A walking machine and walking method adaptable to complex terrain

Abstract

The present invention discloses a walking machine that can adapt to complex terrain, including a vehicle body, a suspension mechanism, walking wheels, a connecting pipe, and an intermediate support mechanism; the hydraulic cylinders of each suspension mechanism are interconnected through a connecting pipe; in the intermediate support mechanism, an electric push rod pushes a slider assembly to move in an arc track; the slider assembly drives the support wheel to move, and when the slider assembly is located at both ends of the arc track, the support wheel is supported on the ground; when the slider assembly is located in the middle of the arc track, the support wheel leaves the ground. The present invention also discloses a walking method for the walking machine, when encountering a bump, the hydraulic oil in the corresponding hydraulic cylinder flows into other hydraulic cylinders, and the walking wheel is raised; when encountering a pit, the hydraulic oil in other hydraulic cylinders flows into this hydraulic cylinder, and the walking wheel is lowered; when the walking wheel is lowered to a preset height, the support wheel is supported on the ground; when crossing a pit, the support wheel leaves the ground. The present invention improves the ease of use and efficiency of low-speed walking machines for complex terrain.

Description

Technical Field

[0001] The present invention belongs to the technical field of walking machines, and relates to a walking machine and a walking method that can adapt to complex terrain. Background Art

[0002] Mobile machinery is a self-propelled or towed machine that moves on the ground. It generally refers to construction machinery, agricultural machinery, mining machinery, and special-purpose vehicles that can move. The suspension mechanism of a mobile machinery is a support system consisting of springs and shock absorbers between the vehicle body and tires. Its function is to support the vehicle body, cushion the impact transmitted to the vehicle body by uneven ground, and attenuate the resulting vibration.

[0003] Conventional walking machinery such as Figure 1 As shown, it mainly includes a body 1, a conventional suspension mechanism 18 and running wheels 3. The conventional running wheels 3 are connected to the body 1 through the suspension mechanism 18 and support the body. The rolling of the running wheels 3 drives the body to move, thereby achieving the purpose of walking.

[0004] When conventional walking machines encounter bumps on the ground, the elastic elements of the suspension mechanism are compressed. This increases the driving torque of the wheels, which in turn increases the support force and partially lifts the vehicle body, allowing it to pass over the bumps. When the wheels encounter potholes or soft ground, the vehicle body partially sinks. When the wheel sinks deeper than the wheel radius, the driving torque of the wheels cannot be converted into the power and support force required to move the vehicle body, causing the machine to lose its ability to move. Therefore, while the suspension mechanism and support structure of conventional walking machines attenuate impact and vehicle vibration during travel, improving ride comfort, uneven terrain can cause the vehicle body to tilt significantly. Overcoming bumps requires a greater driving torque, and the vehicle cannot pass through soft ground or potholes that exceed the wheel radius. In short, conventional walking machines have poor maneuverability on complex terrain and experience severe body tilt. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned defects and provide a walking machine and walking method that can adapt to complex terrain, solving the technical problems that conventional walking machines have poor passability and severe body tilt in complex terrain. The present invention improves the usability and efficiency of low-speed walking machines in complex terrain.

[0006] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0007] A walking machine adapted to complex terrains, comprising a vehicle body, a suspension mechanism, walking wheels, a connecting pipe, and an intermediate supporting mechanism;

[0008] The suspension mechanism includes a hydraulic cylinder and a piston rod; the lower end of the piston rod is fixedly connected to the travel wheel, the upper end of the piston rod is located in the hydraulic cylinder, and the upper end of the hydraulic cylinder is fixed to the bottom of the vehicle body; the hydraulic cylinder is filled with hydraulic oil;

[0009] The hydraulic cylinders of each suspension mechanism are connected to each other through a connecting pipe;

[0010] The intermediate support mechanism includes an electric push rod, a mounting base, a slider assembly and a support wheel;

[0011] The mounting base is fixed to the bottom of the vehicle body; a curved track is provided in the mounting base, and both ends of the curved track are lower than the middle portion of the curved track;

[0012] The slider assembly cooperates with the arc track, and the electric push rod pushes the slider assembly to move in the arc track; the slider assembly drives the support wheel to move. When the slider assembly is located at both ends of the arc track, the support wheel is supported on the ground. When the slider assembly is located in the middle of the arc track, the support wheel leaves the ground.

[0013] Furthermore, the suspension mechanism also includes a travel switch disposed in the hydraulic cylinder;

[0014] When the slider assembly is located at the front, middle, and rear end of the curved track, the positions of the support wheels are position A, position B, and position C, respectively. When the walking machine is walking on a flat surface, the upper end of the piston rod is above the travel switch. The height difference between the upper end of the piston rod and the travel switch is h, and the support wheel is at position B.

[0015] The traveling wheels include a left front wheel, a right front wheel, a left rear wheel and a right rear wheel;

[0016] When the left front wheel or the right front wheel enters a pit with a depth ≥ h, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod to move downward and contact the corresponding travel switch. The corresponding travel switch sends a first forward movement command to the electric push rod, and the electric push rod drives the support wheel from position B to position A;

[0017] When the left front wheel or the right front wheel passes over the pit, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod to move upward and separate from the corresponding travel switch. The corresponding travel switch sends a backward movement instruction to the electric push rod, and the electric push rod drives the support wheel from position A to position C.

[0018] When the left rear wheel or the right rear wheel enters the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod to move downward and contact the corresponding travel switch. When the left rear wheel or the right rear wheel passes over the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod to move upward and separate from the corresponding travel switch. The corresponding travel switch sends a second forward motion command to the electric push rod, and the electric push rod drives the support wheel from position C back to position B.

[0019] Furthermore, in another embodiment, when the left front wheel or the right front wheel enters a pit with a depth ≥ h, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod to move downward and contact the corresponding travel switch. The corresponding travel switch sends a forward movement command to the electric push rod, and the electric push rod drives the support wheel from position B to position A.

[0020] When the left front wheel or the right front wheel passes over the pit, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod to move upward and separate from the corresponding travel switch, and the support wheel remains in position A;

[0021] When the left rear wheel or the right rear wheel enters the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod to move downward and contact the corresponding travel switch, and the support wheel remains in position A;

[0022] When the left rear wheel or the right rear wheel passes over the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod to move upward and separate from the corresponding travel switch. The corresponding travel switch sends a forward and backward movement instruction to the electric push rod, and the electric push rod drives the support wheel from position A to position B.

[0023] Furthermore, h is equal to 85% to 95% of the radius of the traveling wheel;

[0024] When the support wheel is at position B, the center line of the support wheel coincides with the center of gravity of the vehicle body.

[0025] Furthermore, the suspension mechanism further includes an adjustment spring disposed above the piston rod;

[0026] The upper end of the adjustment spring is fixed to the hydraulic cylinder top plate provided at the upper end of the hydraulic cylinder, and the lower end of the adjustment spring is a free end. When the piston rod moves upward, the adjustment spring generates a thrust on the piston rod.

[0027] Furthermore, the hydraulic oil pressure inside the hydraulic cylinders of each suspension mechanism is the same;

[0028] When the supporting force required by each traveling wheel is different, the diameter of the hydraulic cylinder of each suspension mechanism is different.

[0029] Furthermore, the mounting base includes a mounting base top plate and two side plates connected to both sides of the mounting base top plate;

[0030] The top plate of the mounting base is fixed to the bottom of the vehicle body, and the side plates are perpendicular to the ground;

[0031] The inner surface of each side panel is provided with two arc-shaped tracks which are distributed up and down and have the same shape.

[0032] Furthermore, the slider assembly includes upper and lower sliders, a horizontal slider and a sliding shaft;

[0033] The upper and lower sliders are fixedly connected to the electric push rod, and the horizontal slider is provided with an upper and lower slideway. The upper and lower sliders are installed in the upper and lower slideways. The horizontal slider is installed in the arc-shaped tracks of the two side plates of the mounting base through a sliding shaft;

[0034] The forward and backward movement of the electric push rod drives the forward and backward movement of the upper and lower sliders, and the forward and backward movement of the upper and lower sliders drives the horizontal slider to move along the arc track.

[0035] Furthermore, there are two sliding shafts, the axial direction of the sliding shafts is horizontal, and the two sliding shafts are arranged up and down, respectively denoted as an upper sliding shaft and a lower sliding shaft;

[0036] The two ends of the upper sliding shaft pass through the upper part of the horizontal sliding block and the two side plates and are fixed to the outer sides of the side plates;

[0037] The two ends of the lower sliding shaft pass through the lower part of the horizontal sliding block and the two side plates and are fixed to the outer sides of the side plates;

[0038] The distance between the upper sliding shaft and the lower sliding shaft is equal to the distance between the two arc-shaped tracks arranged on each side plate in the vertical direction.

[0039] A walking method for a walking machine adapted to complex terrain, characterized by comprising:

[0040] When a traveling wheel encounters a bump, the pressure of the hydraulic oil in the hydraulic cylinder corresponding to the traveling wheel increases, and the hydraulic oil flows into the hydraulic cylinder corresponding to the other traveling wheel through the connecting pipe, and the piston rod connected to the traveling wheel moves upward, driving the traveling wheel to rise;

[0041] When a traveling wheel encounters a pit, the pressure of the hydraulic oil in the hydraulic cylinder corresponding to the traveling wheel decreases, and the hydraulic oil in the hydraulic cylinder corresponding to the other traveling wheels flows into the hydraulic cylinder through the connecting pipe, and the piston rod connected to the traveling wheel moves downward, driving the traveling wheel to lower;

[0042] When the walking machine travels on flat ground, the slider assembly is located in the middle of the curved track; when at least one walking wheel encounters a pit and lowers to a preset height, the electric push rod drives the slider assembly to both ends of the curved track, and the support wheels are supported on the ground; when all the walking wheels pass the pit, the electric push rod drives the slider assembly back to the middle of the curved track, and the support wheels leave the ground.

[0043] Furthermore, when the walking machine is walking on a flat ground, the upper end of the piston rod is located above the travel switch, and the height difference between the upper end of the piston rod and the travel switch is denoted as h, and the support wheel is located at position B;

[0044] When the left front wheel or the right front wheel enters a pit with a depth ≥ h, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod to move downward and contact the corresponding travel switch. The corresponding travel switch sends a first forward movement command to the electric push rod, and the electric push rod drives the support wheel from position B to position A;

[0045] When the left front wheel or the right front wheel passes over the pit, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod to move upward and separate from the corresponding travel switch. The corresponding travel switch sends a backward movement instruction to the electric push rod, and the electric push rod drives the support wheel from position A to position C.

[0046] When the left rear wheel or the right rear wheel enters the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod to move downward and contact the corresponding travel switch. When the left rear wheel or the right rear wheel passes over the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod to move upward and separate from the corresponding travel switch. The corresponding travel switch sends a second forward motion command to the electric push rod, and the electric push rod drives the support wheel from position C back to position B.

