Wheel-leg-track combined type chassis with retractable wheel legs

Abstract

The invention relates to the field of engineering machinery, in particular to a wheel-leg-track composite chassis with retractable wheel legs, which comprises a chassis frame, tracks, wheel-leg arms and leg wheels, the tracks are respectively mounted on two sides of the chassis in the width direction, the wheel-leg arms are arranged between the tracks on two sides and connected with the chassis frame, and the leg wheels are connected with the wheel-leg arms. One end, not connected with the chassis frame, of each wheel leg arm is provided with a supporting leg wheel; the wheel-leg arms are movably installed on the chassis frame through the wheel-leg driving assemblies, and the wheel-leg driving assemblies drive the wheel-leg arms to extend towards the outer side of the chassis frame and can drive the wheel-leg arms to rotate relative to the chassis frame so as to adjust the installation angles of the wheel-leg arms relative to the chassis frame. The wheel leg arms of the chassis can retract into the chassis frame under the action of the wheel leg driving assemblies, the space of the top of the chassis frame is not occupied, the adaptability of the chassis can be improved, and the trafficability of equipment installed on the chassis when the equipment travels on some road sections with limited heights can also be improved.

Description

Technical Field

[0001] The invention relates to the field of engineering machinery, and in particular to a wheel-leg-track composite chassis with retractable wheels and legs. Background Art

[0002] Wheeled mobility is efficient, stable and easy to control, and is suitable for flat ground. However, in complex, rugged or unstructured environments, the mobility of wheeled robots is limited. In contrast, legged mobility has better adaptability and obstacle-crossing capabilities, but is usually slower and consumes more energy. Advantages of tracked chassis: Tracked chassis are widely used in off-road vehicles due to their good terrain adaptability and high traction. Tracks can evenly distribute the weight of the vehicle and reduce the pressure on the ground, thereby reducing the risk of ground penetration and vehicle sinking. In addition, tracks provide good support on soft soil, snow and other low-bearing-capacity ground. The tracked chassis composite wheel-leg design combines the advantages of both tracks and wheel-legs, providing higher terrain adaptability and mobility efficiency. This design enables robots or vehicles to maintain stable movement and operation in extreme environments such as rugged mountains, soft sand or muddy wetlands.

[0003] However, when the wheel-leg-track composite mobile mechanism in the prior art is converted from a wheel-leg type walking mode to a track type walking mode, it is usually necessary to lift the wheel legs upward to make the wheel legs off the ground. Lifting the wheel legs upward will result in insufficient position on the top of the chassis, thereby limiting the size and shape of the equipment installed on the chassis, and reducing the applicable scope of the chassis; or it is necessary to increase the height of the chassis to increase the applicable scope of the chassis. However, after increasing the height of the chassis, the height of the equipment installed on the chassis will increase during driving, and its passability on certain sections with limited height will be greatly reduced. Summary of the invention

[0004] In view of the above, it is necessary to provide a wheel-leg-track composite chassis with retractable wheels and legs, the wheel-leg arms of which can be retracted into the chassis frame without occupying the space on the top of the chassis frame.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a wheel-leg-track composite chassis with retractable wheels and legs, comprising a chassis frame, tracks, wheel-leg arms and outrigger wheels, the tracks are respectively installed on both sides of the chassis in the width direction, the wheel-leg arms are arranged between the tracks on both sides and are connected to the chassis frame, and the outrigger wheels are installed on one end of each wheel-leg arm that is not connected to the chassis frame; the wheel-leg arms are movably installed on the chassis frame through a wheel-leg driving assembly, and the wheel-leg driving assembly drives the wheel-leg arms to extend to the outside of the chassis frame and can drive the wheel-leg arms to rotate relative to the chassis frame to adjust the installation angle of the wheel-leg arms relative to the chassis frame.

