Multifunctional all-terrain walking hydraulic excavator

Abstract

A multifunctional all-terrain walking-type hydraulic excavator includes a multifunctional working apparatus ( 2 ), a cab ( 3 ), a slew assembly ( 4 ), a slewing bearing ( 6 ), and a walking-type chassis ( 5 ). By means of a hydraulic capstan ( 5.9 ) arranged at the forward end of the chassis ( 5 ), the excavator is able to perform self-rescue and towing assistance. The walking-type chassis ( 5 ) adapts to terrain through adjustments of the swing angles of the forward and rear legs ( 5.2, 5.4, 5.5, 5.6 ) and thus is able to walk and operate in difficult terrain.

What is claimed is: 
     
         1 . A multifunctional all-terrain walking hydraulic excavator, comprising:
 a multifunctional working apparatus ( 2 ), a cab ( 3 ), a slew assembly ( 4 ), a walking-type chassis ( 5 ), and a slewing bearing ( 6 ), wherein:   the multifunctional apparatus ( 2 ) is entirely hinged at a right front part of the slew assembly ( 4 );   the cab ( 3 ) is fixed to a left half of the slew assembly ( 4 );   the slew assembly ( 4 ) is a load-bearing component for carrying the cab ( 3 ) and the multifunctional working apparatus ( 2 ); and   the slew assembly ( 4 ) is connected to the walking-type chassis ( 5 ) through the slewing bearing ( 6 ).   
     
     
         2 . The multifunctional all-terrain walking hydraulic excavator according to  claim 1 , wherein:
 the multifunctional working apparatus ( 2 ) includes: a bucket ( 2 . 1 ), a quick hitch device ( 2 . 2 ), a telescopic stick ( 2 . 3 ), a stick telescopic hydraulic cylinder ( 2 . 3 - 2 ), hydraulic quick connectors ( 2 . 4 ), a curved short boom ( 2 . 5 ), a connecting rod ( 2 . 6 ), and a rocker arm ( 2 . 7 ).   
     
     
         3 . The multifunctional all-terrain walking hydraulic excavator according to  claim 2 , wherein:
 the curved short boom ( 2 . 5 ) is driven by a hydraulic cylinder, and   the telescopic stick  2 . 3  includes a telescopic stick double-section arm ( 2 . 3 - 1 ), the stick telescopic hydraulic cylinder ( 2 . 3 - 2 ), and a telescopic stick base arm ( 2 . 3 - 3 ), wherein:   the telescopic stick double-section arm ( 2 . 3 - 1 ) and the telescopic stick base arm ( 2 . 3 - 3 ) have a cross section of rectangular shape, respectively;   the telescopic stick double-section arm ( 2 . 3 - 1 ) is sleeved inside the telescopic stick base arm ( 2 . 3 - 3 );   a top surface, a bottom surface, a left surface and a right surface of a rear end of the telescopic stick base arm ( 2 . 3 - 3 ) are fixedly provided with a nylon slider, respectively;   a top surface, a bottom surface, a left surface and a right surface of a front end of the telescopic stick base arm ( 2 . 3 - 3 ) are fixedly provided with a nylon slider, respectively;   a piston end of the stick telescopic hydraulic cylinder ( 2 . 3 - 2 ) is hinged inside of the telescopic stick double-section arm ( 2 . 3 - 1 ) through a hinge pin;   a barrel end of the stick telescopic hydraulic cylinder ( 2 . 3 - 2 ) is hinged inside of the telescopic stick base arm ( 2 . 3 - 3 ) through a hinge pin;   a telescopic movement of the telescopic stick ( 2 . 3 ) is driven by the stick telescopic hydraulic cylinder ( 2 . 3 - 2 ); and   a rotational movement of the telescopic stick ( 2 . 3 ) is driven by a hydraulic cylinder.   
     
     
         4 . The multifunctional all-terrain walking hydraulic excavator according to  claim 2 , wherein:
 two side surfaces of the telescopic stick base arm ( 2 . 3 - 3 ) are provided with two hydraulic quick connectors ( 2 . 4 ), respectively;   the two hydraulic quick connectors ( 2 . 4 ) at each side surface are respectively connected to an output terminal of a three-position four-way directional control valve through hydraulic hose and, meanwhile, are respectively connected to a relief valve and an oil reservoir through an input terminal of a three-position four-way directional control valve; and   the relief valve is further connected to a hydraulic power system.   
     