[0047] Or, when the left front wheel or the right front wheel enters a pit with a depth ≥ h, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod to move downward and contact the corresponding travel switch. The corresponding travel switch sends a forward movement command to the electric push rod, and the electric push rod drives the support wheel from position B to position A;

[0048] When the left front wheel or the right front wheel passes over the pit, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod to move upward and separate from the corresponding travel switch, and the support wheel remains in position A;

[0049] When the left rear wheel or the right rear wheel enters the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod to move downward and contact the corresponding travel switch, and the support wheel remains in position A;

[0050] When the left rear wheel or the right rear wheel passes over the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod to move upward and separate from the corresponding travel switch. The corresponding travel switch sends a forward and backward movement instruction to the electric push rod, and the electric push rod drives the support wheel from position A to position B.

[0051] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0052] (1) The present invention creatively proposes a walking machine that can adapt to complex terrain. By designing a suspension mechanism, when the walking machine passes over a raised obstacle on the ground, the walking wheels at that location are raised, thereby passing over the raised obstacle on the ground without substantially increasing the driving torque, thereby improving the walking machine's ability to pass over obstacles on complex terrain.

[0053] (2) The present invention uses an intermediate support mechanism and the linkage between the intermediate support mechanism and the suspension mechanism to enable the intermediate support mechanism to move and contact the ground when the walking machine is on a larger pit or soft ground, thereby providing support for the walking machine, thereby enabling the walking machine to pass through larger and deeper pits or soft ground, thereby improving the walking machine's ability to cross deep pits in complex terrain;

[0054] (3) When the walking machine of the present invention passes over uneven ground, each suspension mechanism can evenly distribute the height of the protrusion or the depth of the pit within each suspension, thereby avoiding the vehicle from tilting and reducing the amplitude of the overall lifting or lowering of the walking machine, thereby better maintaining the balance of the walking machine;

[0055] (4) When the walking machine of the present invention passes over uneven ground, since the various suspension support forces remain substantially unchanged, the driving torque required by each walking wheel when passing over uneven ground also remains substantially unchanged, thereby reducing the requirements for the drive system and improving the walking machine's ability to pass over uneven ground;

[0056] (5) When the walking machine of the present invention passes over uneven ground, the driving torque of the walking wheels remains substantially unchanged, and the rotational speed of the walking wheels can also be substantially constant, thereby improving the stability of the walking machine during travel;

[0057] (6) The present invention refines the triggering and resetting methods of the intermediate support mechanism in response to the complex terrain encountered by the walking wheels of the walking machine, thereby improving the adaptability to complex terrain;

[0058] (7) The walking machinery of the present invention has strong applicability, simple operation, good scalability, and strong controllability, which improves the usability and efficiency of low-speed walking machinery for dry land operations and complex terrains, and can be expanded to other walking machinery fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 Schematic diagram of a conventional walking machine in the prior art; wherein (a) is a front view and (b) is a side view;

[0060] Figure 2 Schematic diagram of a walking machine adapted to complex terrain according to the present invention; wherein (a) is a front view and (b) is a side view;

[0061] Figure 3 Schematic diagram of the suspension mechanism of the present invention; wherein (a) is a schematic diagram of the state of passing through a protrusion, (b) is a schematic diagram of the state of normal walking, and (c) is a schematic diagram of the state of passing through a pit;

[0062] Figure 4 Schematic diagram of the intermediate support mechanism of the present invention; wherein (a) is a front view and (b) is a cross-sectional view;

[0063] Figure 5 Schematic diagram of the mounting base of the intermediate support mechanism of the present invention; wherein (a) is a front view and (b) is a side view;

[0064] Figure 6 Schematic diagram of the horizontal slider of the intermediate support mechanism of the present invention; wherein (a) is a front view, (b) is a side view, and (c) is a top view;

[0065] Figure 7 Schematic diagram of the upper and lower sliders of the intermediate support mechanism of the present invention; wherein (a) is a front view and (b) is a side view;

[0066] In the figure, 1-car body, 2-suspension mechanism, 3-travel wheel, 4-connecting pipe, 5-intermediate support mechanism, 6-adjustment spring, 7-hydraulic oil, 8-hydraulic cylinder, 9-travel switch, 10-piston rod, 11-electric push rod, 12-mounting base, 13-upper and lower sliders, 14-horizontal slider, 15-sliding shaft, 16-support wheel, 17-mounting center line, 18-traditional suspension mechanism, 121-front end plate, 122, 123-side plates, 124-arc rail, 125-mounting base top plate, 126-electric push rod mounting hole, 141-upper and lower rails, 142-sliding shaft mounting hole. DETAILED DESCRIPTION

[0067] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0068] The word "exemplary" is used exclusively herein to mean "serving as an example, example, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0069] The present invention provides a low-speed (no more than 2m / s) walking machine for dry farmland operations and adaptable to complex terrain. The walking machine of the present invention adopts a linkage suspension mechanism, including a body, a suspension mechanism, walking wheels, a connecting pipe and an intermediate support mechanism. In a preferred embodiment, the suspension mechanism includes a spring, a hydraulic cylinder, hydraulic oil, a piston rod, etc.; the walking wheels are connected to the body through the suspension mechanism, and are used to support the body and drive the body to move through the walking wheels. The various suspension mechanisms are interconnected through connecting pipes, and the intermediate support mechanism is suspended at the bottom of the body. When the walking machine is moving normally, the intermediate support mechanism does not contact the ground. When the walking machine passes through a larger pit, the intermediate support mechanism moves to a working position and contacts the ground to support the body.

[0070] When the walking machine passes through a raised obstacle on the ground, the walking wheel at that location is raised, thereby passing through the raised obstacle on the ground without substantially increasing the driving torque, thereby improving the obstacle-crossing capability of the walking machine on complex terrain.

[0071] When the walking machine is on a larger pit or soft ground, the intermediate support mechanism can move and contact the ground to provide support for the walking machine, so that the walking machine can pass through larger and deeper pits or soft ground, improving the walking machine's ability to cross deep pits in complex terrain.

[0072] When the walking machine passes through uneven ground, each suspension mechanism can evenly distribute the height of the protrusion or the depth of the pit within each suspension mechanism, thereby avoiding the vehicle from tilting and reducing the amplitude of the overall lifting or lowering of the walking machine, thereby better maintaining the balance of the walking machine.

[0073] When the walking machine passes through uneven ground, the supporting force of each suspension mechanism remains basically unchanged, and the driving torque required by each walking wheel when passing through uneven ground also remains basically unchanged, thereby reducing the requirements for the drive system and improving the walking machine's ability to pass through uneven ground.

[0074] When the walking machine passes over uneven ground, since the driving torque of the walking wheels remains basically unchanged, the rotation speed of the walking wheels can also be basically constant, thereby improving the stability of the walking machine during travel.

[0075] Example:

[0076] This embodiment combines the attached Figure 2-7 The technical solution of the present invention is described in detail.

[0077] like Figure 2 As shown, a low-speed walking machine for complex terrain includes a body 1, a suspension mechanism 2, walking wheels 3, a connecting pipe 4 and an intermediate support mechanism 5. The walking wheels 3 are connected to the body through the suspension mechanism 2, and are used to support the body and drive the body to move through the walking wheels 3. The suspension mechanisms 2 are interconnected through the connecting pipe 4. The intermediate support mechanism 5 is suspended at the bottom of the body 1. When the walking machine is moving normally, the intermediate support 5 does not contact the ground. When the walking machine passes through a larger pit, the intermediate support mechanism 5 moves to a position in contact with the ground to support the body 1.

[0078] like Figure 3As shown, the suspension mechanism consists of an adjustment spring 6, hydraulic oil 7, a hydraulic cylinder 8, a travel switch 9, a piston rod 10, etc. The hydraulic cylinder 8 is fixed around the bottom of the vehicle body 1, and the piston rod 10 is fixed on the running wheel 3. The piston rod 10 can move up and down in the hydraulic cylinder 8. The hydraulic oil 7 can flow in each suspension mechanism 2 through the connecting pipe 4. The upper end of the adjustment spring 6 is fixed to the top plate of the hydraulic cylinder 8, and the lower end is a free end. When the piston rod 10 moves upward, it gives the piston rod a certain thrust, and when the piston rod moves downward, it is not affected. In addition, a travel switch 9 is installed at the bottom of the hydraulic cylinder 8. When the piston rod 10 drives the running wheel 3 downward to the position of the travel switch 9 or when the running wheel 3 drives the piston rod upward to the normal passage state, the travel switch 9 outputs a signal and starts the intermediate support mechanism 5 to move to the corresponding position.

[0079] like Figure 4 As shown, the intermediate support mechanism 5 includes an electric push rod 11, a mounting base 12, upper and lower sliders 13, a horizontal slider 14, a sliding shaft 15, a support wheel 16, and an installation center line 17. The intermediate support mechanism 5 is fixed to the bottom of the vehicle body 1 through the mounting base 12, and the installation center line 17 (i.e., the center line of the support wheel 16) coincides with the center of gravity of the vehicle body 1. Figure 5 The mounting base 12 includes a front end plate 121, side plates (122, 123), and a mounting base top plate 125. Two arc-shaped tracks are processed on the side plates (122, 123) on both sides. The two arc-shaped tracks have the same radius. The distance between the two arc-shaped tracks 124 on the vertical line is equal to the distance between the two sliding shafts 15. The side of the horizontal slider 14 is designed with upper and lower slides. The electric push rod 11 is fixed on the front end plate 121 of the mounting base 12. The front end plate 121 is provided with an electric push rod mounting hole 126. The upper and lower sliders 13 are fixed on the push rod of the electric push rod 11. The upper and lower sliders 13 are installed in the upper and lower tracks 141 on the side of the horizontal slider 14, so that the upper and lower sliders 13 and the horizontal slider 14 become one and the upper and lower sliders 13 can move up and down in the slide of the horizontal slider 14, such as Figure 6 and Figure 7 The horizontal slider 14 is provided with two sliding shaft mounting holes 142 distributed vertically. The horizontal slider 14 is mounted in the arc-shaped tracks on both sides of the mounting base 12 via the sliding shaft 15. The support wheels 16 are fixed to the horizontal slider 14. After receiving the start command, the electric push rod 11 pushes the upper and lower sliders 13 to move forward and backward. The upper and lower sliders 13 drive the horizontal slider 14 and the support wheels 16 to move forward and backward along the arc-shaped tracks on both sides of the mounting base 12.

[0080] like Figure 2 、 3As shown, the hydraulic oil 7 of the suspension mechanism 2 is interconnected through the connecting pipe 4, so that the pressure of the hydraulic oil 7 in each suspension mechanism 2 is the same. However, due to the different structural designs of the vehicle body 1 and the installation positions of the running wheels 3, the supporting forces required to be provided by each suspension mechanism 2 are different. The supporting forces required by each suspension mechanism 2 are achieved by designing different cylinder diameters of the hydraulic cylinder 8.

[0081] like Figure 3 As shown, after the suspension mechanism 2 is processed and formed, since the pressure of the hydraulic oil 7 in each suspension mechanism 2 is exactly the same, the supporting force it can provide becomes a constant value. However, due to design errors or other factors, it is possible that individual suspension mechanisms 2 need to provide a larger supporting force. In order to maintain the balance of the walking machine, additional supporting force is provided by adjusting the spring 6 to maintain the balance of the walking machine.

[0082] like Figure 4 As shown, the sliding tracks on both sides of the mounting base 12 are arc-shaped, so that the support wheels 16 are lifted up and off the ground during movement to prevent obstruction by ground obstacles; the sliding tracks on both sides of the mounting base 12 are two upper and lower arcs with equal diameters. When the horizontal slider 14 slides in the track, the distance between the two sliding axes is exactly the distance between the upper and lower arcs on the same vertical line, which ensures that the horizontal slider 14 can only move horizontally in the sliding track and will not rotate, so that the support wheels are always in a state perpendicular to the ground.

[0083] like Figure 4 As shown, when the walking machine is walking normally, the support wheel 16 is placed at position B.

[0084] Principle of passing through raised obstacles: When the walking machine is walking on complex terrain, when the walking wheel 3 encounters a raised object on the ground, the suspension mechanism 2 at that location needs to provide a larger supporting force to pass over the raised object, and a slight increase in the supporting force of the suspension mechanism 2 at that location will cause the pressure of the hydraulic oil 7 in the hydraulic cylinder 8 at that location to increase, so that the hydraulic oil 7 in the suspension mechanism 2 at that location flows into other suspension mechanisms 2 through the connecting pipe 4. The piston rod 10 in the suspension mechanism 2 at that location moves upward in the hydraulic cylinder 8 due to the loss of hydraulic oil 7, driving the walking wheel 3 to rise, thereby lifting the walking wheel 3 at that location to pass over the raised object on the ground with almost no increase in supporting force. In the process of passing through the obstacle, the height of the raised object is evenly distributed to the other suspension mechanisms 2, and the vehicle body 1 is lifted a small amount as a whole, which does not affect the overall balance of the walking machine.

[0085] Principle of passing through smaller potholes: When the traveling wheel 3 encounters a smaller pothole or soft ground, the supporting force provided by the suspension mechanism 2 at that location is reduced, and the reduction in the supporting force of the suspension mechanism 2 at that location will cause the pressure of the hydraulic oil 7 in the hydraulic cylinder 8 of the suspension mechanism 2 at that location to decrease, thereby causing the hydraulic oil 7 in other suspension mechanisms to flow into the suspension mechanism 2 through the connecting pipe 4. The piston rod 10 in the suspension mechanism 2 at that location moves downward in the hydraulic cylinder 8 due to the increase in hydraulic oil, driving the traveling wheel 3 to lower, thereby lowering the traveling wheel 3 at that location to pass through the pothole on the ground with almost no reduction in supporting force, and in the process of passing through the pothole, the depth of the pothole is evenly distributed to the other suspension mechanisms 2, and the vehicle body 1 is lowered a small amount as a whole, which does not affect the overall balance of the traveling machine; a smaller pothole refers to a pothole with a smaller depth, which causes the piston rod 10 to drop but does not trigger the travel switch 9;

[0086] Principle of passing through a large pothole in front: When the walking machine is walking normally, the middle support mechanism 5 is placed at position B. When the front walking wheel 3 of the vehicle body 1 encounters a large and deep pothole (a large pothole means a pothole with a large depth, the piston rod 10 descends and triggers the travel switch 9. The distance from the piston rod 10 to the triggering of the travel switch 9 can be set according to demand, preferably slightly smaller than the radius of the walking wheel 3) or soft ground, the walking wheel 3 sinks. When the sinking depth is close to the radius of the walking wheel 3, the walking wheel 3 drives the piston rod 10 downward. Figure 3 As shown in the pit state, the piston rod 10 contacts the travel switch 9, triggering the travel switch 9, which triggers the intermediate support mechanism 5 to work. The electric push rod 11 pulls the horizontal slider 14 through the upper and lower sliders 13 to move forward and downward in the arc tracks on both sides of the mounting seat 12. The support wheel 16 moves simultaneously with the horizontal slider 14 until the support wheel 16 moves to position A. The support wheel 16 contacts the ground. The support wheel 16 and the running wheel 3 at the rear of the vehicle body 1 provide support force for the walking machine at the same time. The center of gravity of the walking machine is within the support surface, thereby maintaining the balance of the walking machine and the walking machine continues to move forward; when the running wheel 3 at the front of the vehicle body 1 passes over the pit, as shown in FIG. Figure 3 As shown, the front running wheel 3 is converted from the state of passing through the pit to the normal passing state, and the front running wheel 3 is in contact with the ground, providing support for the vehicle body 1. At this time, the front and rear running wheels 3 of the vehicle body 1 provide support for the walking machine at the same time, maintaining the balance of the walking machine, and the walking machine continues to move forward; after the front running wheel 3 of the vehicle body 1 passes over the pit, as shown Figure 3As shown, the front running wheel 3 is converted from the state of passing through the pit to the normal passing state, the piston rod 10 and the travel switch 9 are separated from each other, the travel switch 9 is reset, and the electric push rod 11 pushes the horizontal slider 14 to move backward and upward in the arc tracks on both sides of the mounting seat 12 through the upper and lower sliders 13, and the support wheels 16 are separated from the ground. When the support wheels 16 reach position B, the horizontal slider 14 continues to move backward and downward in the arc tracks on both sides of the mounting seat 12 until the support wheels 16 move to position C, and the support wheels 16 contact the ground. At this time, the running wheels 3 and the support wheels 16 at the front of the vehicle body 1 and the running wheels 3 at the rear of the vehicle body 1 provide support force for the walking machine at the same time, and the center of gravity of the walking machine is within the support surface, thereby maintaining the balance of the walking machine and the walking machine continues to move forward; when the support wheels 16 reach position B, the horizontal slider 14 continues to move backward and downward in the arc tracks on both sides of the mounting seat 12 until the support wheels 16 move to position C, and the support wheels 16 contact the ground. When the supporting wheel 16 enters the pit, the front running wheel 3 of the vehicle body 1 and the rear running wheel 3 of the vehicle body 1 provide support for the walking machine at the same time, and the center of gravity of the walking machine is within the support surface, thereby maintaining the balance of the walking machine and the walking machine continues to move forward; when the rear running wheel 3 of the walking machine body 1 enters the pit, since the length of the pit is less than the distance between the middle support 16 and the front and rear running wheels 3 of the vehicle body 1, the supporting wheel 16 has passed the pit and is in contact with the ground, and provides support for the walking machine together with the front running wheel 3 of the vehicle body 1, maintaining the balance of the walking machine and the walking machine continues to move forward; after the rear running wheel 3 of the walking machine body 1 passes over the pit, the rear running wheel 3 will have a process of recovering from the sunken state to the normal height, that is, the rear running wheel 3 will have a lifting action, such as Figure 3 As shown, the rear walking wheel 3 is converted from the state of passing through the pit to the normal passing state, the piston rod 10 and the limit switch 9 are separated from each other, the limit switch 9 sends a reset signal, triggering the middle support mechanism 5 to work, and the electric push rod 11 pulls the horizontal slider 14 through the upper and lower sliders 13 to move forward and upward in the arc track on both sides of the mounting seat 12, and the support wheel 16 moves simultaneously with the horizontal slider 14 until the support wheel 16 moves to position B, and the support wheel 16 breaks contact with the ground and returns to the normal walking state.

[0087] Principle of passing through a large side pothole: When the walking machine is moving normally, the middle support mechanism 5 is placed at position B. When the left front walking wheel 3 of the vehicle body 1 encounters a large and deep pothole or soft ground, the walking wheel 3 at that location sinks. When the sinking depth approaches the radius of the walking wheel 3, the walking wheel 3 drives the piston rod 10 downward, triggering the travel switch 9. The travel switch 9 triggers the middle support mechanism 5 to work, and the electric push rod 11 pulls the horizontal slider 14 through the upper and lower sliders 13 to move forward and downward in the arc-shaped tracks on both sides of the mounting seat 12. The support wheel 16 moves simultaneously with the horizontal slider 14 until the support wheel 16 moves to position A, where the support wheel 16 contacts the ground. The support wheel 16 and the walking wheel 3 on the right side of the vehicle body 1 provide support force for the walking machine at the same time, and the center of gravity of the walking machine is within the support surface, thereby maintaining the balance of the walking machine and the walking machine continues to move forward; when the left front wheel passes over the side pothole, the middle support wheel does not need to move. When the left rear wheel passes over the side pothole, the middle support wheel moves from position A to position B, and the walking trolley returns to normal walking state. When the left rear wheel 3 of the walking machine body 1 passes over the pit, the left rear wheel 3 will have a process of recovering from the sunken state to the normal height, that is, the rear wheel 3 will have a lifting action, such as Figure 3 As shown, the rear travel wheel 3 transitions from the pit-passing state to the normal travel state. The piston rod 10 and the travel switch 9 transition from contact to separation. The travel switch 9 issues a reset signal, triggering the operation of the intermediate support mechanism 5. The electric push rod 11 pulls the horizontal slider 14 through the upper and lower sliders 13 to move forward and upward within the curved tracks on both sides of the mounting base 12. The support wheel 16 moves simultaneously with the horizontal slider 14 until the support wheel 16 reaches position B, at which point it loses contact with the ground and resumes normal travel. Similarly, the vehicle can pass through larger pits or soft ground on the right side.

[0088] Through the above analysis, when the walking machine passes through a raised obstacle on the ground, the walking wheel at that location is raised, thereby passing through the raised obstacle on the ground without substantially increasing the driving torque, thereby improving the walking machine's ability to cross obstacles in complex terrain.

[0089] Through the above analysis, when the walking machine is on a larger pit or soft ground, the middle support can move and contact the ground to provide support for the walking machine, so that the walking machine can pass through larger and deeper pits or soft ground, improving the walking machine's ability to cross deep pits in complex terrain.

[0090] Through the above analysis, when the walking machine passes through uneven ground, each suspension can evenly distribute the height of the protrusion or the depth of the pit within each suspension, thereby avoiding the vehicle from tilting and reducing the overall raising or lowering amplitude of the walking machine, thereby better maintaining the balance of the walking machine.

[0091] Through the above analysis, when the walking machine passes through uneven ground, since the suspension support forces remain basically unchanged, the driving torque required by each walking wheel when passing through uneven ground also remains basically unchanged, thereby reducing the requirements for the drive system and improving the walking machine's ability to pass through uneven ground.

[0092] Through the above analysis, when the walking machine passes through uneven ground, since the driving torque of the walking wheels remains basically unchanged, the rotation speed of the walking wheels can also be basically constant, thereby improving the stability of the walking machine during walking.

[0093] The mobile machinery with a linkage suspension mechanism proposed in the present invention has strong applicability, simple operation, good scalability, and strong controllability. It improves the usability and efficiency of low-speed mobile machinery for dry land operations and complex terrain, and can be expanded to other mobile machinery fields. The key points of the present invention include:

[0094] 1. The hydraulic oil of each suspension is interconnected, which improves the ability of the walking machine to pass through bumps on the ground;

[0095] 2. Fine-tune the initial support force mismatch caused by design factors or other factors by adjusting the spring;

[0096] 3. A travel switch is set inside the hydraulic cylinder to trigger the operation of the intermediate support mechanism;

[0097] 4. Reasonable application of intermediate supports can improve the ability of walking machinery to pass through potholes and soft ground;

[0098] 5. The arc track design ensures that the support wheels always remain vertical.

[0099] The present invention has been described in detail above with reference to specific embodiments and exemplary examples. However, these descriptions should not be construed as limiting the present invention. Those skilled in the art will appreciate that various equivalent substitutions, modifications, or improvements may be made to the technical solutions and implementations of the present invention without departing from the spirit and scope of the present invention, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be determined by the appended claims.

[0100] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A walking machine adapted to complex terrain, characterized by: It comprises a vehicle body (1), a suspension mechanism (2), running wheels (3), a communication pipe (4) and an intermediate support mechanism (5); The suspension mechanism (2) includes a hydraulic cylinder (8) and a piston rod (10), and also includes a travel switch (9) arranged in the hydraulic cylinder (8); The lower end of the piston rod (10) is fixedly connected to the travel wheel (3), the upper end of the piston rod (10) is located in the hydraulic cylinder (8), and the upper end of the hydraulic cylinder (8) is fixed to the bottom of the vehicle body (1); the hydraulic cylinder (8) is filled with hydraulic oil (7); The hydraulic cylinders (8) of the various suspension mechanisms (2) are connected to each other via a connecting pipe (4); The intermediate support mechanism (5) includes an electric push rod (11), a mounting base (12), a slider assembly and a support wheel (16); The mounting base (12) is fixed to the bottom of the vehicle body (1); a curved track is provided in the mounting base (12), and both ends of the curved track are lower than the middle of the curved track; The slider assembly cooperates with the arc track, and the electric push rod (11) pushes the slider assembly to move in the arc track; the slider assembly drives the support wheel (16) to move, and when the slider assembly is located at both ends of the arc track, the support wheel (16) is supported on the ground, and when the slider assembly is located in the middle of the arc track, the support wheel (16) leaves the ground; A travel switch (9) is installed at the bottom of the hydraulic cylinder (8). When the piston rod (10) drives the travel wheel (3) downward to the position of the travel switch (9) or when the travel wheel (3) drives the piston rod (10) upward to a normal passage state, the travel switch (9) outputs a signal and starts the intermediate support mechanism (5) to move to a corresponding position.

2. A walking machine adapted to complex terrain according to claim 1, characterized in that: When the slider assembly is located at the front end, middle part and rear end of the arc track, the positions of the support wheel (16) are respectively position A, position B and position C; when the walking machine is walking on a flat ground, the upper end of the piston rod (10) is located above the travel switch (9), the height difference between the upper end of the piston rod (10) and the travel switch (9) is recorded as h, and the support wheel (16) is located at position B; The running wheels (3) include a left front wheel, a right front wheel, a left rear wheel and a right rear wheel; When the left front wheel or the right front wheel enters a pit with a depth ≥ h, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod (10) to move downward and contact the corresponding travel switch (9), and the corresponding travel switch (9) sends a first forward movement instruction to the electric push rod (11), and the electric push rod (11) drives the support wheel (16) from position B to position A; When the left front wheel or the right front wheel passes over the pit, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod (10) to move upward and separate from the corresponding travel switch (9), and the corresponding travel switch (9) sends a backward movement instruction to the electric push rod (11), and the electric push rod (11) drives the support wheel (16) from position A to position C; When the left rear wheel or the right rear wheel enters the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod (10) to move downward and contact the corresponding travel switch (9); when the left rear wheel or the right rear wheel passes over the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod (10) to move upward and separate from the corresponding travel switch (9); the corresponding travel switch (9) sends a second forward movement instruction to the electric push rod (11), and the electric push rod (11) drives the support wheel (16) from position C back to position B.

3. The walking machine adapted to complex terrain according to claim 1, characterized in that: When the slider assembly is located at the front end, middle part and rear end of the arc track, the positions of the support wheel (16) are respectively position A, position B and position C; when the walking machine is walking on a flat ground, the upper end of the piston rod (10) is located above the travel switch (9), the height difference between the upper end of the piston rod (10) and the travel switch (9) is recorded as h, and the support wheel (16) is located at position B; The running wheels (3) include a left front wheel, a right front wheel, a left rear wheel and a right rear wheel; When the left front wheel or the right front wheel enters a pit with a depth ≥ h, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod (10) to move downward and contact the corresponding travel switch (9), and the corresponding travel switch (9) sends a forward movement instruction to the electric push rod (11), and the electric push rod (11) drives the support wheel (16) from position B to position A; When the left front wheel or the right front wheel passes over the pit, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod (10) to move upward and separate from the corresponding travel switch (9), and the support wheel (16) remains in position A; When the left rear wheel or the right rear wheel enters the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod (10) to move downward and contact the corresponding travel switch (9), and the support wheel (16) remains in position A; When the left rear wheel or the right rear wheel passes over the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod (10) to move upward and separate from the corresponding travel switch (9), and the corresponding travel switch (9) sends a forward and backward movement instruction to the electric push rod (11), and the electric push rod (11) drives the support wheel (16) from position A back to position B.

4. A walking machine adapted to complex terrain according to claim 2 or 3, characterized in that: h is equal to 85% to 95% of the radius of the running wheel (3); When the support wheel (16) is located at position B, the center line of the support wheel (16) coincides with the center of gravity of the vehicle body (1); The pressure of the hydraulic oil (7) inside the hydraulic cylinder (8) of each suspension mechanism (2) is the same; When the supporting forces required for each traveling wheel (3) are different, the diameters of the hydraulic cylinders (8) of each suspension mechanism (2) are different.

5. The walking machine adapted to complex terrain according to claim 1, characterized in that: The suspension mechanism (2) further includes an adjustment spring (6) disposed above the piston rod (10); The upper end of the adjusting spring (6) is fixed on the hydraulic cylinder top plate provided at the upper end of the hydraulic cylinder (8), and the lower end of the adjusting spring (6) is a free end. When the piston rod (10) moves upward, the adjusting spring (6) generates a thrust on the piston rod (10).

6. The walking machine adapted to complex terrain according to claim 1, characterized in that: The mounting base (12) includes a mounting base top plate and two side plates connected to both sides of the mounting base top plate; The top plate of the mounting base is fixed to the bottom of the vehicle body (1), and the side plates are perpendicular to the ground; The inner surface of each side panel is provided with two arc-shaped tracks which are distributed up and down and have the same shape.

7. The walking machine adapted to complex terrain according to claim 6, characterized in that: The slider assembly includes upper and lower sliders (13), a horizontal slider (14) and a sliding shaft (15); The upper and lower sliders (13) are fixedly connected to the electric push rod (11); the horizontal slider (14) is provided with an upper and lower slideway; the upper and lower sliders (13) are installed in the upper and lower slideways; the horizontal slider (14) is installed in the arc-shaped tracks of the two side plates of the mounting base (12) through the sliding shaft (15); The forward and backward movement of the electric push rod (11) drives the forward and backward movement of the upper and lower sliders (13), and the forward and backward movement of the upper and lower sliders (13) drives the horizontal slider (14) to move along the arc track.

8. The walking machine adapted to complex terrain according to claim 7, characterized in that: There are two sliding shafts (15), the axial direction of the sliding shafts (15) is horizontal, and the two sliding shafts (15) are arranged up and down, respectively recorded as an upper sliding shaft and a lower sliding shaft; The two ends of the upper sliding shaft pass through the upper part of the horizontal sliding block and the two side plates and are fixed to the outer sides of the side plates; The two ends of the lower sliding shaft pass through the lower part of the horizontal sliding block and the two side plates and are fixed to the outer sides of the side plates; The distance between the upper sliding shaft and the lower sliding shaft is equal to the distance between the two arc-shaped tracks arranged on each side plate in the vertical direction.

9. A walking method for a walking machine adapted to complex terrain according to any one of claims 1 to 8, characterized in that: include: When a running wheel (3) encounters a bump, the pressure of the hydraulic oil (7) in the hydraulic cylinder (8) corresponding to the running wheel (3) increases, and the hydraulic oil (7) flows into the hydraulic cylinder (8) corresponding to the other running wheel (3) through the connecting pipe (4), and the piston rod (10) connected to the running wheel (3) moves upward, driving the running wheel (3) to rise; When the running wheel (3) encounters a pit, the pressure of the hydraulic oil (7) in the hydraulic cylinder (8) corresponding to the running wheel (3) decreases, and the hydraulic oil (7) in the hydraulic cylinder (8) corresponding to the other running wheels (3) flows into the hydraulic cylinder (8) through the connecting pipe (4), and the piston rod (10) connected to the running wheel (3) moves downward, driving the running wheel (3) to lower; When the walking machine walks on a flat ground, the slider assembly is located in the middle of the arc track; when at least one walking wheel (3) encounters a pit and is lowered to a preset height, the electric push rod (11) drives the slider assembly to move to both ends of the arc track, and the support wheels (16) are supported on the ground; when all the walking wheels (3) pass over the pit, the electric push rod (11) drives the slider assembly back to the middle of the arc track, and the support wheels (16) leave the ground.

10. A walking method for a walking machine adapted to complex terrain according to claim 2 or 3, characterized in that: When the walking machine is walking on a flat ground, the upper end of the piston rod (10) is located above the travel switch (9), and the height difference between the upper end of the piston rod (10) and the travel switch (9) is recorded as h, and the support wheel (16) is located at position B; When the left front wheel or the right front wheel enters a pit with a depth ≥ h, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod (10) to move downward and contact the corresponding travel switch (9), and the corresponding travel switch (9) sends a first forward movement instruction to the electric push rod (11), and the electric push rod (11) drives the support wheel (16) from position B to position A; When the left front wheel or the right front wheel passes over the pit, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod (10) to move upward and separate from the corresponding travel switch (9), and the corresponding travel switch (9) sends a backward movement instruction to the electric push rod (11), and the electric push rod (11) drives the support wheel (16) from position A to position C; When the left rear wheel or the right rear wheel enters the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod (10) to move downward and contact the corresponding travel switch (9); when the left rear wheel or the right rear wheel passes over the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod (10) to move upward and separate from the corresponding travel switch (9); the corresponding travel switch (9) sends a second forward movement instruction to the electric push rod (11), and the electric push rod (11) drives the support wheel (16) from position C back to position B; Alternatively, when the left front wheel or the right front wheel enters a pit with a depth ≥ h, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod (10) to move downward and contact the corresponding travel switch (9), and the corresponding travel switch (9) sends a forward movement instruction to the electric push rod (11), and the electric push rod (11) drives the support wheel (16) from position B to position A; When the left front wheel or the right front wheel passes over the pit, the left front wheel or the right front wheel drives the upper end of the corresponding piston rod (10) to move upward and separate from the corresponding travel switch (9), and the support wheel (16) remains in position A; When the left rear wheel or the right rear wheel enters the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod (10) to move downward and contact the corresponding travel switch (9), and the support wheel (16) remains in position A; When the left rear wheel or the right rear wheel passes over the pit, the left rear wheel or the right rear wheel drives the corresponding piston rod (10) to move upward and separate from the corresponding travel switch (9), and the corresponding travel switch (9) sends a forward and backward movement instruction to the electric push rod (11), and the electric push rod (11) drives the support wheel (16) from position A back to position B.

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