Leg crawler type liftable stepping chassis for engineering machinery and method for controlling leg crawler type liftable stepping chassis

Abstract

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.

Description

technical field [0001] The invention belongs to the technical field of vehicle chassis, and in particular relates to a leg-type liftable step chassis for engineering machinery and a control method thereof. Background technique [0002] In emergency rescue, the tasks of clearing ruins and obstacles, transporting materials, and rescuing personnel all require construction machinery to complete, so construction machinery plays a pivotal role in emergency rescue. However, the chassis of today's engineering vehicles are mostly one-piece structures, which have poor maneuverability and low road passing performance. When encountering complex terrain, engineering vehicles cannot pass smoothly, which causes delays in rescue time and causes greater losses. In order to enable vehicles to pass through raised obstacles, the existing technology mainly uses adjustable suspensions, such as oil-pneumatic suspensions and air suspensions. The suspension is raised by filling oil and air to impro...

AI Technical Summary

Problems solved by technology

However, the existing single-degree-of-freedom or double-degree-of-freedom articulated structures still cannot guarantee that engineering vehicles can pass through the above-mentioned extreme road conditions, and cannot fully play their role in the rescue process.

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