[0006] Furthermore, the wheel-leg driving assembly includes a wheel-leg frame, a first hydraulic rod and an anti-skid fixing device for preventing the wheel-leg frame from sliding relative to the chassis frame; the wheel-leg frame is slidably mounted on the chassis frame, and the wheel-leg arm is rotatably mounted on the wheel-leg frame, and its rotation axis is parallel to the width direction of the chassis; two gears are arranged on the rotation axis at intervals, and the two gears are arranged on both sides of the wheel-leg arm, and each gear is meshed with a rack, wherein the rack meshed with one gear is located at the top of the gear, and the rack meshed with the other gear is located at the bottom of the gear; each rack is slidably connected to the wheel leg The frame comprises a first fixing member and a second fixing member, wherein the first fixing member is mounted on the chassis frame, and each rack is also connected to the movable end of the first hydraulic rod, and the fixed end of the hydraulic rod is mounted on the chassis frame; the anti-skid fixing device comprises a first fixing member and a second fixing member, the first fixing member is mounted on the chassis frame, and the second fixing member is mounted on the wheel-leg frame, and the second fixing member is opposite to the first fixing member under the action of the first hydraulic rod, and when the second fixing member is opposite to the first fixing member, the wheel-leg arm is located on the outside of the chassis frame; the second fixing member is detachably connected to the first fixing member under the driving action of the first hydraulic rod.

[0007] Further, the first fixing member is a first limit block; the second fixing member includes a second limit block, a limit pin, a first spring and a slide plate; the second limit block is installed on the wheel leg frame, and its bottom is located above the top of the first limit block; the limit pin is slidably arranged on the second limit block, and its sliding direction is respectively perpendicular to the rotation axis and the sliding direction of the wheel leg frame; the first spring is installed on the second limit block, one end of which is connected to the limit pin, and the other end is connected to the second limit block, and in the natural state of the first spring, the top of the limit pin is located above the top of the second limit block, and the bottom of the limit pin is located above the top of the first limit block; the slide plate is slidably installed on the wheel leg frame and is connected to the movable end of the first hydraulic rod, and the first hydraulic rod drives the slide plate to slide relative to the wheel leg frame, and during the sliding process, the slide plate abuts against the top of the limit pin to drive the limit pin to slide downward, and makes the bottom of the limit pin located below the top of the first limit block.

[0008] Furthermore, one end of the slide plate is connected to the first hydraulic rod, and the other end is an inclined opening, and the inclined surface of the inclined opening faces downward.

[0009] Furthermore, the second fixing member also includes a second spring, one end of the second spring is connected to the second limit block, and the other end is connected to the movable end of the first hydraulic rod. When the second spring is in a compressed state, the slide plate abuts against the top of the limit pin; when the second spring is in a natural state, the oblique slide plate is away from the limit pin.

[0010] Furthermore, a guide block is fixedly installed on the wheel leg frame, and the guide block is located between the limit pin and the first hydraulic rod. The guide block is provided with a guide groove for the slide plate to movably pass through. One end of the slide plate slides through the guide groove, and the other end is connected to the movable end of the first hydraulic rod.

[0011] Further, the first fixing part is a limiting hole; the second fixing part includes a second limiting block, a limiting nail, a first spring and a slide plate; the second limiting block is installed on the wheel leg frame, and its bottom is located above the top of the limiting hole; the limiting nail is slidably arranged on the second limiting block, and its sliding direction is respectively perpendicular to the rotation axis and the sliding direction of the wheel leg frame; the first spring is installed on the second limiting block, one end of which is connected to the limiting nail, and the other end is connected to the second limiting block. In the natural state of the first spring, the top of the limiting nail is located above the top of the second block, and the bottom of the limiting nail is located above the top of the limiting hole; the slide plate is slidably installed on the wheel leg frame and is connected to the movable end of the first hydraulic rod. The first hydraulic rod drives the slide plate to slide relative to the wheel leg frame. During the sliding process, the slide plate abuts against the top of the limiting nail to drive the limiting nail to slide downward, and makes the bottom of the limiting nail located below the top of the limiting hole.

