A new type of walking chassis

Abstract

The present invention discloses a novel walking chassis, including a chassis body, on which a front axle drive mechanism, a chassis power device, a chassis system control unit, a plurality of independent drive motors and a plurality of wheels are arranged, and the chassis system control unit is connected to the front axle drive mechanism, the chassis power device and the independent drive motor. The novel walking chassis described in the present invention can ensure sufficient traction and has high fault tolerance. After a failure occurs, as long as there are two driving forces that can work, the vehicle can limp out of trouble. It can achieve variable steering, ensure normal driving comfort while enabling the vehicle to turn in place. Moreover, when turning in place, the steering wheels are rigidly connected, and the wheels on both sides rotate in opposite directions to achieve a U-turn in place in a manner similar to a crawler turning. This can reduce design costs and diversify machine models. It can be used on non-load-bearing vehicles to provide greater traction and good handling and passing performance, and has a better prospect of use.

Description

Technical Field

[0001] The present invention relates to the field of vehicle drive hybrid power, and belongs to a hybrid power system with wheel-side drive and variable steering mode. The present invention is applied to the vehicle technology fields such as agricultural machinery and engineering machinery, and particularly relates to a new type of walking chassis. Background Art

[0002] At present, most vehicle chassis adopt mechanical drive mode, where the engine transmits power to the gearbox to achieve the purpose of speed change and torque increase. Due to different use conditions, this also limits the fuel economy and operating comfort of the equipment. Hydraulic drive or electric direct drive can better solve the contradiction between engine working conditions and vehicle use conditions. Hydraulic drive and motor drive can provide large initial torque and facilitate the realization of stepless speed change, so they have been developed rapidly.

[0003] At present, fully hydraulically driven chassis have appeared in China, most of which use a hydraulic drive pump to drive the differential to drive the wheels. There are also wheel hub motors, but these cannot reflect the characteristics of hydraulic direct drive. At present, hydraulic components cannot achieve high-power drive at zero speed very well, and mechanical components are required to reduce the hydraulic motor at a fixed ratio. In addition, the existing mature products have a low tolerance for equipment faults. The engine drives the hydraulic pump, which drives the hydraulic motor through the hydraulic pipeline. If the main drive pump or related hydraulic components fail, it will be difficult for the vehicle to get out of trouble, which cannot meet people's needs. For this reason, we propose a new walking chassis. Summary of the invention

[0004] The main purpose of the present invention is to provide a new type of walking chassis, which can effectively solve the problems in the background technology.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A novel walking chassis comprises a chassis body, on which a front axle drive mechanism, a chassis power unit, a chassis system control unit, a plurality of groups of independent drive motors and a plurality of groups of wheels are arranged, the chassis system control unit is connected to the front axle drive mechanism, the chassis power unit and the independent drive motor, the chassis power unit is connected to the independent drive motor, and the independent drive motor is connected to the wheels.

[0007] Preferably, the front axle drive mechanism includes a fixed seat, a steering rod, a steering cylinder and a steering centering structure capable of locking the front axle when the steering is at zero angle, the steering rod is installed on the chassis body through the fixed seat, and the steering cylinder is connected to the steering rod.

[0008] Preferably, the steering centering structure adopts a nut-screw pair structure, and the steering centering structure includes a front axle drive motor, a nut, a housing, a positioning slider, a positioning pin and a detection device for detecting the movement position of the positioning slider. The housing is installed on the chassis body, and the positioning slider is movably installed on the housing. The telescopic end of the front axle drive motor is connected to the positioning slider through a nut, the lower end of the positioning slider is located directly above the steering rod, and one end of the positioning pin is located on the positioning slider.

[0009] Preferably, the detection device housing includes a No. 1 contact switch and a No. 2 contact switch, and the detection end of the No. 1 contact switch and the detection end of the No. 2 contact switch are both located on one side of the positioning slider.

