, the front support arms only having support claws, or in which all the support arms only have support claws.
    To move the walking excavator, it is known to actively drive individual or all wheels, e.g. by means of a hydrostatic drive. Furthermore, it is also known to equip the wheels individually steerable. This can e.g. via a steering knuckle.
    With the help of independently controllable support arms, the excavator operator is able to carry out operations such as excavation work, even in difficult terrain, on soft ground or in waters with low water levels. Thanks to these properties, the walking excavator is also used in earthworks, forestry and landscape maintenance.
    Such walking excavators are described for example in the publications CH 693 751 A5 and CH 697 556 B1.
    The walking excavators known from the prior art, however, have some disadvantages.
    For example, a horizontal, i.e. lateral pivoting movement of the front support arms via pivot cylinders, which are arranged on the side of the slewing gear and extend at an acute angle to the longitudinal axis of the walking excavator from the front of the chassis to the rear of the chassis. The somewhat exposed, lateral arrangement of the swivel cylinders on the chassis, however, shows a certain susceptibility to damage if the excavator is used improperly. Furthermore, the swivel cylinders are increasingly exposed to dirt, which, however, does not necessarily have to lead to a functional restriction.
    Another potential for optimization lies in the wheel guidance with wheel steering. The steering cylinder of known wheel guides is usually guided openly and is therefore exposed. This means that if the excavator is used improperly, it is also prone to damage. Furthermore, the wheel guide is also increasingly exposed to dirt, which, however, does not necessarily have to lead to a functional restriction.
    Furthermore, in conventional wheel guides with wheel steering, the claw support cannot be pivotally attached to the wheel guide due to the openly guided steering cylinder. Rather, this is pivotally attached to the support arm support.
    However, this type of fastening brings with it certain restrictions, in particular with a parallel guidance of the support arms in the height adjustment. This means that the claw support can be missing due to a lack of parallel guidance when the support arm is raised very high
    CH 714 056 A1 no longer perform its support function, since the associated support claw does not reach the level of the wheel support even with the maximum possible deflection of the claw support towards the support surface.
    In specialist circles, the claw supports of walking excavators are also called mountain supports.
    On the other hand, the support claw with a strongly lowered support arm even with the maximum possible deflection of the claw support away from the support surface is still below the level of the wheel support and hampers it accordingly.
    That is, in order to avoid the disadvantages mentioned above, the support arm can not be deflected to the maximum in both directions due to the lack of parallel guidance of the claw support. However, this limits the possibilities of the walking excavator in the field.
    Another disadvantage of conventional excavators relates to the cable duct in the support arms. Some of these are kept open, which increases the risk of damage or wear due to contact friction. Furthermore, the lines are also exposed to high levels of contamination.
    The object of the present invention is, in particular, to remedy one or more of the disadvantages mentioned above.
    A task is solved according to a first aspect of the invention in that the at least one support arm forms a parallel guide for the height adjustment, the support arm comprising a support arm support and a push rod to form the parallel guide, each of which is articulated on the one hand with the chassis and on the other hand via a Wheel guides are each articulated to the wheel.
    As explained in more detail below, the wheel guide is designed as a rotary head according to an aspect of the invention.
    In specialist circles, the support arm supports of walking excavators are also simply called supports. In the context of this patent application, the term “tram arm support” is used for reasons of clear differentiation of the individual components.
    The support arm is, as explained below, in particular articulatedly connected to the chassis via a swivel foot.
    The chassis and the at least one support arm are part of an already mentioned undercarriage. The excavator also includes an uppercarriage, which contains a cabin structure and a swiveling boom with an implement. The implement can be an excavator shovel, for example.
    The superstructure is in particular connected to the undercarriage by means of a slewing gear and can be rotated relative to the undercarriage about a vertical axis.
    The mentioned slewing gear designates a connecting structure for connecting the uppercarriage to the undercarriage. The slewing gear enables a rotation, in particular an endless rotation of the superstructure relative to the undercarriage.
    At the same time, the remaining degrees of freedom (translations and rotations) are blocked with the slewing gear. The connection structure designed as a bearing must transfer large axial forces and absorb tilting moments.
    The slewing gear is designed in particular as a slewing ring bearing. The tipping moments of the uppercarriage take up a bearing here, which e.g. is designed as a (double) ball slewing ring or as a roller slewing ring.
    The support arm support and the push rod are connected in particular with their respective end sections to the chassis or the wheel guide or the rotary head according to an aspect of the invention.
    The axes of rotation of the articulated connections between push rod and swivel foot, push rod and wheel guide, or turret according to an aspect of the invention, support arm support and swivel foot and between support arm support and wheel guide, or turret according to an aspect of the invention, run parallel to one another. The axes of rotation are in particular aligned horizontally. The articulated connections mentioned can be formed by pin bearings.
    With axes of rotation in this text geometrical axes of rotation are meant, unless otherwise noted.
    The terms “vertical” and “horizontal” in the present application always refer to a neutral position of the excavator with a chassis aligned in a horizontal plane.
    The axes of rotation of the support arm support and the push rod on the chassis or on the swivel foot are each vertical, i.e. staggered in height.
    The same also applies to the axes of rotation of the support arm support and the push rod on the wheel guide or on the turret according to an aspect of the invention. The vertically offset arrangement of the mentioned axes of rotation forms the basis for a parallel guidance of the support arm in the height adjustment.
    The support arms are, as already mentioned, pivotably mounted in the vertical direction relative to the chassis via the parallel guidance mentioned, i.e. height-adjustable. For this purpose, a support arm support cylinder, also called support cylinder, is egg
    CH 714 056 A1 connected on the one hand to the chassis or a swivel foot and on the other hand to the support arm support. The articulated connection can be a pin bearing.
    The push rod and the support arm cylinder are in particular rotatably mounted about a common axis of rotation on the chassis or swivel foot.
    The kinematics of the parallel guide mentioned is characterized in that the angle between the wheel guide, or rotary head according to an aspect of the invention, and a horizontal barely changes during the lifting and lowering of the support arm. Support arm support and push rod run parallel to one another for this purpose and, as mentioned, are connected via vertically offset articulation points on the one hand to the chassis or swivel foot and on the other hand to the wheel guide or rotating head according to an aspect of the invention. The push rod is arranged in a horizontal position of the support arm, in particular above the support bracket.
    The parallel guidance thus enables optimal wheel support and wheel steering even on uneven terrain. Without parallel guidance, the wheel guide or the rotary head according to one aspect of the invention would have an angle with respect to the horizontal that is dependent on the pivoting position of the support arm. As a result, the wheel steering axle would also assume an orientation that deviates from a vertical, which in turn makes wheel steering difficult.
    The parallel guide compensates for this by changing the angle of the wheel guide, or by means of a parallelogram movement of the support arm support and push rod in an articulated connection with the chassis or a swivel foot connected to it and the wheel guide or the rotary head according to an aspect of the invention. of the rotary head according to an aspect of the invention, relative to a horizontal can be avoided.
    [0042] That is, the parallel guidance according to the present invention is a mechanical parallel guidance.
    The wheel guide or the rotary head according to an aspect of the invention, which corresponds to a wheel suspension, is the movable connection between the support arm support and the push rod on the one hand and the wheel on the other.
    For this purpose, the wheel in turn comprises a steering knuckle on which the wheel guide, or the rotary head according to an aspect of the invention, is articulated. The wheel is connected to the wheel guide, or the rotary head according to an aspect of the invention, in particular pivotably about a vertical wheel steering axis via the steering knuckle.
    According to one aspect of the present invention relating to the parallel guidance of the support arm, the wheel guide, as already mentioned, is formed by a rotating head, also called a rotating body.
    The turret is rotatably mounted on the support arm support via a bearing, such as radial bearings, in particular via a combined radial and axial bearing. The bearing is designed in particular as a plain bearing. The rotary head can in particular be formed in one piece. The turret can in particular be a metal casting.
    The push rod is in turn articulated to the turret. The axes of rotation of the articulated connections between the push rod and the swivel head as well as the support arm support and swivel head are offset vertically in the sense of parallel guidance, i.e. offset, arranged.
    For this purpose, the rotary head can form a projection, via which the push rod is articulated to the rotary head.
    The push rod can in particular be connected to the rotary head via a pin bearing. For this purpose, the projection can be a bushing, i.e. have a breakthrough for the pin bearing.
    When lifting and lowering the support arm or the support arm support by actuating the support arm cylinder, the parallel push rod exerts a torque on the rotary head via the articulated connection with the rotary head in the sense of parallel guidance, and sets it in a rotational movement relative to the support arm support. The rotary movement of the rotary head takes place via the named bearing.
    The rotary movement of the rotary head relative to the support arm support causes the rotary head and with it the components articulated to it, such as steering knuckle or wheel or claw support, not to change their angle relative to a horizontal in the sense of parallel guidance.
    The turret is in turn articulated to the wheel or to its steering knuckle. For this purpose, the rotary head and the steering knuckle form corresponding connection interfaces.
    Thus, the wheel is pivotally connected to the rotary head via the steering knuckle, in particular about a vertical wheel steering axis. The wheel is connected to the rotary head via the steering knuckle, in particular by means of a pin bearing.
    The rotary head contains, in particular, tab-shaped connecting elements or projections directed towards the steering knuckle, via which it is articulated on the steering knuckle.
    The steering knuckle can also contain tab-shaped connecting elements, which are directed towards the turret and serve for the articulated fastening of the turret on the steering knuckle. The tab-shaped connecting elements can interlock to form the articulated connection. The tab-shaped connecting elements can in particular have bolt bushings for a bolt bearing.
    CH 714 056 A1 The rotary head forms, in particular, a receiving space in which a steering cylinder for adjusting a wheel lock is at least partially arranged and connected to the rotary head. The steering cylinder is with the exception of a connection interface, e.g. a tab-shaped connecting element, for articulated connection to the steering knuckle, in particular completely arranged in the receiving space.
    The receiving space of the rotary head is in particular open to the wheel, so that the steering cylinder can be articulated on the steering knuckle. The receiving space is in particular closed on the (end) side opposite the wheel.
    The rotary head is designed in particular as a housing, in particular as a housing open on one side. The basic shape of the rotary head is in particular hollow cylindrical. Accordingly, the receiving space is in particular cylindrical.
    The rotary head in particular comprises a rotary head drum which forms the receiving space.
    The steering cylinder is now articulated on the one hand with the rotary head and on the other hand with the wheel or with its steering knuckle. The axes of rotation of the articulated connections are in particular aligned vertically. The axes of rotation of the articulated connections are in particular parallel to the wheel steering axis.
    The steering cylinder is connected in an articulated manner to the rotary head in particular via the interior of the housing.
    The articulated connection between the steering cylinder and the swivel head can take place via a pin bearing. Likewise, the articulated connection between the steering cylinder and steering knuckle can take place via a pin bearing.
    The axes of rotation of the articulated connections of the turret and steering knuckle as well as of the steering cylinder and steering knuckle are correspondingly offset to carry out a steering movement along a straight line running parallel to the longitudinal axis, i.e. spaced from each other.
    In a neutral position of the wheel, in which the axis of rotation of the rotary head and the axis of rotation of the wheel (wheel axis) are arranged parallel to one another, the steering cylinder is arranged in particular at an acute angle to the axis of rotation of the wheel. The acute angle can be 5 ° (degrees of angle) or more, in particular 10 ° or more. The acute angle can be 45 ° or less, in particular 30 ° or less and very particularly 20 ° or less.
    The steering movement of the wheel is carried out by means of a lifting movement of the steering cylinder. Due to the lifting movement, the steering knuckle is pivoted about the wheel steering axis, which causes a change in the wheel angle.
    [0066] The wheel carrier can comprise a hollow body-shaped base body, which forms a receiving space. The steering knuckle can e.g. be designed as an open housing.
    The base body can be open to both the wheel and the wheel guide, or to the turret according to an aspect of the invention. The base body can in particular be hollow cylindrical. In the receiving area of the steering knuckle, drive components, e.g. a hydrostatic drive to drive the wheels.
    The integration of the steering cylinder into the housing interior of the turret leads to a compact design of the wheel guide. This only allows the connection of a claw support (described below) to the wheel guide or the rotating head. In addition, the turret is characterized by a comparatively small variety of parts.
    In addition, the steering cylinder is optimally protected from dirt and damage inside the housing of the rotary head.
    In a further development of the aspect of the invention relating to parallel guidance of the support arm, the at least one support arm contains a claw support. The claw support comprises a claw support on the distal end section of which a support claw is arranged.
    The claw support is connected in an articulated manner to the rotary head or articulated on the cantilever support. Due to the articulated connection, the bracket can be pivoted in height relative to the turret. This allows the claw support to be adjusted vertically, i.e. in height, between a passive position in which it has no contact with the ground, to an active position in which it has contact with the ground.
    For pivoting the claw support relative to the turret, this comprises a claw support cylinder which is articulated on the one hand to the turret and on the other hand to the claw support or to its support claw.
    By means of a lifting movement of the claw support cylinder, the claw support can be pivoted about the rotary head and in this way raised and lowered relative to the rotary head.
    By attaching the claw support on the turret and not on the support arm support as usual, does not change thanks to the parallel guide when lifting and lowering the support arm support and thus the wheel, the position angle of the claw support relative to a horizontal.
    As a result, the disadvantages already mentioned above with regard to the position of the claw support with a strong vertical deflection of the support arm can be avoided.
    CH 714 056 A1 According to a further aspect of the invention, the support arm is connected to the chassis via a swivel foot. The swivel foot is mounted on the chassis so that it can swivel around a vertical axis of rotation. The support arm, together with the swivel base, can be swiveled laterally relative to the chassis about the vertical axis of rotation.
    The swivel foot is in particular arranged laterally on the outside of the chassis, in particular in a corner region of the chassis.
    The support arm, i.e. the support arm support and the push rod are articulated on the swivel base to form the above-mentioned parallel guide. For this purpose, the push rod and the support arm support are each pivotally attached to the swivel foot about a horizontal axis of rotation.
    The two articulated connections of the support arm support and the push rod are, as already mentioned, vertically offset from one another as part of the parallel guidance, i.e. spaced apart.
    According to a development of this aspect of the invention, the swivel foot is pivotally connected to the chassis via a multi-part, in particular two-part pin bearing. The multi-part pin bearing comprises a first pin bearing and a second pin bearing.
    The first pin bearing comprises a first pin mounted in a first pin receptacle on the swivel base. The second pin bearing comprises a second pin mounted in a second pin receptacle on the swivel base. The bolt receptacles can be formed from one or more bolt bushings on the swivel base.
    To form the multi-part pin bearing, the chassis can have tab-shaped projections with pin bushings. Likewise, the swivel foot can have tab-shaped connecting elements with bolt bushings to form the multi-part pin bearing. The tab-shaped projections and connecting elements interlock in particular to produce the multi-part pin bearing.
    The two pin bearings form a common vertical axis of rotation. The two pin bearings are spaced apart vertically. In this way, a passage, in particular running transverse to the axis of rotation, is formed between the two pin bearings. The passage leads in particular through the axis of rotation of the multi-part pin bearing.
    The passage serves in particular to carry out lines, such as hydraulic lines, control lines or electrical lines, which are guided from the chassis into the support arm. The passage allows in particular the passage of the lines through the axis of rotation of the multi-part pin bearing. As a result, the cables are less subjected to tension and kinking during lateral pivoting movements of the support arm.
    The lines mentioned serve e.g. the drive or the control of the cylinders arranged on the support arm, such as the support arm cylinder, steering cylinder or claw support cylinder, and possibly also the drive of the wheel.
    A swivel cylinder is articulated, in particular rotatable about a vertical axis of rotation, connected to the swivel foot. For this purpose, the swivel foot forms a corresponding connection interface.
    The swivel cylinder can be connected to the swivel foot via a bolt bearing. The connection interface on the swivel foot can comprise, for example, two fork-shaped, tab-shaped connection elements with bolt bushings for a bolt bearing.
    The pivot cylinder is in turn articulated, in particular rotatable about a vertical axis of rotation, attached to the chassis. The swivel cylinder can be connected to the chassis via a pin bearing.
    The swivel foot and with this also the at least one support arm can be via the swivel cylinder, i.e. via a lifting movement of the swivel cylinder around the vertical axis of rotation between swivel foot and chassis, i.e. swivel horizontally.
    [0090] The pivot cylinder is in particular aligned essentially transversely to the longitudinal axis of the excavator. In this context, essentially transverse means that the swivel cylinder encloses an acute angle to the longitudinal axis of the excavator from 70 ° to 90 °, in particular from 75 ° to 90 °, and very particularly from 80 ° to 90 °.
    According to a further development, the articulation point of the swivel cylinder on the chassis is arranged towards that chassis front wall or chassis front which faces the support arm to be swiveled by means of the swivel cylinder. The articulation point is particularly direct or indirect, e.g. via a reinforcement component, arranged on the corresponding chassis front wall or chassis front or connected to this.
    According to a further development of the invention, the articulation point of the swivel cylinder is arranged essentially centrally between the outside of the chassis. Essentially centered means in particular that the articulation point is arranged transversely to the longitudinal axis in the middle fifth and very particularly in the middle seventh of the total extent of the chassis.
    [0093] According to a development of the present aspect of the invention, the chassis is box-shaped and forms a chassis cavity. The chassis has in particular a rectangular cross section.
    The chassis in particular comprises two chassis side walls, which form the chassis outer sides. The chassis further comprises in particular two, each directed towards support arms, in particular towards pair of support arms
    CH 714 056 A1
    Chassis front walls, which form chassis fronts. The chassis front walls are formed by a front chassis wall and a rear chassis wall, which form the front of the chassis and the rear of the chassis.
    The chassis may further comprise an upper chassis wall, which forms the upper side of the chassis, and a lower chassis wall, the chassis floor, which is spaced apart therefrom, which forms the lower side of the chassis.
    The chassis walls enclose the chassis cavity mentioned. The chassis walls, in particular the upper and lower chassis walls, can have recesses and openings. Functional elements such as structural parts of the slewing gear can be guided through the recesses.
    The pivot cylinder is now arranged or housed in particular in the chassis cavity. This means that the swivel cylinder is optimally protected against damage and dirt.
    For this purpose, the swivel foot engages with its connection interface for the swivel cylinder, in particular in the chassis cavity.
    As explained in more detail below, the excavator can have a front pair of support arms. The excavator can also have a rear pair of support arms. The excavator contains in particular four support arms, which are divided into a front pair and a rear pair of support arms.
    The following description with reference to a bracket pair can apply to both a front bracket pair and to a rear bracket pair or to both a front and a rear bracket pair.
    According to a further development, the articulation of the support arms of a support arm pair on the chassis can now be carried out as described above. The articulation of the support arms on the chassis is in particular mirror-symmetrical to the longitudinal axis of the excavator.
    The pivot cylinders of a pair of support arms are directed with their articulation points for articulated connection to the chassis, in particular to one another or to one another.
    The two articulation points on the chassis for the articulated connection of the swivel cylinders of a pair of support arms to the chassis are in particular arranged essentially centrally between the outside of the chassis on the chassis. The two articulation points are in particular opposite each other.
    The arrangement of the articulation points of the swivel cylinders on the chassis described above has the advantage that the force vectors of the swivel cylinders are essentially directed toward one another when the support arms of the support arm pair are synchronously pivoted. This allows a symmetrical introduction of force into the chassis. In addition, opposing forces cancel each other out, so that the load on the chassis as a whole can be reduced by the swivel cylinders.
    According to a development of this aspect of the invention, the articulation points on the chassis for the swivel cylinders of a pair of support arms are formed by a common receptacle, in particular arranged centrally between the chassis outer sides on the chassis. The swivel cylinders are accordingly articulated to the mount. The receptacle can contain a pair of bolt bushings lying horizontally opposite one another to form a respective bolt bearing with one of the two swivel cylinders.
    According to a further development, the chassis can have, on its underside, a channel-like passage that runs parallel to the longitudinal axis and is open at the bottom. The channel-like passage is bordered on both sides by a chassis section that is stepped relative to the passage towards the floor. The stepped chassis section runs parallel to the longitudinal axis of the excavator and, as will be explained further below, merges with the front and rear ends of the chassis, in particular in connection interfaces for swivel feet.
    A maintenance opening arranged in the channel-like passage can be arranged on the underside of the chassis, through which maintenance work can be carried out from below in the interior of the chassis or the superstructure. The maintenance opening can be closable via a closure element, such as a cover plate.
    The channel-like passage enables a simplified passage of the wire rope of a winch along the longitudinal axis of the excavator. In addition, thanks to the channel-like passage, the maintenance opening is set back towards the top of the chassis, analogous to the floor of the channel-like passage, opposite the side chassis sections. As a result, the maintenance opening or the closure element is better protected against damage and contamination.
    Reinforcement walls can be arranged in the chassis cavity, which connect the upper and lower chassis walls to one another and thus reinforce the chassis. The reinforcement walls serve in particular to additionally absorb forces introduced into the chassis by the slewing gear.
    [0110] A fuel tank can also be integrated in the chassis case or in the chassis cavity.
    The one or more swivel cylinders, support cylinders, steering cylinders and claw support cylinders are working cylinders, such as hydraulic cylinders, which execute a lifting movement to trigger a swiveling movement of a component, in which a piston rod guided in a cylinder housing is retracted or extended from the cylinder housing.
    CH 714 056 A1 [0112] For this purpose, the cylinder housing is articulated to a first component via a first connection interface or articulation point and the piston rod is articulated to a second component via a second connection interface or articulation point. One of the two components is swiveled over the cylinder.
    According to another aspect of the invention, the support arm support is designed as a longitudinal hollow body. This forms a longitudinal cavity. The support arm support can be box-shaped, for example.
    An inner longitudinal hollow body, in particular a longitudinal hollow profile, which forms an inner longitudinal cavity, is now arranged in the longitudinal cavity. The inner longitudinal hollow body is connected to the support arm support, e.g. welded. The longitudinal hollow profile can be a pipe, e.g. be made of metal.
    Lines such as hydraulic lines, control lines or electrical lines are guided in the longitudinal hollow profile. The cables are routed in the longitudinal hollow profile from the chassis in the longitudinal direction through the support arm. In this way, the lines can be guided, for example, from the chassis to the wheel guide or rotary head according to an aspect of the invention.
    [0116] The longitudinal hollow profile guided in the support arm support allows protected cable routing. In this way, the sensitive lines are better protected against damage and contamination during work. Furthermore, the line profile designed as a longitudinal hollow profile also simplifies the laying or replacement of the lines in the support arm, e.g. if they need to be replaced from time to time.
    The above aspects of the invention have been described essentially in the context of a single support arm.
    As already mentioned, however, the excavator comprises several, in particular four, support arms. As a rule, two front, i.e. forward-facing brackets one pair of front brackets and two rear, i.e. rear-facing brackets from a rear bracket pair.
    The front support arms represent in particular those support arms which are leading in the forward movement of the excavator. The rear support arms represent, in particular, those support arms which are trailing in the forward movement of the excavator.
    [0120] However, if the support arms are constructed identically, the distinction between front and rear can also be omitted. In this case, the terms are only intended to differentiate between the pair of support arms.