[0012] Furthermore, it also includes a limit lock, which includes an open hole limit plate, a lock shell, a passive slider, an active slider, and a second hydraulic rod; the open hole limit plate is arranged on one side of the wheel leg arm and is installed on the wheel leg frame, the open hole limit plate is movably penetrated by the rotating shaft, and a plurality of lock holes are spaced apart thereon, and the plurality of lock holes are arranged around the circumference of the rotating shaft, and the distance from the center of each lock hole to the rotating shaft is the same; the lock shell is installed on the wheel leg arm, and a passive slider is slidably installed on the lock shell, and its sliding direction is parallel to the rotating shaft, and the distance from the passive slider to the rotating shaft is the same as the distance from the center of the lock hole to the rotating shaft; one end of the passive slider is located outside the lock shell, and the other end is located inside the lock shell, and is directly opposite to the active slider. , the other end of which is provided with a groove; the active slider is provided with a notch matching the groove, the active slider is slidably installed in the lock shell, and its sliding direction is perpendicular to the sliding direction of the passive slider, the active slider is connected to the movable end of the second hydraulic rod, and the fixed end of the second hydraulic rod is fixedly installed on the lock shell; when the movable end of the second hydraulic rod is extended, it drives the active slider to slide, so that the groove wall of the groove is inserted with the notch, thereby prompting the passive slider to slide, and the end of the passive slider located outside the lock shell is inserted into the lock hole; when the movable end of the second hydraulic rod is retracted, the active slider slides, and under the action of the notch, it drives the passive slider to slide, so that the end of the spare slider located outside the lock shell is out of the lock hole.

[0013] Furthermore, the active slider is inclined at one end surface facing the passive slider, and the inclined surface at the one end faces away from the side where the second hydraulic rod is located.

[0014] Furthermore, there are two said opening limit plates on the wheel-leg arm, and the two said opening limit plates are arranged on both sides of the wheel-leg arm; there are two said passive sliders in the lock housing, and each said passive slider is inserted into the lock hole on the opening limit plate on the same side under the action of the second hydraulic rod and the active slider.

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

[0016] 1. The present invention combines tracks, wheel-leg arms and outrigger wheels, and then under the action of the wheel-leg drive assembly and the track drive assembly, the equipment using the chassis can select different driving modes according to environmental requirements, and can walk and move on different terrains, with strong terrain adaptability and movement efficiency; in addition, when the present invention is converted from the wheel-leg walking mode to the track walking mode, the wheel-leg arms can be retracted to the inside of the chassis frame under the action of the wheel-leg drive assembly, and will not occupy the space on the top of the chassis frame, which can reduce the restrictions on the type, size, shape and other types of equipment installed on the chassis frame, and the height of the chassis itself does not need to be increased, which can not only improve the adaptability of the chassis, but also improve the passability of the equipment installed on the chassis when passing on certain sections with limited height; the wheel-leg arms can also extend out of the chassis frame under the action of the wheel-leg drive assembly, and the walking mode can be switched at any time.

[0017] 2. The wheel-leg driving assembly of the present invention comprises a wheel-leg frame, two first hydraulic rods and an anti-skid fixing device for preventing the wheel-leg frame from sliding relative to the chassis frame; the wheel-leg frame is slidably mounted on the chassis frame, and the wheel-leg arm is slidably mounted on the chassis frame through the wheel-leg frame. The wheel-leg frame slides relative to the chassis frame under the action of the two first hydraulic rods, and the wheel-leg arm extends out of the chassis frame under the action of sliding; and under the action of the two first hydraulic rods alternately pushing out or retracting, the two racks drive the gears to rotate, thereby driving the wheel-leg arm to rotate, and the required angle of the wheel-leg arm can be adjusted. In other words, the present invention can complete the process of extending the wheel-leg arm out of the chassis frame, retracting it into the chassis frame, and rotating the wheel-leg arm to a certain installation angle only through the same set of wheel-leg driving assemblies, and the structure is simple, and the operation is simpler and more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the wheel leg arm of the present invention retracted into the interior of the chassis frame.

[0019] Figure 2 It is a schematic diagram of the structure in which the wheel leg arm of the present invention extends out of the chassis frame.

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure after the top plate of the chassis frame is hidden in the present invention.

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure after the top plate of the chassis frame and one of the crawlers are hidden in the present invention.

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the present invention after the top plate of the chassis frame, one of the crawlers, a first hydraulic rod and a wheel arm bracket are hidden.

[0023] Figure 6 yes Figure 3 Enlarged view of point A in the middle.

[0024] Figure 7 It is a three-dimensional structural schematic diagram of a wheel-leg driving assembly in the present invention.

[0025] Figure 8 It is a three-dimensional structural schematic diagram of a wheel-leg driving assembly in the present invention from another angle.

[0026] Fig. 9 yes Figure 8 Enlarged view of point B in the middle.

[0027] Fig.10 It is a schematic structural diagram of the limit lock of the present invention.

[0028] Fig.11 It is a connection diagram of the active slider and the driven slider in the limit lock of the present invention.

[0029] Fig.12 A schematic diagram of the structure of the first fixing member in Example 2

[0030] Main component symbols

[0031] In the figure: 1- chassis frame, 11- top plate, 2- crawler track,

[0032] 3-wheel leg arm, 31-wheel leg upper arm, 32-wheel leg lower arm,

[0033] 34-wheel arm bracket, 341-gear, 342-rack,

[0034] 4-outrigger wheels,

[0035] 51-wheel leg frame, 511-sliding bearing, 512-sliding rod, 513-guide block, 5131-guide groove,

[0036] 52-First hydraulic rod

[0037] 5311-first limit block, 5312-limit hole,

[0038] 5321-second limit block, 5322-limit pin, 5323-first spring, 5324-slide plate, 53241-push plate, 5325-second spring,

[0039] 6-limit lock, 61-opening limit plate, 62-lock hole, 63-lock housing, 64-passive slider, 641-groove, 65-active slider, 651-notch, 66-second hydraulic rod.

[0040] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0041] See also Figures 1 to 11 .

[0042] Example 1

[0043] In a preferred embodiment of the present invention, a wheel-leg-track 2 composite chassis with retractable wheels and legs comprises a chassis frame 1, a track 2, a wheel-leg arm 3 and a leg wheel 4. The tracks 2 are respectively installed on both sides of the chassis in the width direction. The installation and driving of the tracks 2 are commonly used technical means in the field. Those skilled in the art can choose to use them as needed. They are not the key structure of this embodiment and will not be described in detail here. The wheel-leg arm 3 is arranged between the tracks 2 on both sides and is connected to the chassis frame 1. The leg wheel 4 is installed at one end of each wheel-leg arm 3 that is not connected to the chassis frame 1. The wheel-leg arm 3 is movably installed on the chassis frame 1 through a wheel-leg drive assembly. The wheel-leg drive assembly drives the wheel-leg arm 3 to extend to the outside of the chassis frame 1 and can drive the wheel-leg arm 3 to rotate relative to the chassis frame 1 to adjust the installation angle of the wheel-leg arm 3 relative to the chassis frame 1. The crawler tracks 2, wheel-leg arms 3 and leg wheels 4 are combined, and then under the action of the wheel-leg drive assembly and the crawler track 2 drive assembly, the equipment using the chassis can choose different driving modes according to environmental requirements, and can walk and move on different terrains, with strong terrain adaptability and movement efficiency; in addition, in this embodiment, when the wheel-leg walking mode is converted to the crawler track 2 walking mode, the wheel-leg arms 3 can be retracted to the inside of the chassis frame 1 under the action of the wheel-leg drive assembly, and will not occupy the space of the top plate 11 of the chassis frame 1, which can reduce the restrictions on the type, size, shape, etc. of the equipment installed on the chassis frame 1, and the height of the chassis itself does not need to be increased, which can not only improve the adaptability of the chassis, but also improve the passage of the equipment installed on the chassis when passing on certain sections with limited height; the wheel-leg arms 3 can also extend out of the chassis frame 1 under the action of the wheel-leg drive assembly, and the walking mode can be switched at any time.

[0044] Preferably, the wheel-leg driving assembly comprises a wheel-leg frame 51, a first hydraulic rod 52 and an anti-skid fixing device for preventing the wheel-leg frame 51 from sliding relative to the chassis frame 1; the wheel-leg frame 51 is slidably mounted on the chassis frame 1, specifically, a sliding bearing 511 is installed at the bottom of the wheel-leg frame 51, the sliding bearing 511 is slidably connected to a sliding rod 512, the sliding rod 512 is installed on the chassis frame 1, and the wheel-leg frame 51 is slidably mounted on the chassis frame 1 by the sliding bearing 511 sliding on the sliding rod 512. In addition, the wheel-leg arm 3 is rotatably mounted on the wheel-leg frame 51, and its rotation axis is parallel to the width direction of the chassis 1. In this embodiment, the wheel leg arm 3 is a telescopic structure, the fixed end of the wheel leg arm 3 is rotatably mounted on the wheel leg frame 51, and the support leg wheel 4 is installed on the telescopic end of the wheel leg arm 3; specifically, the wheel leg arm 3 includes a wheel leg upper arm 31, a wheel leg lower arm 32 and a wheel leg hydraulic rod, the wheel leg upper arm 31 is movably mounted outside the wheel leg lower arm 32 and is slidably connected to the wheel leg lower arm 32, the wheel leg hydraulic rod is located inside the wheel leg arm 3, the fixed end of which is connected to the wheel leg upper arm 31, and the movable end is connected to the wheel leg lower arm 32, the wheel leg lower arm 32 is slidably connected to the wheel leg upper arm 31 under the telescopic action of the wheel leg hydraulic rod, and the wheel leg lower arm 32 is connected to the support leg wheel 4 at one end located on the outer side of the wheel leg upper arm 31.

[0045] In this embodiment, the wheel leg arm 3 is slidably mounted on the chassis frame 1 through the wheel leg frame 51. Specifically, two gears 341 are arranged on the rotating shaft at intervals. The two gears 341 are arranged on both sides of the wheel leg arm 3. Each gear 341 is meshed with a rack 342. The rack 342 meshed with one gear 341 is located at the top of the gear 341, and the rack 342 meshed with the other gear 341 is located at the bottom of the gear 341. Each rack 342 is slidably connected to the wheel leg frame 51, and each rack 342 is also connected to the movable end of the first hydraulic rod 52, and the fixed end of the first hydraulic rod 52 is mounted on the chassis frame 1. When the movable ends of the first hydraulic rods 52 connected to the two racks 342 are pushed out at the same time, since the racks 342 are respectively located at the top and bottom of the gear 341, the movements are offset, and the gear 341 cannot drive the wheel leg arm 3 to rotate. At this time, the wheel leg frame 51 slides along the sliding rod 512 under the action of the two first hydraulic rods 52, and the wheel leg arm 3 extends out of the chassis frame 1 under the sliding action. After the wheel leg arm 3 is fully extended, the wheel leg frame 51 cannot continue to slide in the anti-slip fixing device. At this time, the movable end of one of the first hydraulic rods 52 is pushed out, and the other first hydraulic rod 52 returns The first hydraulic rod 52 retracts and pushes out the rack 342 connected to it, thereby driving the gear 341 to rotate, and then driving the wheel-leg arm 3 to rotate. At the same time, the other first hydraulic rod 52 retracts, resulting in the other rack 342 not being subjected to the pressure of the first hydraulic rod 52, and the other rack 342 can retreat with the rotation of the wheel-leg arm 3; in this way, under the action of the alternating push-out or retraction of the two first hydraulic rods 52, the two racks 342 drive the gear 341 to rotate, thereby driving the wheel-leg arm 3 to rotate, and the required angle of the wheel-leg arm 3 can be adjusted. In addition, in this embodiment, two wheel arm brackets 34 for placing the gear 341 and the rack 342 and connecting the wheel leg arm 3 are installed on the wheel leg arm 3. The two wheel arm brackets 34 are arranged on both sides of the wheel leg arm 3. The wheel arm brackets 34 include two U-shaped plates. The U-shaped openings of the two U-shaped plates face each other. Two cavities are formed between the two U-shaped plates by a spacer plate. The gear 341 and the rack 342 are movably installed in one cavity, and a cross shaft head is movably installed in the other cavity. The cross shaft head is key-connected to the gear 341. When the two wheel arm brackets 34 are installed on the wheel leg frame 51, the two cavities with the cross shaft heads installed are close to each other, and the two cross shaft heads are key-connected to the fixed end of the wheel leg arm 3. By setting the wheel arm brackets 34, it is possible to avoid the gear 341 and the rack 342 from being exposed to the outside, and reduce the situation where the gear 341 is damaged by collision.

[0046] Preferably, the anti-slip fixing device includes a first fixing member and a second fixing member, the first fixing member is installed on the chassis frame 1, and the second fixing member is installed on the wheel-leg frame 51, and the second fixing member is opposite to the first fixing member under the action of the first hydraulic rod 52, and when the second fixing member is opposite to the first fixing member, the wheel-leg arm 3 is located on the outside of the chassis frame 1; the second fixing member is detachably connected to the first fixing member under the driving action of the first hydraulic rod 52, and when the second fixing member is connected to the first fixing member, the wheel-leg frame 51 cannot slide relative to the chassis frame 1. In this embodiment, the first fixing member is a first limiting block 5311; the second fixing member includes a second limiting block 5321, a limiting pin 5322, a first spring 5323 and a slide plate 5324; the second limiting block 5321 is installed on the wheel leg frame 51, and its bottom is located above the top of the first limiting block 5311; the limiting pin 5322 is slidably set on the second limiting block 5321, and its sliding direction is perpendicular to the rotation axis and the sliding direction of the wheel leg frame 51; the first spring 5323 is installed on the second limiting block 5321, and one of the limiting pins 5322 and the first spring 5323 are respectively installed on the second limiting block 5321. One end of the slide plate 5324 is connected to the limiting nail 5322, and the other end is connected to the second limiting block 5321. When the first spring 5323 is in a natural state, the top of the limiting nail 5322 is located above the top of the second limiting block, and the bottom of the limiting nail 5322 is located above the top of the first limiting block 5311; the slide plate 5324 is slidably mounted on the wheel leg frame 51 and is connected to the movable end of the first hydraulic rod 52. Specifically, one end of the slide plate 5324 is connected to the first hydraulic rod 52, and the other end is an inclined opening, and the inclined surface of the inclined opening faces downward. When the force driven by the first hydraulic rod 52 pushes forward, the slide plate 5324 slides relative to the wheel leg frame 51. During the sliding process, the inclined mouth of the slide plate 5324 abuts against the top of the limiting nail 5322, and the downward pressure component drives the limiting nail 5322 to slide downward, and makes the bottom of the limiting nail 5322 located below the top of the first limiting block 5311. After the limiting nail 5322 and the first limiting block 5311 contact each other, the bottom of the limiting nail 5322 is located below the top of the first limiting block 5311 and is supported by the first limiting block 5311, and cannot slide forward, thereby achieving the purpose of preventing the wheel leg frame 51 from sliding forward; when the first hydraulic rod 52 retracts, the slide plate 5324 retreats away from the top of the limiting nail 5322, and the limiting nail 5322 is pushed up by the elastic force of the first spring 5323 and returns to its original position. Preferably, a guide block 513 is fixedly installed on the wheel leg frame 51, and the guide block 513 is located between the limiting nail 5322 and the first hydraulic rod 52. The guide block 513 is provided with a guide groove 5131 for the slide plate 5324 to movably pass through. One end of the slide plate 5324 slides through the guide groove 5131, and the other end is connected to the movable end of the first hydraulic rod 52.The slide plate 5324 is acted upon by the first hydraulic rod 52 so that it can slide more stably under the action of the guide block 513 .

[0047] In addition, in the present embodiment, one end of the slide plate 5324 without the inclined opening is connected to a push plate 53241, one side surface of the push plate 53241 is fixedly connected to the slide plate 5324, and the side surface can also be detachably contacted with the rack 342, and the movable end of the first hydraulic rod 52 is hinged on the other side surface of the push plate 53241, and the fixed end of the first hydraulic rod 52 is mounted on the chassis frame 1 through a cover plate. Under the action of the first hydraulic rod 52, the push plate 53241 is pushed to move, thereby driving the slide plate 5324 to slide relative to the wheel leg frame 51. When the push plate 53241 is pushed to a certain position, the bottom of the limit pin 5322 is located below the top of the first limit block 5311 under the action of the slide plate 5324, and the wheel leg frame 51 cannot slide relative to the chassis frame 1. At this time, the first hydraulic rod 52 continues to extend, and the push plate 53241 abuts against the rack 342 and pushes the rack 342 to move forward, thereby driving the gear 341 to rotate, and then driving the wheel leg arm 3 to rotate. It can be seen from the above description that in this embodiment, each A first hydraulic rod 52 is correspondingly connected to a push plate 53241, that is, the two first hydraulic push rods can be alternately pushed out or retracted to drive the push plate 53241 to move, that is, when one of the first hydraulic rods 52 is pushed out, the other first hydraulic rod 52 is retracted, and when the other first hydraulic rod 52 is retracted, the push plate 53241 connected to the other first hydraulic rod 52 is released from the connection with the rack 342, resulting in the rack 342 being free of force, and the rack 342 can retreat with the rotation of the wheel leg arm 3; when the two first hydraulic rods 52 are alternately pushed out or retracted, driving the wheel leg arm 3 to rotate, the required angle of the wheel leg arm 3 can be adjusted. Preferably, the second fixing member further comprises a second spring 5325, one end of the second spring 5325 is connected to the second limiting block 5321, and the other end is connected to the movable end of the first hydraulic rod 52. When the second spring 5325 is in a compressed state, the slide plate 5324 abuts against the top of the limiting pin 5322; when the second spring 5325 is in a natural state, the oblique slide plate 5324 is away from the limiting pin 5322. When the first hydraulic rod 52 is extended, the push plate 53241 and the slide plate 5324 slide forward under the force of the first hydraulic rod 52, and the second spring 5325 is squeezed and compressed. When the first hydraulic rod 52 is retracted, the pressure acting on the second spring 5325 is removed, and the slide plate 5324 and the push plate 53241 return to their original positions under the elastic force of the second spring 5325.

[0048] In order to fix the angle of the wheel-leg arm 3 rotated to a certain installation angle, the wheel-leg-track 2 composite chassis with retractable wheel-legs described in this embodiment also includes a limit lock 6, and the limit lock 6 includes a perforated limit plate 61, a lock shell 63, a passive slider 64, an active slider 65, and a second hydraulic rod 66; the perforated limit plate 61 is arranged on one side of the wheel-leg arm 3 and is installed on the wheel-leg frame 51, and the perforated limit plate 61 is movably penetrated by the rotating shaft, and a plurality of lock holes 62 are spaced apart thereon, and the plurality of lock holes 62 are arranged around the circumference of the rotating shaft, and each lock hole 62 has a The distance from the center to the rotation axis is the same; the lock shell 63 is installed on the wheel leg arm 3, and a passive slider 64 is slidably installed on the lock shell 63, and its sliding direction is parallel to the rotation axis, and the distance from the passive slider 64 to the rotation axis is the same as the distance from the center of the lock hole 62 to the rotation axis; one end of the passive slider 64 is located outside the lock shell 63, and the other end is located inside the lock shell 63, and is connected to the active slider 65, which is driven to slide by the active slider, and the sliding directions of the two are perpendicular, and the end of the passive slider 64 located outside the lock shell 63 is inserted into the lock hole 62, or detached from the lock hole. Specifically, a groove 641 is provided on the other end of the passive slider 64, and a notch 651 matching the groove 641 is provided on the active slider 65. The active slider 65 is slidably installed in the lock shell 63, and its sliding direction is perpendicular to the sliding direction of the passive slider 64. The active slider 65 is connected to the movable end of the second hydraulic rod 66, and the fixed end of the second hydraulic rod 66 is fixedly installed on the lock shell 63; when the movable end of the second hydraulic rod 66 is extended, it drives the active slider 65 to slide, so that the groove wall of the groove 641 is inserted with the notch 651, thereby prompting the passive slider 64 to slide, and the end of the passive slider 64 located outside the lock shell 63 is inserted into the lock hole 62; when the movable end of the second hydraulic rod 66 is retracted, the active slider 65 slides, and under the action of the notch 651, it drives the passive slider 64 to slide, so that the end of the standby slider located outside the lock shell 63 is detached from the lock hole 62. The passive slider 64 can be inserted into a certain lock hole 62 according to the required angle. After the passive slider 64 is inserted into the lock hole 62, the wheel leg arm 3 cannot rotate under the action of the hydraulic rod, and its installation angle remains fixed; when the installation angle of the wheel leg arm 3 needs to be adjusted again, the passive slider 64 is withdrawn from the lock hole 62 and then the wheel leg arm 3 is adjusted to rotate to a certain angle according to the above method and then locked. