Wheel-foot hybrid orchard hauler and method

Abstract

The present application relates to a kind of wheel-foot combined orchard transporters and methods, wheel-foot combined orchard transporters include load platform, transporter chassis, wheel leg, foot leg and control system;Load platform is fixedly connected in the upper end surface of transporter chassis;Three wheel legs and three foot legs are installed in the lower end surface of transporter chassis;The wheel leg includes wheel leg long-stroke electric push rod, drive wheel mounting disc and drive wheel;The foot leg includes foot leg long-stroke electric push rod, electric foot fixing disc and electric foot;The electric foot includes short-stroke electric push rod and foot pad.The wheel leg and foot leg of the present application are all composed of electric push rod, so as to realize the lifting, steering and obstacle crossing walking action of load platform through wheel-foot alternation;The length variation law of electric push rod obtained by simulation before operation is simulated, steering, load platform lifting, wheel-foot alternation walking control is realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of agricultural automation, and in particular, relates to a wheel-foot combined orchard transporter and method. BACKGROUND

[0002] As the main machine for transporting orchard crops, orchard transporters are mainly divided into three types: wheeled transporters, tracked transporters and rail transporters. Among them, wheeled transporters and tracked transporters are more widely used. However, most of the orchards in China are located in mountainous and hilly areas, where the terrain is complex and rugged, with crisscrossing ravines and irregular tree branches. The above problems not only make it extremely difficult for traditional orchard transporters with fixed chassis height to work in such areas, but also greatly increase the labor intensity of farmers.

[0003] In northern China, farmers mainly use wheeled and tracked transport machines to transport fruits; in southern China, tracked transport machines are also widely used. The spacing between fruit trees in many orchards in China is very narrow, and the tree branches are crisscrossing, and the terrain in some orchards is relatively complex, making it difficult for wheeled and tracked transport machines to enter smoothly. At the same time, the chassis of some wheeled and tracked transport machines is either too high or too low, making it difficult to move flexibly in old-style dense orchards. For example, Chinese invention patent application (application number 201910646749.6) "A mountain orchard transporter and its self-balancing load platform" solves the problem of leveling during transportation of tracked transport machines by adjusting the extension length of the balance electric cylinder, but this tracked transport machine still has the problems of low chassis and difficulty in adjusting the height of the chassis, making it difficult to achieve a large range of obstacle crossing function. For example, Chinese utility model patent application (application number 201621451998.8) "A walking device applied to a mountain orchard transporter" is a rail transporter, which can adapt well to mountainous terrain, but due to the influence of natural disasters and market prices, farmers are reluctant to buy high-cost rail transport machines. In addition, rail transport machines also have the problem of insufficient reliability. SUMMARY

[0004] In view of the problems that traditional orchard transporters are not easy to work in complex terrain orchards, the height of the chassis is not easy to adjust, and the obstacle crossing ability needs to be improved, the purpose of the present application is to provide a wheel-foot combined orchard transporter and method, the wheel legs and foot legs are composed of electric push rods, so as to realize the lifting, steering and obstacle crossing walking actions of the load platform through the alternation of wheels and feet; the controller realizes the steering, load platform lifting and wheel-foot alternation walking control through the length change law of the electric push rod obtained by simulation before operation.

[0005] In order to achieve the above purpose, the present application provides the following technical solutions:

[0006] A wheel-leg combined orchard transport machine comprises a load platform 1, a transport machine chassis 2, wheel legs 3, leg legs 5 and a control system.

[0007] The load platform 1 is fixed to the upper end surface of the transport machine chassis 2; three wheel legs 3 and three leg legs 5 are installed on the lower end surface of the transport machine chassis 2.

[0008] The wheel leg 3 comprises a wheel leg long-stroke electric push rod 6, a drive wheel mounting disc 10 and a drive wheel 7.

[0009] The telescopic rod end of the six wheel leg long-stroke electric push rods 6 is fixed to the upper end surface of the drive wheel mounting disc 10 through the cross shaft universal joint 8 and the flange plate 9, and the cylinder end is fixed to the lower end surface of the transport machine chassis 2 through the cross shaft universal joint 8 and the flange plate 9.

[0010] The drive wheel 7 is installed on the lower end surface of the drive wheel mounting disc 10; the direction of each drive wheel 7 is adjusted by changing the length of the wheel leg long-stroke electric push rod 6 of each wheel leg 3.