    The aspects of the invention described above can now, independently of one another or in combination with one another, in particular on two front support arms, i.e. apply to a front bracket pair.
    However, the inventive aspects described above can also be applied in the same way to two rear support arms, i.e. apply to a rear bracket pair.
    According to a special development of the invention, the above-mentioned aspects of the invention apply independently of one another or in combination with one another both to the two front support arms and to the two rear support arms, ie to all four support arms of the excavator.
    The excavator according to the invention is in particular a walking excavator, as has already been described in the introduction to the description.
    The subject matter of the invention is explained in more detail below on the basis of exemplary embodiments which are illustrated in the accompanying figures. Each show:
    1 is a perspective view of an exemplary walking excavator;
    2 shows a cross-sectional view of the support arm articulated on the chassis along a horizontal plane of a walking excavator according to the invention;
    3 shows a side view of the support arm according to FIG. 2, looking outwards;
    FIG. 4: a cross-sectional view of the swivel foot of a support arm according to FIG. 2 along a vertical
    Level;
    5 shows a perspective view of the support arm according to FIG. 2;
    6a: a perspective view of the chassis according to FIG. 2 obliquely from above;
    6b: a perspective view of the chassis according to FIG. 2 obliquely from below;
    7a-7d: top views of a walking excavator shown in sketch form with different steering settings.
    In principle, the same parts are provided with the same reference symbols in the figures.
    CH 714 056 A1 To understand the invention, certain features are not shown in the figures. The exemplary embodiment described below is merely an example of the subject matter of the invention and has no restrictive effect.
    1 shows an example of a walking excavator 1 which, however, does not have the inventive features shown in the following figures. The walking excavator 1 'shown is only intended to show the basic structure of the walking excavator according to the present invention.
    The walking excavator 1 'contains an undercarriage 3' which is connected to an upper carriage 2 'via a slewing ring bearing. The superstructure 2 'comprises a cabin structure 5' and a boom 6 ', to which an excavator shovel 7' is attached as a working device.
    The undercarriage 3 'comprises a chassis 8' which supports the superstructure 2 '. A front pair of support arms 10.1 ', which are directed towards the front, and a rear pair of support arms 10.2', which are directed towards the rear, are hinged to the chassis 8 '. The support arms 10.1', 10.2 'are each in the corner regions of the chassis 8 'hinged to this.
    Wheels 15 * for locomotion are arranged in the distal regions of both the front and rear support arms 10.1 ', 10.2'. The wheels 15 'are each articulated via a wheel guide 16' to a support arm support 13.1 '. Swiveling claw supports 20 'are also arranged on the support arm supports 13.2' on the rear support arms 10.2 '.
    The undercarriage 3 'is constructed mirror-symmetrically with respect to a vertical plane leading through the longitudinal central axis L.
    In relation to the present invention, the front and rear pairings of support arms can be structurally identical or, as shown with reference to FIG. 1, constructed differently.
    2 shows the chassis 8 and a support arm articulated on the chassis 8 of Weines walking excavator according to the invention. The chassis 8 forms a slewing ring 4 (indicated by dashed lines) for a slewing ring bearing arrangement with an uppercarriage, which can be rotated about an axis of rotation D16 relative to the undercarriage.
    The support arm 10 is pivotally connected to the chassis 8 via a swivel foot 41.
    The swivel foot 41 is mounted on the chassis 8 so as to be pivotable about a vertical axis of rotation D1 via a two-part pin bearing (see also FIG. 4).
    The two-part pin bearing comprises a first, upper pin bearing 43 with a first connecting pin, which is mounted in a first pin receptacle on the swivel foot 41, and a second pin bearing 44 with a second connecting pin, which is mounted in a second pin receptacle on the swivel foot 41.
    The two pin bearings 43, 44 each have two fork-shaped, tab-shaped connecting elements with openings, i.e. Bolt bushings, for the passage of the connecting bolt.
    [0139] The two pin bearings 43, 44 are spaced apart vertically and form a common vertical axis of rotation DI. In this way, a passage 46 is formed between the two pin bearings 43, 44. The passage 46 serves for the passage of lines 9 which are guided from the chassis 8 into the support arm 10.
    The chassis 8 has in its corner areas articulation points 51 in the form of an upper and lower, tab-shaped projection with bolt bushings for the upper and lower pin bearings 43, 44. The tab-shaped projections are each guided between the fork-like, tab-shaped connecting elements of the swivel foot and connected to the swivel foot 41 via the connecting bolts guided through the bolt bushings.
    To form a parallel guide, the support arm 10 has a support arm support 13 and a push rod 12 guided parallel to it. The push rod 12 and the support arm support 13 are each pivotally mounted in height on the swivel foot 41 via pin bearings about horizontal axes of rotation D8, D6. The two axes of rotation D8, D6 of the push rod 12 and support arm support 13 are each vertically spaced apart to form the parallel guide. For this purpose, the swivel foot 41 forms corresponding articulation points 58, 56 with bolt bushings.
    [0142] The support arm support 13 is designed as a longitudinal hollow body which has a longitudinal cavity. An inner longitudinal hollow profile 14 in the form of a tube is arranged in the longitudinal cavity and connected to the support arm support 13, for example by means of welding.
    In the longitudinal hollow profile 14, the lines 9 leading away from the chassis 8 and guided through the passage 46 in the swivel foot 41 into the support arm 10 are guided in a longitudinal direction through the support arm 10 in an environment protected by the longitudinal hollow profile 14. In this way, the lines 9 can be guided, for example, from the chassis 8 to the wheel guide 16 or the rotary head.
    The lines 9 mentioned can be hydraulic lines, control lines and / or electrical lines which, among other things, serve to actuate the various cylinders in the support arm 10 and to drive the wheel.
    The swivel foot 41 is further connected to a swivel cylinder 42 via a pin bearing so as to be rotatable about a vertical axis of rotation D2. For this purpose, the swivel foot 41 forms an articulation point 52 in the form of two fork-like
    CH 714 056 A1 arranged tab-shaped connecting elements with bolt bushings for the implementation of a bolt. The swivel cylinder 42 is guided on the swivel base 41 with a connecting element, which likewise forms a bolt bushing, for producing the bolt bearing between the two tab-shaped connecting elements.
    The swivel cylinder 42 is further connected to the chassis 8 via a further pin bearing such that it can rotate about a vertical axis of rotation D3. For this purpose, an articulation point 53 is formed on the chassis 8 in the form of a receptacle 49 with pin bushings for forming a pin bearing.
    The swivel cylinder 42 is oriented essentially transversely to the longitudinal axis L of the excavator and encloses an acute angle between 75 ° and 80 ° therewith. For this purpose, the articulation point 53 of the pivot cylinder 42 on the chassis is arranged essentially centrally between the two outer sides of the chassis.
    Furthermore, the articulation point 53 of the swivel cylinder 42 on the chassis 8 is arranged toward that chassis front wall which faces the relevant support arm 10.
    The swivel foot 41 and with this also the support arm 10 can be pivoted laterally about a vertical movement axis of the swivel cylinder 42 about the vertical axis of rotation DI of the swivel foot 41.
    As can be seen from FIG. 2 and in particular from FIGS. 6a and 6b, the chassis 8 is box-shaped and has a rectangular base cross section, in each of the four corner areas of which a linkage point 51 for a support arm 10 is formed. The above-mentioned, centrally arranged receptacle 49 in each case forms two pin bushings for one pin bearing each with two counter-rotating cylinders for a front or rear pairing of support arms 10. For the sake of clarity, only one support arm 10 is shown in FIG. 2.
    The box-like chassis 8 each have an upper and lower chassis wall, two chassis front walls, comprising a front and rear chassis wall, and two lateral chassis walls or chassis outer sides. The upper chassis wall has a circular recess, which is bordered by the slewing ring 4 of the slewing ring bearing. The opening serves, among other things, for the passage of lines from the superstructure into the undercarriage and from this into the support arms 10.
    [0152] The walls of the box-like chassis 8 enclose a chassis cavity 26. The pivot cylinder 42 is arranged in the chassis cavity 26 immediately behind the chassis front wall facing the associated support arm 10. The pivot cylinder 42 is indirectly attached to the chassis front wall via the receptacle 49 arranged on a cross strut.
    A fuel tank may also be integrated in the chassis case (not shown).
    The chassis 8 also has on its chassis underside an open, channel-like passage 24 arranged in the lower chassis wall and running parallel to the longitudinal axis L. The channel-like passage 24 is bordered on both sides by a chassis section stepped relative to the passage 24 towards the floor. The stepped chassis section runs parallel to the longitudinal axis L of the excavator and merges with the front and rear ends of the chassis 8 into the articulation points 51 for the swivel feet 41.
    In the lower chassis wall, the chassis floor, in the region of the channel-like passage 24, a maintenance opening 25 is let in, which opens access to the chassis cavity 26. This access is particularly important for maintenance work. The maintenance opening 25 can be e.g. to prevent dirt from entering during operation. be covered with a releasably attached cover plate (not shown).
    The chassis furthermore forms a curved reinforcement wall to the side of the slewing ring 4, which connects the upper and lower chassis walls to one another and thus reinforces the chassis 8. The forces acting on the slewing gear are thus introduced into the chassis 8, inter alia, via the reinforcement walls.
    The support arm 10 further comprises a support arm support cylinder 32 which is articulated via corresponding articulation points 54, 55 on the one hand to the swivel foot 41 about a horizontal axis of rotation D4 and on the other hand to the support arm support 13 about a horizontal axis of rotation D5. The articulated connections are pin bearings.
    The support arm support cylinder 32 is used for height adjustment, that is to say the lifting and lowering of the support arm 10 in the context of a parallel guide (see also FIGS. 3 and 5). For this purpose, corresponding lifting movements are carried out via the support arm support cylinder 32, which lead to an increase or decrease in the support arm support 13.
    The support arm support cylinder 32 and the push rod 12 form a common axis of rotation D4, D8 on the swivel foot 41. For this purpose, the swivel foot 41 comprises two fork-shaped, tab-shaped connecting elements with pin bushings for forming a common pin bearing. The push rod 12 is arranged on the outside on the two tab-shaped connecting elements of the swivel foot 41 via two fork-like, tab-shaped connecting elements with bolt bushings. The support arm support cylinder 32 is arranged between the two lug-shaped connecting elements of the swivel foot 41 via a lug-shaped connecting element with a bolt bushing. A common connecting bolt is guided through the bolt bushing of the tab-shaped connecting elements mentioned.
    CH 714 056 A1 The support arm 10 further comprises a wheel 15. The wheel 15 is fastened to the support arm support 13 via a wheel guide 16. The wheel guide 16 is designed as a rotary head which is rotatably mounted about a horizontal axis of rotation D7 relative to the support arm support 13 via a slide bearing 18.
    The rotary head 16 is designed as a housing which is open on one side and comprises a rotary head drum which forms a cylindrical receiving space 17 for a steering cylinder 33.
    The rotary head 16 has a projection 23 protruding from the cylindrical basic shape with a pin bushing for a pin bearing. The projection 23 forms an articulation point 59 for the push rod 12. The push rod 12 is connected to the rotary head 16 via the projection 23 so as to be rotatable about a horizontal axis of rotation D9.
    The axes of rotation D7, D9 of the support arm support 13 and the push rod 12 on the rotary head 16 are arranged vertically offset from one another in the sense of parallel guidance, i.e. offset in height.
    The wheel 15 comprises a steering knuckle 19 which forms a pivot point 61 for the rotary head 16. The wheel is pivotally connected to the rotary head 16 via the articulation point 61 about a vertical wheel steering axis DI 1.