[0010] Preferably, the chassis power unit is hydraulically driven by an engine hydraulic pump, and the chassis power unit includes an engine, a variable hydraulic pump, a hydraulic accumulator and an electro-hydraulic control unit. The drive shaft of the engine is connected to the variable hydraulic pump, and the pressure oil outlet of the variable hydraulic pump is connected to the hydraulic accumulator. The independent drive motor adopts a hydraulic motor and a hub planetary gear set, and the hydraulic accumulator is connected to the hydraulic motor through the electro-hydraulic control unit.

[0011] Preferably, the chassis system control unit includes a centralized control unit, a speed sensor for monitoring the wheel speed, a temperature sensor for monitoring the operating temperature of the hydraulic pump and the hydraulic motor, and an angle sensor for detecting the steering wheel rotation angle and the wheel deflection angle, and the centralized control unit is connected to the speed sensor, the angle sensor and the temperature sensor.

[0012] Preferably, the chassis power device is driven by a rechargeable battery, the independent drive motor is an electric motor, and the rechargeable battery is connected to the electric motor via a line.

[0013] Preferably, the chassis power unit uses an engine to drive a generator, the independent drive motor uses an electric motor, and the generator is connected to the electric motor through a line.

[0014] Preferably, the chassis system control unit includes a central controller, a speed sensor for monitoring wheel rotation speed, a temperature sensor for monitoring the operating temperature of the electric motor, and an angle sensor for detecting a steering wheel rotation angle and a wheel deflection angle.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The independent drive motor can independently drive the wheels to ensure sufficient traction. It has high fault tolerance. After a failure, as long as two drives can work, the vehicle can limp out of trouble. It has a wider range of applications, and the overall size will not be too bloated to affect the passing performance. In addition, under the same working conditions, it can reduce the power source cost and simplify the entire control system accordingly.

[0017] 2. The front axle drive mechanism can realize variable steering, ensure normal driving comfort while enabling the vehicle to turn in place. When turning in place, the steering wheel is rigidly connected, and the wheels on both sides rotate in opposite directions to achieve a U-turn in place in a manner similar to track turning. This special steering method will apply lateral force to the front axle and front wheel with one degree of freedom, increase and strengthen the fixed structure of the front axle and the fuselage, reduce the influence of friction on the weak points of the front axle, offset the influence of friction on the steering wheel through the steering centering mechanism, and increase the service life of the front axle drive mechanism;

[0018] 3. By setting up a variety of kinetic energy shared chassis, different driving modes can be selected according to the use conditions, which can reduce design costs and diversify the models. It can be used in non-load-bearing bodies to provide greater traction and good handling performance. The structure is mature and easier to implement. The whole device has a simple structure and is easy to operate, which increases the applicability of the entire composite plastic floor. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an overall structural diagram of a novel walking chassis of the present invention;

[0020] Figure 2 It is a partial structural diagram of a front axle driving mechanism in a novel walking chassis of the present invention;

[0021] Figure 3 It is a partial structural diagram of other angles of the front axle driving mechanism in a novel walking chassis of the present invention;

[0022] Figure 4 The present invention is a partial structural diagram of a steering centering structure in a novel walking chassis.

[0023] In the figure: 1. front axle drive mechanism; 2. chassis power unit; 3. chassis system control unit; 4. independent drive motor; 5. wheel; 6. steering rod; 7. steering cylinder; 8. front axle drive motor; 9. nut; 10. housing; 11. positioning slider; 12. positioning pin; 13. contact switch No. 1; 14. contact switch No. 2. DETAILED DESCRIPTION

[0024] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0025] Example 1

[0026] Reference Figure 1-4 As shown, a novel walking chassis includes a chassis body, on which a front axle drive mechanism 1, a chassis power unit 2, a chassis system control unit 3, a plurality of groups of independent drive motors 4 and a plurality of groups of wheels 5 are arranged, the chassis system control unit 3 is connected to the front axle drive mechanism 1, the chassis power unit 2 and the independent drive motor 4, the chassis power unit 2 is connected to the independent drive motor 4, and the independent drive motor 4 is connected to the wheels 5.