     
         5 . The multifunctional all-terrain walking hydraulic excavator according to  claim 2 , wherein:
 the connecting rod ( 2 . 6 ) and the rocker arm ( 2 . 7 ) are connected to the quick hitch device ( 2 . 2 ) through the hydraulic cylinder;   the connecting rod ( 2 . 6 ), the rocker arm ( 2 . 7 ) and the telescopic stick ( 2 . 3 ) further form a linkage mechanism; and   the bucket ( 2 . 1 ) is mounted on the quick hitch device ( 2 . 2 ).   
     
     
         6 . The multifunctional all-terrain walking hydraulic excavator according to  claim 2 , wherein:
 the quick hitch device ( 2 . 2 ) includes a quick-hitch rack ( 2 . 2 - 1 ), a quick-hitch cylinder ( 2 . 2 - 2 ), and a lock tongue ( 2 . 2 - 3 ),   wherein:   the quick-hitch rack ( 2 . 2 - 1 ) is provided with a hinge hole ( 2 . 2 - 4 ) connected to the telescopic stick double-section arm ( 2 . 3 - 1 ), a hinge hole ( 2 . 2 - 5 ) connected to the rocker arm ( 2 . 7 ), an open engaging hole ( 2 . 2 - 7 ) and a hook-shaped engaging hole ( 2 . 2 - 6 ) providing a quick connection to operation equipment;   a hinge hole ( 2 . 2 - 8 ) and a hinge hole ( 2 . 2 - 9 ) are provided in a middle and a rear end of the lock tongue ( 2 . 2 - 3 ), respectively;   an arc structure is provided in a front end of the lock tongue ( 2 . 2 - 3 );   the lock tongue ( 2 . 2 - 3 ) is connected to the quick-hitch rack ( 2 . 2 - 1 ) through the hinge hole ( 2 . 2 - 8 ) disposed in the middle of the lock tongue ( 2 . 2 - 3 ), and is connected to a piston end of the quick-hitch cylinder ( 2 . 2 - 2 ) through the hinge hole ( 2 . 2 - 9 ) disposed in the rear end of the lock tongue ( 2 . 2 - 3 ); and   a barrel end of the quick-hitch cylinder ( 2 . 2 - 2 ) is hinged and fixed to the quick-hitch rack ( 2 . 2 - 1 ).   
     
     
         7 . The multifunctional all-terrain walking hydraulic excavator according to  claim 1 , further including:
 a base ( 5 . 3 ), a left-forward walking leg ( 5 . 6 ), a right-forward walking leg ( 5 . 5 ), a left-rear walking leg ( 5 . 2 ), a right-rear walking leg ( 5 . 4 ), four wheels ( 5 . 1 ) and a hydraulic capstan ( 5 . 9 ),   wherein:   the hydraulic capstan ( 5 . 9 ) is arranged at a forward end of the base ( 5 . 3 );   four corners of the base ( 5 . 3 ) are provided with a hinge hole, respectively;   the left-forward walking leg ( 5 . 6 ), the right-forward walking leg ( 5 . 5 ), the left-rear walking leg ( 5 . 2 ), and the right-rear walking leg ( 5 . 4 ) are connected to the four corners of the base ( 5 . 3 ) through a left-forward-leg hinge ( 5 . 6 - 1 ), a right-forward-leg hinge ( 5 . 5 - 1 ), a left-rear-leg hinge ( 5 . 2 - 1 ), and a right-rear-leg hinge ( 5 . 4 - 1 ), respectively; and   the left-forward walking leg ( 5 . 6 ), the right-forward walking leg ( 5 . 5 ), the left-rear walking leg ( 5 . 2 ), and the right-rear walking leg ( 5 . 4 ) are respectively driven by a left-forward-walking-leg hydraulic lifting cylinder ( 5 . 10 ), a left-rear-walking-leg hydraulic lifting cylinder ( 5 . 11 ), a right-forward-walking-leg hydraulic lifting cylinder ( 5 . 8 ), and a right-rear-walking-leg hydraulic lifting cylinder ( 5 . 7 ) to move upwards and downwards.   
     