[0011] The leg leg 5 comprises a leg leg long-stroke electric push rod 4, an electric leg fixing disc 14 and an electric leg 11; the electric leg 11 comprises a short-stroke electric push rod 15 and a leg pad 16; the telescopic rod end of the short-stroke electric push rod 15 is fixed to the leg pad 16 through the flange plate 9; the cylinder end of the short-stroke electric push rod 15 is fixed to the lower end surface of the electric leg fixing disc 14; the telescopic rod end of the two leg leg long-stroke electric push rods 4 is fixed to the upper end surface of the electric leg fixing disc 14 through the cross shaft universal joint 8 and the flange plate 9, and the cylinder end is fixed to the lower end surface of the transport machine chassis 2 through the cross shaft universal joint 8 and the flange plate 9.

[0012] A leg leg connecting center frame 12 is arranged below the transport machine chassis 2, and the leg leg connecting center frame 12 is fixed to the electric leg fixing disc 14 of each of the three leg legs 5 through three leg leg connecting rods 13.

[0013] The control system comprises a remote controller and a controller, the remote controller sends control signals to the controller through the infrared signal receiving port of the controller; the controller controls the drive wheel 7, the wheel leg long-stroke electric push rod 6, the leg leg long-stroke electric push rod 4 and the short-stroke electric push rod 15 through the output port respectively.

[0014] The edge of the load platform 1 is fixed with a fence.

[0015] The two leg leg long-stroke electric push rods 4 of each leg leg 5 form a first equilateral triangle with the straight line where the two mounting points of the transport machine chassis 2 are located as the center, and the two mounting points of each leg leg 5 on the transport machine chassis 2 are symmetrical about the symmetry axis perpendicular to the side of the first equilateral triangle where the two mounting points are located.

[0016] The six long stroke electric push rods 6 of each wheel leg 3 are divided into three groups, i.e., a first push rod group, a second push rod group and a third push rod group; the three first push rod groups of the three wheel legs 3 together form a second equilateral triangle with the shape center of the transporter chassis 2 as the center, and the first push rod group of the wheel leg 3 is symmetrical about the symmetry axis perpendicular to the side of the second equilateral triangle in which the two mounting points of the first push rod group are located, and the second push rod group and the third push rod group are also symmetrical about the symmetry axis perpendicular to the side of the second equilateral triangle in which the two mounting points of the first push rod group are located, and the straight line in which the two mounting points of the second push rod group on the transporter chassis 2 and the straight line in which the two mounting points of the third push rod group on the transporter chassis 2 are both perpendicular to the straight line in which the two mounting points of the first push rod group on the transporter chassis 2 are located.

[0017] The side length of the second equilateral triangle is greater than the side length of the first equilateral triangle.

[0018] In the initial state, the shape center of the foot leg connecting center frame 12 is coaxial with the shape center of the transporter chassis 2.

[0019] A fruit orchard transportation method using the wheel-foot combined fruit orchard transporter, comprising wheel running, steering, load platform lifting, and wheel-foot alternate walking steps.

[0020] S0, setting the initial state of the wheel-foot combined fruit orchard transporter: the load platform 1 is kept horizontal; the three drive wheels 7 rotate in the same direction; the lengths of the three wheel legs 3 are between the maximum length and the minimum length of the wheel legs, i.e., each long stroke electric push rod 6 of the wheel leg 3 has a certain amount of expansion and contraction; the three foot legs 5 are in the minimum length of the foot legs, i.e., the long stroke electric push rod 4 and the short stroke electric push rod 15 of the foot leg 5 are both in the fully retracted state, and the shape center of the foot leg connecting center frame 12 is coaxial with the shape center of the transporter chassis 2;

[0021] S1, wheel running:

[0022] The controller controls the rotation of the three drive wheels 7 by sending control signals from the remote controller to control the rotation of the three drive wheels 7, so as to realize fast walking on a flat road surface;

[0023] S2, steering:

[0024] The lengths of the long stroke electric push rods 6 on the three wheel legs 3 are adjusted by sending control signals from the remote controller to the controller, so that the drive wheels 7 rotate in place to make the three drive wheels 7 simultaneously tangent to a circle; then the three drive wheels 7 are controlled to rotate in the same clockwise direction, and after reaching the target direction, the wheel-foot combined fruit orchard transporter returns to the initial state;

[0025] S3, load platform lifting:

[0026] The controller is sent control signals by the remote controller to adjust the length of each long-stroke electric push rod 6 on the three wheel legs 3, so that the length of the three wheel legs 3 changes synchronously, keeping the load platform 1 horizontal;

[0027] S4, the wheel foot alternately walks:

[0028] The controller is sent control signals by the remote controller to adjust the length of each long-stroke electric push rod 4 on the three foot legs 5, so that the foot leg connecting center frame 12 is horizontally offset to the forward direction and lowered to the limit position; then, the short-stroke electric push rod 15 of the three electric feet 11 is extended to the maximum length, so that the three foot pads 16 are vertically contacted with the ground and the load platform 1 is raised, so that the drive wheels 7 of the three wheel legs 3 are away from the ground; the length of each long-stroke electric push rod 4 on the three foot legs 5 is adjusted again, so that the foot leg connecting center frame 12 is kept at a horizontal height and returned to the shape center coaxial with the shape center of the transporter chassis 2, and then the length of each long-stroke electric push rod 4 on the three foot legs 5 is adjusted to restore the initial state of the foot leg connecting center frame 12, while the short-stroke electric push rod 15 of the three electric feet 11 is retracted to the minimum length, so that the drive wheels 7 of the three wheel legs 3 are contacted with the ground; such a cycle is repeated to realize the wheel-foot alternately walking on the irregular road surface.

[0029] The controller realizes the steering, load platform lifting and wheel-foot alternately walking control by the length change law of the long-stroke electric push rod 6, the long-stroke electric push rod 4 and the short-stroke electric push rod 15 obtained through pre-operation simulation.

[0030] Compared with the prior art, the present application has the following advantages:

[0031] (1) The controller and the electric push rod model of the orchard transporter can be selected independently according to the actual situation, which is convenient, flexible and reliable in operation.

[0032] (2) The control system includes the length change law of the electric push rod of the orchard transporter in various motion processes obtained through motion simulation, and the orchard transporter can reliably perform the required action according to the instructions of the remote controller.

[0033] (3) The load platform of the orchard transporter remains horizontal during the process of the transporter crossing obstacles or turning, ensuring the safety of the goods.

[0034] (4) The length change speed of the electric push rod is closed-loop adjusted, ensuring the reliability and scientificity of the length change of the electric push rod, so that the action performed by the orchard transporter is more reasonable and accurate.

[0035] (5) All the actuators of the orchard transporter are electrically driven, which is energy-saving and environmentally friendly.

[0036] (6) The height and overall size of the load platform of the orchard transport machine can be changed in real time according to the working environment, so as to ensure the passability and environmental adaptability of the orchard transport machine.

[0037] (7) The orchard transport machine adopts a wheel-foot combined walking mode, can realize fast walking by wheels on flat roads, and can realize obstacle crossing and walking by alternately using wheels and feet on irregular roads, so as to ensure the transport efficiency and passability.

[0038] (8) The load platform with a fence of the orchard transport machine ensures that the fruits will not fall due to bumping during the fruit transportation process by welding the fence on the tray. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a structural schematic view of the wheel-foot combined orchard transport machine of the present application;

[0040] Figure 2 It is a structural schematic view of the wheel leg 3 of the present application;

[0041] Figure 3 It is a structural schematic view of the foot leg 5 of the present application;

[0042] Figure 4 It is a structural schematic view of the electric foot 11 of the present application;

[0043] Figure 5 It is a structural schematic view of the foot leg connecting center frame 12 and the foot leg connecting rod 13 of the present application;

[0044] Figure 6 It is a structural schematic view of the lower end surface of the transport machine chassis 2 of the present application;

[0045] Figure 7 It is a system composition schematic view of the control system of the present application.

[0046] The reference signs in the drawings are as follows:

[0047] 1 Load platform 2 Transport machine chassis

[0048] 3 Wheel leg 4 Foot leg long-stroke electric push rod

[0049] 5 Foot leg 6 Wheel leg long-stroke electric push rod

[0050] 7 Driving wheel 8 Cross shaft universal joint

[0051] 9 Flange plate 10 Driving wheel mounting plate

[0052] 11 Electric foot 12 Foot leg connecting center frame

[0053] 13 Foot leg connecting rod 14 Electric foot fixing plate

[0054] 15 Short-stroke electric actuator 16 Foot pads Detailed Implementation

[0055] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0056] like Figure 1 As shown, a wheel-leg orchard transporter of the present invention includes a loading platform 1, a transporter chassis 2, wheel legs 3, foot legs 5, and a control system. The loading platform 1 is fixed to the upper end face of the transporter chassis 2; the three wheel legs 3 and the three foot legs 5 are installed on the lower end face of the transporter chassis 2.

