The invention provides leg crawler type liftable stepping
chassis for
engineering machinery and a method for controlling the leg crawler type liftable stepping
chassis. The leg crawler type liftable stepping
chassis comprises a front vehicle, a hinge steering device with double
degrees of freedom and a rear vehicle. The front vehicle, the hinge steering device with the double
degrees of freedom and the rear vehicle are sequentially hinged to one another to form the leg crawler type liftable stepping chassis; the front vehicle is hinged to the hinge steering device with the double
degrees of freedom in a transverse swinging manner, and the hinge steering device with the double degrees of freedom is hinged to the rear vehicle in a lateral turnover manner; front chassis and two
leg type expansion shock-proof devices are hinged to one another to form the front vehicle; rear chassis and two
leg type expansion shock-proof devices are hinged to one another to form the rear vehicles; a crawlerwheel is hinged to the bottom of each
leg type expansion shock-proof device, the various leg type expansion shock-proof devices can be independently expanded and contracted, so that the leg crawler type liftable stepping chassis can carry out lifting and
obstacle crossing actions. The method includes processes for controlling the leg crawler type liftable stepping chassis during lifting; controlling the leg crawler type liftable stepping chassis during crossing; controlling the leg crawler type liftable stepping chassis on road surfaces with high
height difference. The leg
caterpillar type liftable stepping chassis and the method have the
advantage that
engineering vehicles can smoothly cross roads under extreme road conditions including severe water
logging, huge obstacles, ditches and the road surfaces with the high
height difference.