[0027] The front axle drive mechanism 1 includes a fixed seat, a steering rod 6, a steering cylinder 7 and a steering centering structure that can lock the front axle when the steering is at zero angle. The steering rod 6 is installed on the chassis body through the fixed seat, and the steering cylinder 7 is connected to the steering rod 6.

[0028] The steering centering structure adopts a nut-screw pair structure, and the steering centering structure includes a front axle drive motor 8, a nut 9, a housing 10, a positioning slider 11, a positioning pin 12 and a detection device for detecting the moving position of the positioning slider 11. The housing 10 is installed on the chassis body, and the positioning slider 11 is movably installed on the housing 10. The telescopic end of the front axle drive motor 8 is connected to the positioning slider 11 through the nut 9. The lower end of the positioning slider 11 is located directly above the steering rod 6, and one end of the positioning pin 12 is located on the positioning slider 11.

[0029] The detection device housing 10 includes a first contact switch 13 and a second contact switch 14 . The detection end of the first contact switch 13 and the detection end of the second contact switch 14 are both located at one side of the positioning slider 11 .

[0030] The chassis power unit 2 is hydraulically driven by an engine hydraulic pump. The chassis power unit 2 includes an engine, a variable hydraulic pump, a hydraulic accumulator and an electro-hydraulic control unit. The drive shaft of the engine is connected to the variable hydraulic pump, and the pressure oil outlet of the variable hydraulic pump is connected to the hydraulic accumulator. The independent drive motor 4 uses a hydraulic motor and a hub planetary gear set, and the hydraulic accumulator is connected to the hydraulic motor through the electro-hydraulic control unit.

[0031] The chassis system control unit 3 includes a centralized control unit, a speed sensor for monitoring the rotation speed of the wheel 5, a temperature sensor for monitoring the working temperature of the hydraulic pump and the hydraulic motor, and an angle sensor for detecting the steering wheel rotation angle and the deflection angle of the wheel 5. The centralized control unit is connected to the speed sensor, the angle sensor and the temperature sensor.

[0032] The engine hydraulic pump is hydraulic full-drive, and the overall kinetic energy transmission is that the engine drives the variable hydraulic pump to provide hydraulic pressure for the chassis. The hydraulic pressure enters the electro-hydraulic control unit through the accumulator and is transmitted to the hydraulic motor by the hydraulic pipeline. The kinetic energy of the hydraulic motor is then reduced by the wheel hub planetary gear set to drive the wheel 5; the engine and the variable hydraulic pump are connected through a mechanical transmission shaft, and the pressure oil outlet of the variable hydraulic pump is connected in parallel with the hydraulic accumulator, and is output to the hydraulic motor after being centrally controlled by the electro-hydraulic control unit. The hydraulic accumulator is used to buffer the pressure fluctuation of the entire system, extend the service life of the variable hydraulic pump, and can recover braking energy or provide energy source for other drive modules such as power output. The centralized control unit is conducive to the pipeline design and optimization of the entire chassis, and is also convenient for fault inspection and maintenance. The chassis monitors the working temperature of the hydraulic pump and hydraulic motor through a temperature sensor, the speed sensor is used to monitor the speed of the wheel 5, and the angle sensor is used to detect the steering wheel rotation angle and the deflection angle of the steering wheel. When driving at normal high speed, the rear wheel is the driving wheel and the front wheel is used for steering, or a mechanism can be added to disconnect the front wheel hydraulic motor from the front wheel hub planetary gear reduction mechanism to reduce unnecessary wear and energy waste. When four-wheel drive or high load is required, the sensor collects data, and the control system processes the data to control the speed of the hydraulic motor in real time. When a small radius turn is required, the front axle steering is locked at zero angle through the steering centering mechanism, and the control mechanism controls the wheels 5 on the same side of the chassis to rotate in the same direction and the wheels 5 on both sides to rotate in the opposite direction, turning in a crawler steering manner.