[0057] Preferably, the edge of the loading platform 1 is fixed with a fence, which can effectively ensure that the fruit does not fall off due to bumps during the transportation of fruit by the orchard transporter.

[0058] like Figure 2 As shown, the wheel leg 3 includes a long-stroke electric actuator 6, a drive wheel mounting plate 10, and a drive wheel 7.

[0059] The telescopic rod ends of the six long-stroke electric actuators 6 are all fixed to the upper end face of the drive wheel mounting plate 10 through the cross shaft universal joint 8 and the flange 9, and the cylinder ends are all fixed to the lower end face of the transport chassis 2 through the cross shaft universal joint 8 and the flange 9.

[0060] The drive wheel 7 is mounted on the lower end surface of the drive wheel mounting disc 10. The direction of each drive wheel 7 is adjusted by changing the length of the long-stroke electric actuator 6 of each wheel leg 3.

[0061] like Figure 3 As shown, the foot / leg 5 includes a long-stroke electric actuator 4, an electric foot fixing plate 14, and an electric foot 11. (As indicated...) Figure 4 As shown, the electric foot 11 includes a short-stroke electric actuator 15 and a foot pad 16. The telescopic rod end of the short-stroke electric actuator 15 is fixed to the foot pad 16 via a flange 9; the cylinder end of the short-stroke electric actuator 15 is fixed to the lower end face of the electric foot fixing plate 14; the telescopic rod ends of the two long-stroke electric actuators 4 are symmetrically fixed to the upper end face of the electric foot fixing plate 14 via a universal joint 8 and a flange 9, and the cylinder ends are fixed to the lower end face of the transport chassis 2 via a universal joint 8 and a flange 9.

[0062] like Figure 5 As shown, a leg connection center frame 12 is provided below the transport aircraft chassis 2. The leg connection center frame 12 is fixedly connected to the electric leg fixing plate 14 of the three legs 5 through three leg connecting rods 13. In the initial state, the shape center of the leg connection center frame 12 is coaxial with the shape center of the transport aircraft chassis 2.

[0063] like Figure 6As shown, the two foot leg long stroke electric push rods 4 of each foot leg 5 together form a first equilateral triangle with the shape center of the transporter chassis 2 as the center of the triangle, and the two mounting points of the foot leg long stroke electric push rods 4 of each foot leg 5 are symmetric about the symmetry axis perpendicular to the side of the first equilateral triangle where the two mounting points are located.

[0064] The six wheel leg long stroke electric push rods 6 of each wheel leg 3 are divided into three groups, i.e., a first push rod group, a second push rod group and a third push rod group; the three first push rod groups of the three wheel legs 3 together form a second equilateral triangle with the shape center of the transporter chassis 2 as the center of the triangle, and the two mounting points of the first push rod group of the wheel leg 3 are symmetric about the symmetry axis perpendicular to the side of the second equilateral triangle where the two mounting points of the first push rod group are located, the second push rod group and the third push rod group are also symmetric about the symmetry axis perpendicular to the side of the second equilateral triangle where the two mounting points of the first push rod group are located, and the straight line where the two mounting points of the second push rod group are located and the straight line where the two mounting points of the third push rod group are located are both perpendicular to the straight line where the two mounting points of the first push rod group are located.

[0065] The side length of the second equilateral triangle is greater than the side length of the first equilateral triangle.

[0066] The control of the extension of the wheel legs, the rotation of the wheel legs, the extension of the foot legs and the alternate walking of the wheel legs and the foot legs of the orchard transporter of the present application ultimately depends on the control of the length change of the electric push rods.

[0067] As shown in the accompanying drawings, Figure 7 The control system comprises a remote controller and a controller, the remote controller sends control signals to the controller through the infrared signal receiving port of the controller, and the controller controls the driving wheels 7, the wheel leg long stroke electric push rods 6, the foot leg long stroke electric push rods 4 and the short stroke electric push rods 15 through the output ports respectively.

[0068] The orchard transportation method using the wheel-foot combined orchard transporter of the present application comprises the steps of wheel type advancing, steering, lifting of the loading platform, and alternate walking of the wheel legs and the foot legs.