    For this purpose, the steering knuckle 19 forms two fork-shaped, tab-shaped connecting elements with pin bushings for a pin bearing towards the rotary head 16. The rotary head 16 also forms two fork-shaped, tab-shaped connecting elements with bolt bushings for a bolt bearing toward the knuckle 19. To produce the pin bearing, the two pairs of connecting elements interlock. A connecting bolt is guided through the bolt bushings of the tab-shaped connecting elements mentioned to produce the connection.
    The steering knuckle 19 is designed as a housing that is open on both sides and has a hollow cylindrical base body. The steering knuckle 19 comprises a receiving space which is open both to the wheel 15 and to the rotary head 16.
    In the receiving space of the steering knuckle 19, drive components of a hydrostatic drive for driving the wheels 15 are contained.
    The turret drum with the receiving space 17 of the turret 16 is in turn open on one side towards the wheel 15, so that the steering cylinder 33 can be articulated on the steering knuckle 19. The rotary head drum with the receiving space 17 is closed on the (end) side opposite the wheel 15. As a result, the steering cylinder 33 is optimally shielded from the outside.
    The steering cylinder 33 arranged in the receiving space 17 of the rotary head drum is fastened on the one hand via a pin bearing about a vertical axis of rotation to the housing of the rotary head 16 and on the other hand via a pin bearing about a vertical axis of rotation D10 on the steering knuckle 19.
    For this purpose, the steering knuckle 19 forms a corresponding articulation point 60 in the form of two fork-shaped, tab-shaped connecting elements with bolt bushings, which are directed towards the rotary head 16. The steering cylinder 33 is inserted to produce the pin bearing with a tab-shaped connecting element with a bolt bushing between the two connecting elements of the steering knuckle 19, a connecting bolt being guided through the bolt bushings aligned with one another.
    The axes of rotation D11, D10 of the articulated connections between the rotary head 16 and the steering knuckle 19 as well as the steering cylinder 33 and steering knuckle 19 are spaced apart along a straight line parallel to the longitudinal axis L. The offset between the two axes of rotation D11, D10 enables the setting of a steering lock by a lifting movement of the steering cylinder 33.
    The steering cylinder 33 is arranged in a neutral position of the wheel 15, in which the wheel 15 is parallel and the axis of rotation of the wheel D12 perpendicular to the longitudinal axis L, at an acute angle between 10 ° and 20 ° to the axis of rotation of the wheel D12 ,
    The support arm 10 further contains a claw support 20. The claw support 20 comprises a claw support 22 at the distal end of which a claw 21 is arranged. The bracket 22 is articulated to the rotary head 16 via a pin bearing. For this purpose, the rotary head forms an articulation point 63 in the form of a projection with a bolt bushing. The claw support 20 is pivotally mounted about a horizontal axis of rotation DI3 via the articulation point 63 relative to the rotary head 16.
    For pivoting the claw support 20 relative to the rotary head 16, it further comprises a claw support cylinder 34 which is articulated on the one hand to the rotary head 16 and on the other hand to the claw support 22. The claw support cylinder 34 is articulated on the one hand pivotable about an axis of rotation D14 at a pivot point 64 on the rotary head and on the other hand pivotably about a pivot axis DI5 on a pivot point 65 on the claw carrier 22. The articulation points 64, 65 are present as projections with bolt bushings.
    By performing a lifting movement through the claw support cylinder 34, the claw support 20 can be raised and lowered relative to the rotary head 16 in the exercise of a pivoting movement about the rotary head 16, or can be adjusted in height relative to the rotary head 16.
    CH 714 056 A1 The integration of the steering cylinder 33 into the turret housing creates the necessary space for fastening the claw support 20 to the turret 16. The connection of the claw support 20 to the wheel guide or to the turret 16 accordingly also enables the claw support 20 to be guided in parallel. The advantages of such parallel guidance have already been discussed above.
    7a to 7d show an example of the mobility of a walking excavator 1, as is also given by the present invention.
    7a shows the walking excavator 1 in a neutral steering position. 7b shows the walking excavator 1 with support arms 10 pivoted laterally to the right about the axis of rotation DI of a swivel foot.
    7c shows the walking excavator 1, each with a steering angle of the wheels 15 about the wheel steering axis D11. 7d shows a combination of front support arms 10 pivoted sideways to the right with a steering lock of the front wheels 15.
    Of course, the support arms 10 can also be pivoted to the side in opposite directions. The support arms 10 can in principle also be pivoted laterally independently of one another.
    The same also applies to a pivoting of the support arms 10 in height. However, this is not shown in FIGS. 7a-7d.
    权利要求:
    Claims (17)
    [1]
    claims
    1. Excavator (1) with a chassis (8) and with on the chassis (8) articulated support arms (10) for locomotion and support of the excavator (1), a wheel (15) being articulated on at least one of the support arms (10) , and the at least one support arm (10) relative to the chassis (8) is pivotable both in height and to the side.
    [2]
    2. Excavator according to claim 1, characterized in that the at least one support arm (10) forms a parallel guide for the height adjustment, the support arm to form the parallel guide comprises a support arm support (13) and a push rod (12), each of which is articulated on the one hand are each articulated to the wheel (15) with the chassis (8) and on the other hand via a wheel guide (16).
    [3]
    3. Excavator according to claim 2, characterized in that the wheel guide (16) comprises a rotary head (16) which is rotatably mounted on the support arm support (13) via a radial bearing (18).
    [4]
    4. Excavator according to claim 3, characterized in that the push rod (12) is articulated to the rotary head (16).
    [5]
    5. Excavator according to one of claims 3 to 4, characterized in that the rotary head (16) is articulated to the wheel (15).
    [6]
    6. Excavator according to one of claims 3 to 5, characterized in that the rotary head (16) forms a receiving space (17) in which a steering cylinder (33) is arranged for adjusting a wheel lock and is connected to the rotary head (16).
    [7]
    7. Excavator according to one of claims 3 to 6, characterized in that the at least one support arm (10) contains a claw support (20) and the claw support (20) is pivotally connected to the rotary head (16).
    [8]
    8. Excavator according to one of claims 1 to 7, characterized in that the support arm (10) via a swivel foot (41) is connected to the chassis (8), the swivel foot (41) being pivotable about a vertical axis of rotation (D1) Chassis (8) is mounted.
    [9]
    9. Excavator according to claim 8, characterized in that the swivel foot (41) is pivotally connected to the chassis (8) via a multi-part pin bearing, and the multi-part pin bearing comprises a first pin bearing (43) and a second pin bearing (44), wherein the first and second pin bearings (43, 44) form a common vertical axis of rotation (D1), and a passage (46) is formed between the first and second pin bearings (43, 44).
    [10]
    10. Excavator according to one of claims 8 to 9, characterized by a swivel cylinder (42) which is articulated on the one hand with the swivel foot (41) and on the other hand articulated with the chassis (8), and by means of which the swivel foot (41) and with this the at least one support arm (10) can also be pivoted laterally about the axis of rotation (D1).
    [11]
    11. Excavator according to claim 10, characterized in that the articulation point (53) of the swivel cylinder (42) on the chassis (8) is arranged towards a chassis front wall or chassis front, which faces the support arm (10) to be swiveled.
    [12]
    12. Excavator according to one of claims 10 to 11, characterized in that the articulation point (53) of the swivel cylinder (42) is arranged substantially centrally between the outside of the chassis.
    [13]
    13. Excavator according to one of claims 10 to 12, characterized in that two front and / or two rear support arms (10) are each connected to the chassis (8) via a swivel foot (41), and the swivel feet (41)
    CH 714 056 A1 are each articulated to a swivel cylinder (42), and the swivel cylinders (42) are attached to the chassis (8) via articulation points (53), the swivel cylinders (53) with their articulation points (53) being directed towards one another.
    [14]
    14. Excavator according to claim 13, characterized in that the two articulation points (53) of the pivot cylinder (42) are arranged centrally between the outside of the chassis on the chassis (8).
    [15]
    15. Excavator according to one of claims 10 to 14, characterized in that the pivot cylinder (42) is aligned substantially transversely to the longitudinal axis (L) of the excavator.
    [16]
    16. Excavator according to one of claims 10 to 15, characterized in that the chassis (8) is box-shaped and has a chassis cavity (26), the pivot cylinder (42) being arranged in the chassis cavity (26).
    [17]
    17. Excavator according to one of claims 1 to 16, characterized in that the support arm support (13) is designed as a longitudinal hollow body with a longitudinal cavity, and an inner longitudinal hollow body (14) is arranged in the longitudinal cavity, in which lines (9) in the longitudinal direction of the support arm (10) are carried out.
    CH 714 056 A1
    类似技术:
    公开号 | 公开日 | 专利标题
    DE10314381B4|2006-09-28|Work vehicle with wheels
    EP1621682B1|2009-05-20|Transfer device.
    CH650299A5|1985-07-15|SCREW EXCAVATOR.
    DE1634725A1|1971-12-02|Mobile excavator
    EP1147699A1|2001-10-24|Liftable wheel unit for agricultural implement frame
    EP0266785A1|1988-05-11|Self-propelled multipurpose device
    DE2500857A1|1975-07-17|COMMERCIAL VEHICLE WITH AT LEAST ONE LIFTING DEVICE
    EP1961691B1|2012-04-11|Transfer device
    DE2438439C2|1990-02-15|
    DE102015009627A1|2016-01-28|Linkage assembly for a work tool system of a machine
    CH714056A1|2019-02-15|Excavator with a chassis and with support arms articulated to the chassis for locomotion and support of the excavator.
    DE69914127T2|2004-11-11|car assembly
    DE102006023603B4|2011-03-03|Device and method for compensating a dynamic yawing moment
    DE3234020A1|1984-03-15|ARRANGEMENT FOR SWIVELING A BRACKET OF THE EQUIPMENT OF A HYDRAULIC EXCAVATOR
    DE2641645A1|1977-03-24|SUPPORT DEVICE FOR VEHICLES THAT WEAR AN EQUIPMENT STRUCTURE FOR CARRYING OUT LOADING AND EARTH MOVING WORK OR OTHER WORK APPLICATIONS
    DE102016106432B4|2017-12-28|Working machine in the form of an excavator or crane
    EP3434088B1|2020-10-14|Pulled agricultural device
    EP2710869B1|2015-08-12|Implement attachment device of a work vehicle
    DE3429214A1|1986-02-20|Auxiliary equipment for the perpendicular movement of loads or attachments for wheeled loaders
    DE2415107C3|1980-06-04|Steerable self-propelled charger
    DE1907164A1|1969-10-23|Vehicle to be used especially in the construction sector, consisting of a tractor and a trailer
    DE202008015729U1|2010-04-15|Support for wheeled excavators
    DE102020125047B3|2021-09-30|Working machine
    DE102016210006A1|2017-12-07|Integrated steering axle with adjustable damping
    CH697556B1|2008-11-28|Excavator has chassis and pivot mounting with rotating assembly bearing, where two chassis sections are arranged to tilt around rotational axis tilted against each other
    同族专利:
    公开号 | 公开日
    CH714056B1|2021-06-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US6443687B1|1997-05-23|2002-09-03|Kaiser Aktiengesellschaft|Excavator-hoist|
    CN203681692U|2013-11-21|2014-07-02|徐工集团工程机械股份有限公司道路机械分公司|Symmetric multi-degree of freedom full four-wheel drive walking-type chassis of walking excavator|
    CN205954723U|2016-08-25|2017-02-15|徐工集团工程机械股份有限公司道路机械分公司|Walking excavator|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    CH01019/17A|CH714056B1|2017-08-11|2017-08-11|Excavator with a chassis and with support arms hinged to the chassis for moving and supporting the excavator.|CH01019/17A| CH714056B1|2017-08-11|2017-08-11|Excavator with a chassis and with support arms hinged to the chassis for moving and supporting the excavator.|
    [返回顶部]