[0033] Example 2

[0034] Reference Figure 1-4 As shown, a novel walking chassis includes a chassis body, on which a front axle drive mechanism 1, a chassis power unit 2, a chassis system control unit 3, a plurality of groups of independent drive motors 4 and a plurality of groups of wheels 5 are arranged, the chassis system control unit 3 is connected to the front axle drive mechanism 1, the chassis power unit 2 and the independent drive motor 4, the chassis power unit 2 is connected to the independent drive motor 4, and the independent drive motor 4 is connected to the wheels 5.

[0035] The front axle drive mechanism 1 includes a fixed seat, a steering rod 6, a steering cylinder 7 and a steering centering structure that can lock the front axle when the steering is at zero angle. The steering rod 6 is installed on the chassis body through the fixed seat, and the steering cylinder 7 is connected to the steering rod 6.

[0036] The steering centering structure adopts a nut-screw pair structure, and the steering centering structure includes a front axle drive motor 8, a nut 9, a housing 10, a positioning slider 11, a positioning pin 12 and a detection device for detecting the moving position of the positioning slider 11. The housing 10 is installed on the chassis body, and the positioning slider 11 is movably installed on the housing 10. The telescopic end of the front axle drive motor 8 is connected to the positioning slider 11 through the nut 9. The lower end of the positioning slider 11 is located directly above the steering rod 6, and one end of the positioning pin 12 is located on the positioning slider 11.

[0037] The detection device housing 10 includes a first contact switch 13 and a second contact switch 14 . The detection end of the first contact switch 13 and the detection end of the second contact switch 14 are both located at one side of the positioning slider 11 .

[0038] The chassis power unit 2 is hydraulically driven by an engine hydraulic pump. The chassis power unit 2 includes an engine, a variable hydraulic pump, a hydraulic accumulator and an electro-hydraulic control unit. The drive shaft of the engine is connected to the variable hydraulic pump, and the pressure oil outlet of the variable hydraulic pump is connected to the hydraulic accumulator. The independent drive motor 4 uses a hydraulic motor and a hub planetary gear set, and the hydraulic accumulator is connected to the hydraulic motor through the electro-hydraulic control unit.

[0039] The chassis system control unit 3 includes a centralized control unit, a speed sensor for monitoring the rotation speed of the wheel 5, a temperature sensor for monitoring the working temperature of the hydraulic pump and the hydraulic motor, and an angle sensor for detecting the steering wheel rotation angle and the deflection angle of the wheel 5. The centralized control unit is connected to the speed sensor, the angle sensor and the temperature sensor.

[0040] The chassis power device 2 is driven by a rechargeable battery, the independent drive motor 4 is an electric motor, and the rechargeable battery is connected to the electric motor through a line.

[0041] The chassis system control unit 3 includes a central controller, a speed sensor for monitoring the rotation speed of the wheel 5 , a temperature sensor for monitoring the working temperature of the electric motor, and an angle sensor for detecting the steering wheel rotation angle and the wheel 5 deflection angle.

[0042] Example 3

[0043] Reference Figure 1-4 As shown, a novel walking chassis includes a chassis body, on which a front axle drive mechanism 1, a chassis power unit 2, a chassis system control unit 3, a plurality of groups of independent drive motors 4 and a plurality of groups of wheels 5 are arranged, the chassis system control unit 3 is connected to the front axle drive mechanism 1, the chassis power unit 2 and the independent drive motor 4, the chassis power unit 2 is connected to the independent drive motor 4, and the independent drive motor 4 is connected to the wheels 5.

[0044] The front axle drive mechanism 1 includes a fixed seat, a steering rod 6, a steering cylinder 7 and a steering centering structure that can lock the front axle when the steering is at zero angle. The steering rod 6 is installed on the chassis body through the fixed seat, and the steering cylinder 7 is connected to the steering rod 6.