[0069] S0, set the initial state of the wheel-foot combined orchard transporter: the loading platform 1 is kept horizontal; the three driving wheels 7 rotate in the same direction; the lengths of the three wheel legs 3 are between the maximum length of the wheel leg and the minimum length of the wheel leg, i.e., the wheel leg long stroke electric push rods 6 of the wheel leg 3 all have a certain amount of extension and contraction; the three foot legs 5 are in the minimum length of the foot leg, i.e., the foot leg long stroke electric push rods 4 and the short stroke electric push rods 15 of the foot leg 5 are all in the fully retracted state, and the shape center of the foot leg connecting center frame 12 is coaxial with the shape center of the transporter chassis 2;

[0070] S1, wheeled walking:

[0071] The controller controls the rotation of the three driving wheels 7 by sending control signals from the remote controller, so as to realize fast walking on a flat road.

[0072] S2, turning:

[0073] The controller controls the rotation of the three driving wheels 7 by sending control signals from the remote controller, so as to realize fast walking on a flat road.

[0074] S3, lifting of the load platform:

[0075] The controller controls the rotation of the three driving wheels 7 by sending control signals from the remote controller, so as to realize fast walking on a flat road.

[0076] S4, alternating walking of the wheel and foot:

[0077] The controller controls the rotation of the three driving wheels 7 by sending control signals from the remote controller, so as to realize fast walking on a flat road.

[0078] The controller controls the rotation of the three driving wheels 7 by sending control signals from the remote controller, so as to realize fast walking on a flat road.

Claims

1. A wheel-foot hybrid orchard hauler characterized by, The utility model relates to a kind of transporters, including load platform (1), transporter chassis (2), wheel leg (3), foot leg (5) and control system; The load platform (1) is fixed to the upper end surface of the transporter chassis (2);Three wheel legs (3) and three foot legs (5) are installed on the lower end surface of the transporter chassis (2); The wheel leg (3) includes a wheel leg long-stroke electric push rod (6), a drive wheel mounting disc (10) and a drive wheel (7); The telescopic rod end of the six wheel leg long-stroke electric push rods (6) is fixed to the upper end surface of the drive wheel mounting disc (10) through a cross shaft universal joint (8) and a flange (9), and the cylinder end is fixed to the lower end surface of the transporter chassis (2) through a cross shaft universal joint (8) and a flange (9); The drive wheel (7) is installed on the lower end surface of the drive wheel mounting disc (10);The direction of each drive wheel (7) is adjusted by changing the length of the wheel leg long-stroke electric push rod (6) of each wheel leg (3); The foot leg (5) includes a foot leg long-stroke electric push rod (4), an electric foot fixing disc (14) and an electric foot (11);The electric foot (11) includes a short-stroke electric push rod (15) and a foot pad (16);The telescopic rod end of the short-stroke electric push rod (15) is fixed to the foot pad (16) through a flange (9);The cylinder end of the short-stroke electric push rod (15) is fixed to the lower end surface of the electric foot fixing disc (14);The telescopic rod end of the two foot leg long-stroke electric push rods (4) is fixed to the upper end surface of the electric foot fixing disc (14) through a cross shaft universal joint (8) and a flange (9) in left-right symmetry, and the cylinder end is fixed to the lower end surface of the transporter chassis (2) through a cross shaft universal joint (8) and a flange (9); A foot leg connecting center frame (12) is arranged below the transporter chassis (2), and the foot leg connecting center frame (12) is fixed to the electric foot fixing disc (14) of the three foot legs (5) through three foot leg connecting rods (13); The two foot leg long-stroke electric push rods (4) of each foot leg (5) form a first equilateral triangle with the shape center of the transporter chassis (2) as the center at the straight line where the two mounting points of the transporter chassis (2) are located, and the two mounting points of the two foot leg long-stroke electric push rods (4) of each foot leg (5) on the transporter chassis (2) are symmetrical about the symmetry axis perpendicular to the side of the first equilateral triangle where the two mounting points are located. The six long-stroke electric push rods (6) of each wheel leg (3) are divided into three groups, i.e., a first push rod group, a second push rod group and a third push rod group; the three first push rod groups of the three wheel legs (3) jointly form a second equilateral triangle with the shape center of the transporter chassis (2) as the center, and the first push rod groups of the wheel legs (3) are symmetrical about the symmetry axis perpendicular to the side of the second equilateral triangle in which the two mounting points of the transporter chassis (2) are located, the second push rod groups and the third push rod groups are also symmetrical about the symmetry axis perpendicular to the side of the second equilateral triangle in which the two mounting points of the first push rod groups are located, and the straight line in which the two mounting points of the second push rod groups are located and the straight line in which the two mounting points of the third push rod groups are located are both perpendicular to the straight line in which the two mounting points of the first push rod groups are located; The control system comprises a remote controller and a controller, the remote controller sends control signals to the controller through an infrared signal receiving port of the controller, the controller controls the driving wheels (7), the long-stroke electric push rods (6) of the wheel legs, the long-stroke electric push rods (4) of the foot legs and the short-stroke electric push rods (15) through output ports respectively, the controller obtains the length change rules of the long-stroke electric push rods (6) of the wheel legs, the long-stroke electric push rods (4) of the foot legs and the short-stroke electric push rods (15) through pre-operation simulation, and realizes the control of turning, lifting of the load-carrying platform, and alternating walking of the wheels and the feet, and the load-carrying platform (1) remains horizontal during the process of obstacle crossing or turning of the transporter.

