Double-leg single-support hydraulic walking equipment and walking vehicle

Abstract

The invention relates to a hydraulic walking device with two legs and a single bearing, which comprises a flexible bearing body, a left leg mechanism and a right leg mechanism arranged on a lower end of the flexible bearing body, and a hydraulic mechanism controlling the walking of each leg. The invention also relates to a hydraulic walking vehicle, the hydraulic walking mechanism of which comprises at least two hydraulic walking devices with two legs and a single bearing, wherein, each hydraulic walking dev ice with two legs and a single bearing is connected with a bodywork through a shell of the flexible bearing body and an upper end of a stepping pushing cylinder; the hydraulic walking vehicle has stable gravity and balanced stress distribution and does not generate gravity vibration owing to bearing change. The invention gets rid of a mechanism with four rods or seven rods of a conventional mechanism, applies modern hydraulic driving technique and realizes fast respond with high frequency, so the invention is suitable for manufacturing portable walking device of playing type and flexible walking device for fighting fire in forests, rescuing floods disasters and rescuing in snowstorm; particularly, the invention is suitable for designing and manufacturing huge transportation vehicle with heavy load.

Description

technical field [0001] The invention relates to vehicles, in particular to a double-leg single-support hydraulic walking device, and a hydraulic walking vehicle using the walking device. technical background [0002] Human beings have always dreamed of owning a walking vehicle that can be driven on various grounds. It has been more than 100 years since the patent of the mechanical horse in 1893, and people have been making unremitting efforts. [0003] The Ohio State University in the United States has created a hexapod walking vehicle. The patented technology is that three legs are arranged on both sides of the body. The basic pace is that the front and rear legs on the left and the middle leg on the right move synchronously, and the front and rear legs on the right move synchronously. The first leg and the left middle leg move synchronously. During the movement, the weight of the car body is shared and supported by the three legs of any one of these two groups of legs. For...

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Problems solved by technology

[0005] 2. When the load is heavy, it is necessary to install an elastic body at the support point of each group of three legs to reduce vibration. But the problem is that when the first group of three legs is supported on the ground, due to the weight of the car body, The elastic body is compressed at full load, and the car body drops a lot. When the set of legs is in the process of landing load-unloading legs-landing load, the elastic body is compressed---elastic body recovers---elasticity The body is compressed, and the car body is lowered to the lowest position --- raised to the highest position of the car body --- the car body is lowered to the lowest position. This periodic complete unloading of the elastic body---full load-complete unloading , the walking of the legs produces vibrations

[0007] my country's patent (application number 95100751.3) proposes a hydraulic walker with 4 legs as a group and two groups of 8 legs moving alternately. One group (4) legs are installed on a rectangular outer frame, and the other group (4 legs ) is mounted on a rectangular inner frame. This structure is still a single-leg independent structure, which still retains the above-mentioned shortcomings of a 6-legged walking vehicle, and is not suitable for commercial vehicles

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