[0045] The steering centering structure adopts a nut-screw pair structure, and the steering centering structure includes a front axle drive motor 8, a nut 9, a housing 10, a positioning slider 11, a positioning pin 12 and a detection device for detecting the moving position of the positioning slider 11. The housing 10 is installed on the chassis body, and the positioning slider 11 is movably installed on the housing 10. The telescopic end of the front axle drive motor 8 is connected to the positioning slider 11 through the nut 9. The lower end of the positioning slider 11 is located directly above the steering rod 6, and one end of the positioning pin 12 is located on the positioning slider 11.

[0046] The steering centering fixing mechanism ensures the reliability of the chassis turning in place, and the steering wheel is centrally positioned by the movement of the positioning slider 11 and the cooperation with the limiting boss on the steering rod 6.

[0047] The detection device housing 10 includes a first contact switch 13 and a second contact switch 14 . The detection end of the first contact switch 13 and the detection end of the second contact switch 14 are both located at one side of the positioning slider 11 .

[0048] The chassis front wheel angle sensor signal is determined in the control system. The positioning block on the chassis can combine with the limiting boss on the steering rod 6 only when the angle is within a certain range. The two limiting bosses on the steering rod 6 are cylindrical and located at the center line of the front axle. When the front axle rotates due to terrain restrictions, it will not affect the reliability of the structure.

[0049] The nut-screw pair design is adopted in the steering centering positioning mechanism of the chassis. The nut-screw has a self-locking characteristic and the overall structural design is simple, safe and reliable.

[0050] Start the small-angle steering. After the system detects that the wheel 5 is at zero angle, the front axle drive motor 8 drives the nut 9 to rotate, and the positioning pin 12 limits the rotation of the positioning slider 11. The housing 10 is fixed on the chassis body, and the positioning slider 11 moves up and down under the rotation of the nut 9. The No. 1 contact switch 13 and the No. 2 contact switch 14 are used to detect the movement position of the positioning slider 11. The No. 1 contact switch 13 and the No. 2 contact switch 14 are the positions where the positioning slider 11 and the upper limit boss of the steering rod 6 are combined. When the No. 2 contact switch 14 has a signal change, the independent drive motor 4 stops rotating. The entire steering mechanism is fixed after the steering rod 6 is limited. After completing the small-angle turn, the front axle drive motor 8 rotates in the opposite direction, and the drive nut 9 rotates to make the positioning slider 11 move upward. The positioning slider 11 and the limit boss on the steering rod 6 are separated. After the signal of the No. 1 contact switch 13 changes, the front axle drive motor 8 stops rotating, and the steering centering fixation process ends;

[0051] The chassis power unit 2 is hydraulically driven by an engine hydraulic pump. The chassis power unit 2 includes an engine, a variable hydraulic pump, a hydraulic accumulator and an electro-hydraulic control unit. The drive shaft of the engine is connected to the variable hydraulic pump, and the pressure oil outlet of the variable hydraulic pump is connected to the hydraulic accumulator. The independent drive motor 4 uses a hydraulic motor and a hub planetary gear set, and the hydraulic accumulator is connected to the hydraulic motor through the electro-hydraulic control unit.

[0052] The chassis system control unit 3 includes a centralized control unit, a speed sensor for monitoring the rotation speed of the wheel 5, a temperature sensor for monitoring the working temperature of the hydraulic pump and the hydraulic motor, and an angle sensor for detecting the steering wheel rotation angle and the deflection angle of the wheel 5. The centralized control unit is connected to the speed sensor, the angle sensor and the temperature sensor.

[0053] The chassis power device 2 uses an engine to drive a generator, and the independent drive motor 4 uses an electric motor. The generator is connected to the electric motor through a line.

[0054] The chassis system control unit 3 includes a central controller, a speed sensor for monitoring the rotation speed of the wheel 5 , a temperature sensor for monitoring the working temperature of the electric motor, and an angle sensor for detecting the steering wheel rotation angle and the wheel 5 deflection angle.