     
         8 . The multifunctional all-terrain walking hydraulic excavator according to  claim 7 , wherein:
 the left-forward walking leg ( 5 . 6 ) includes the left-forward-leg hinge ( 5 . 6 - 1 ), a left-forward-leg joint ( 5 . 6 - 2 ), a left-forward-leg wheel hub ( 5 . 6 - 3 ), a left forward supporting leg ( 5 . 6 - 4 ), and a left forward paw ( 5 . 6 - 5 ), all of which are hinged to each other;   the right-forward walking leg ( 5 . 5 ) includes the right-forward-leg hinge ( 5 . 5 - 1 ), a right-forward-leg joint ( 5 . 5 - 2 ), a right-forward-leg wheel hub ( 5 . 5 - 3 ), a right forward supporting leg ( 5 . 5 - 4 ,) and a right forward paw ( 5 . 5 - 5 ), all of which are hinged to each other;   the right forward paw ( 5 . 5 - 5 ) includes a longitudinal axis ( 5 . 5 - 5 - 1 );   the right forward paw ( 5 . 5 - 5 ) is connected to a sleeve located in a front end of the right forward supporting leg ( 5 . 5 - 4 ) through the longitudinal axis ( 5 . 5 - 5 - 1 );   the right forward paw ( 5 . 5 - 5 ) is formed by welding a M-shaped bend board ( 5 . 5 - 5 - 2 ) and three vertical boards having “M” shaped grip teeth ( 5 . 5 - 5 - 3 ) together;   a front end and a rear end of the M-shaped bend board ( 5 . 5 - 5 - 2 ) are provided with a plurality of “M” shaped grip teeth, respectively;   given a slope having a small slope angle, two front vertical boards of the three vertical boards ( 5 . 5 - 5 - 3 ) are used to grip the ground;   given a slope having a large slope angle, two rear vertical boards of the three vertical boards ( 5 . 5 - 5 - 3 ) are used to grip the ground; and   the left forward paw ( 5 . 6 - 5 ) has a similar structure as the right forward paw ( 5 . 5 - 5 ).   
     
     
         9 . The multifunctional all-terrain walking hydraulic excavator according to  claim 8 , wherein:
 the four wheels ( 5 . 1 ) are respectively connected to the left-forward-leg wheel hub ( 5 . 6 - 3 ), the right-forward-leg wheel hub ( 5 . 5 - 3 ), a left-rear-leg wheel hub ( 5 . 2 - 3 ), and a right-rear-leg wheel hub ( 5 . 4 - 3 ) through four hydraulic motors.   
     
     
         10 . The multifunctional all-terrain walking hydraulic excavator according to  claim 9 , wherein:
 the left-forward walking leg ( 5 . 6 ), the right-forward walking leg ( 5 . 5 ), the left-rear walking leg ( 5 . 2 ), and the right-rear walking leg ( 5 . 4 ) are driven by the hydraulic cylinders to swing side-to-side individually or simultaneously;   steering of the wheels ( 5 . 1 ) is driven by a wheel steering hydraulic cylinder ( 5 . 5 - 7 ); and   swing of the right-forward walking leg ( 5 . 5 ) is driven by a right-rear-walking-leg swing hydraulic cylinder ( 5 . 5 - 6 ).   
     
     
         11 . The multifunctional all-terrain walking hydraulic excavator according to  claim 10 , wherein:
 at the base ( 5 . 3 ), the left-forward-walking-leg hydraulic lifting cylinder ( 5 . 10 ), the left-rear-walking-leg hydraulic lifting cylinder ( 5 . 11 ), the right-forward-walking-leg hydraulic lifting cylinder ( 5 . 8 ), and the right-rear-walking-leg hydraulic lifting cylinder ( 5 . 7 ), driving the four walking legs upward and downward, have a crossing symmetrical arrangement of hinging seats.