2. The wheel-foot hybrid orchard conveyer of claim 1, wherein, The load-carrying platform (1) is fixedly connected with a fence at the edge.

3. The wheel-foot hybrid orchard conveyer of claim 1, wherein, The side length of the second equilateral triangle is greater than the side length of the first equilateral triangle.

4. The wheel-foot hybrid orchard conveyer of claim 1, wherein, In the initial state, the shape center of the foot leg connecting center frame (12) is coaxial with the shape center of the transporter chassis (2).

5. A method of orchard transport using the wheel-foot hybrid orchard transport machine according to any one of claims 1 to 4, characterized in that, The method comprises the steps of wheeled movement, turning, lifting of the load-carrying platform, and alternating walking of the wheels and the feet; S0, setting the initial state of the wheels and feet combined orchard transporter: the load-carrying platform (1) remains horizontal; the three driving wheels (7) rotate in the same direction; the lengths of the three wheel legs (3) are between the maximum length and the minimum length of the wheel legs, i.e., each long-stroke electric push rod (6) of the wheel leg (3) has a margin for stretching and contraction; the three foot legs (5) are at the minimum length of the foot legs, i.e., the long-stroke electric push rods (4) and the short-stroke electric push rods (15) of the foot legs (5) are in the fully retracted state, and the shape center of the foot leg connecting center frame (12) is coaxial with the shape center of the transporter chassis (2); S1, wheeled movement: The remote controller sends control signals to the controller, and the controller controls the rotation of the three driving wheels (7) to realize fast walking on a flat road surface; S2, turning: The remote controller sends control signals to the controller, the lengths of the long-stroke electric push rods (6) on the three wheel legs (3) are adjusted to make the driving wheels (7) rotate in place to a circle which is tangent to the three driving wheels (7) at the same time, then the three driving wheels (7) are controlled to rotate in the same clock direction, and the wheels and feet combined orchard transporter returns to the initial state after reaching the target direction. S3, lifting the platform: Send control signals to the controller through the remote controller, adjust the length of each long-stroke electric push rod (6) on the three wheel legs (3), so that the length of the three wheel legs (3) changes synchronously, keeping the platform (1) level; S4, alternating walking of the wheel and foot: Send control signals to the controller through the remote controller, adjust the length of each long-stroke electric push rod (4) on the three foot legs (5), so that the foot leg connecting center frame (12) is horizontally offset to the forward direction and lowered to the limit position; then, the short-stroke electric push rod (15) of the three electric feet (11) is extended to the maximum length, so that the three foot pads (16) are vertically in contact with the ground and the platform (1) is raised, so that the driving wheels (7) of the three wheel legs (3) are away from the ground; adjust the length of each long-stroke electric push rod (4) on the three foot legs (5) again, so that the foot leg connecting center frame (12) is kept at a horizontal height and returned to the shape center coaxial with the shape center of the transport chassis (2), then continue to adjust the length of each long-stroke electric push rod (4) on the three foot legs (5), so that the foot leg connecting center frame (12) returns to the initial state, at the same time, the short-stroke electric push rod (15) of the three electric feet (11) is retracted to the minimum length, so that the driving wheels (7) of the three wheel legs (3) are in contact with the ground; such a cycle realizes the alternating walking of the wheel and foot on the irregular road surface.

6. The method of claim 5, wherein, The controller obtains the length change rule of the long-stroke electric push rod (6), the long-stroke electric push rod (4) and the short-stroke electric push rod (15) through pre-job simulation, realizes the control of turning, lifting the platform, and alternating walking of the wheel and foot.

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