[0055] In the method of using electric energy as the power source, the power source can be a rechargeable battery or an engine-driven generator. Compared with the hydraulic drive system, the electric energy drive structure is simple and does not require too many auxiliary equipment. The electric energy of the generator or battery controls the electric motor through the central controller, and the electric motor drives the wheel 5 to rotate through the hub planetary gear reduction mechanism. The power source of the steering mechanism is the steering motor, and the steering feedback force can also be simulated through the control program. The driving state of the chassis is collected and processed in real time through the speed sensor of the wheel 5, the temperature sensor of the electric motor, and the angle sensor of the steering wheel and the steering wheel 5, and the electric motor is controlled in time with a voltage signal or a frequency signal. When walking at normal high speed, the rear wheel is the driving wheel and the front wheel is used for steering. When four-wheel drive or high load conditions are required, data is collected through the sensor, and the control system controls the speed of the electric motor in real time. When turning with a small radius, the front axle steering is locked by the steering centering mechanism when it is at zero angle, and the control mechanism controls the same side wheel 5 of the chassis to rotate in the same direction and the two sides of the wheel 5 to rotate in the opposite direction, turning in a crawler steering manner. Compared with hydraulic chassis, electric-driven chassis are simpler, with simpler control methods, clean and efficient, but the operating system is complex and some electronic components are more expensive.

[0056] It should be noted that the present invention is a new type of walking chassis, which relates to a four-wheel independently driven hybrid power system, whose driving element can be a hydraulic motor or an electric motor, and is driven by a high-speed motor with reliable performance. The wheel hub adopts a mature planetary gear reduction technology, and adopts a front and rear axle solution. The front axle steering becomes an auxiliary drive and the rear axle is used as the main drive unit. It can be used in a non-load-bearing body to provide greater traction and good handling and passing performance, and the structure is mature and easier to implement.

[0057] The focus is on the steering system. The four-wheel independent drive can control the rotation state of each wheel 5 individually. When the wheels 5 on the same side rotate in opposite directions on the same two sides, the vehicle can be turned on the spot. When a smaller turning radius is not required during normal operation, the front wheels are swung to steer, thereby improving the chassis passability.

[0058] The front axle of the vehicle is specially designed to strengthen the steering control of the wheel 5. For the full-hydraulic control scheme, a relatively mature scheme can be used. The engine directly drives the variable hydraulic pump, and the oil outlet is connected to the accumulator through the hydraulic control unit and connected to four or more hydraulic motors. In order, they are the front axle steering cylinder 7, the front axle centering hydraulic cylinder, the wheel side hydraulic motor, and the hydraulic control unit.

[0059] For the electronic control solution, the engine can be used to drive the generator to provide electrical energy, or the battery can be used as a kinetic energy solution. Compared with hydraulic control, electronic control does not require too many auxiliary equipment, and it is easy to operate and easier to monitor the movement status of all vehicle components, which can facilitate automatic driving. The wheel side power is a dedicated electric motor, and the steering power can also be powered by a dedicated motor. If a hydraulic output control unit is required, a hydraulic component can be added to the engine end to provide a hydraulic source;

[0060] By setting up an independent drive motor 4 and an independent drive wheel 5, sufficient traction can be guaranteed; it has high fault tolerance, and the vehicle can limp out of trouble as long as two drives are able to work after a failure. The scope of application is wider, and the overall size will not be too bloated to affect the passing performance. Moreover, under the same working conditions, the power source cost can be reduced and the entire control system will be simplified accordingly; limp out means that when the vehicle suddenly fails and cannot continue to work, one or two drive motors are used in a targeted manner according to the existing problem, so that the vehicle can travel at a low speed to the maintenance site.

[0061] The front axle drive mechanism 1 is provided to realize variable steering, ensure normal driving comfort while enabling the vehicle to turn in place, and the steering wheel is rigidly connected when turning in place, and the wheels 5 on both sides rotate in opposite directions to realize turning in place in a manner similar to track turning. This special steering method will apply lateral force to the front axle and front wheel with one degree of freedom, increase and strengthen the fixed structure of the front axle and the fuselage, reduce the influence of friction on the weak part of the front axle, and offset the influence of friction on the steering wheel 5 through the steering centering mechanism to increase the service life of the front axle drive mechanism 1;

[0062] By setting up a variety of kinetic energy shared chassis, different driving modes can be selected according to the use conditions, which can reduce design costs and diversify machine models. It can be used on non-load-bearing bodies to provide greater traction and good handling and passing performance, and the structure is mature and easier to implement. The entire device has a simple structure and is easy to operate, which increases the applicability of the entire composite plastic floor.

[0063] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A new type of walking chassis, characterized in that: The invention comprises a chassis body, on which a front axle drive mechanism (1), a chassis power device (2), a chassis system control unit (3), a plurality of groups of independent drive motors (4) and a plurality of groups of wheels (5) are arranged, the chassis system control unit (3) is connected to the front axle drive mechanism (1), the chassis power device (2) and the independent drive motor (4), the chassis power device (2) is connected to the independent drive motor (4), and the independent drive motor (4) is connected to the wheels (5); The front axle drive mechanism (1) comprises a fixing seat, a steering tie rod (6), a steering oil cylinder (7) and a steering centering structure capable of locking the front axle when the steering is at a zero angle, the steering tie rod (6) being mounted on the chassis body via the fixing seat, and the steering oil cylinder (7) being connected to the steering tie rod (6); The steering centering structure adopts a nut-screw pair structure, and comprises a front axle drive motor (8), a nut (9), a housing (10), a positioning slider (11), a positioning pin (12) and a detection device for detecting the movement position of the positioning slider (11); the housing (10) is mounted on a chassis body, the positioning slider (11) is movably mounted on the housing (10), the telescopic end of the front axle drive motor (8) is connected to the positioning slider (11) via a nut (9), the lower end of the positioning slider (11) is located directly above the steering tie rod (6), and one end of the positioning pin (12) is located on the positioning slider (11).

2. A novel walking chassis according to claim 1, characterized in that: The detection device housing (10) comprises a first contact switch (13) and a second contact switch (14), wherein the detection end of the first contact switch (13) and the detection end of the second contact switch (14) are both located on one side of the positioning slide block (11).

3. A novel walking chassis according to claim 2, characterized in that: The chassis power unit (2) is hydraulically driven by an engine hydraulic pump. The chassis power unit (2) comprises an engine, a variable hydraulic pump, a hydraulic accumulator and an electro-hydraulic control unit. The transmission shaft of the engine is connected to the variable hydraulic pump. The pressure oil outlet of the variable hydraulic pump is connected to the hydraulic accumulator. The independent drive motor (4) adopts a hydraulic motor and a wheel hub planetary gear set. The hydraulic accumulator is connected to the hydraulic motor through the electro-hydraulic control unit.

4. A novel walking chassis according to claim 3, characterized in that: The chassis system control unit (3) comprises a centralized control unit, a speed sensor for monitoring the rotation speed of the wheel (5), a temperature sensor for monitoring the working temperature of the hydraulic pump and the hydraulic motor, and an angle sensor for detecting the steering wheel rotation angle and the wheel (5) deflection angle, and the centralized control unit is connected to the speed sensor, the angle sensor and the temperature sensor.

5. The novel walking chassis according to claim 2 is characterized in that: The chassis power device (2) is driven by a rechargeable battery, the independent drive motor (4) is an electric motor, and the rechargeable battery is connected to the electric motor via a line.

6. A novel walking chassis according to claim 2, characterized in that: The chassis power device (2) uses an engine to drive a generator, the independent drive motor (4) uses an electric motor, and the generator is connected to the electric motor via a line.

7. A novel walking chassis according to any one of claims 5 or 6, characterized in that: The chassis system control unit (3) comprises a central controller, a speed sensor for monitoring the rotation speed of the wheel (5), a temperature sensor for monitoring the working temperature of the electric motor, and an angle sensor for detecting the steering wheel rotation angle and the wheel (5) deflection angle.

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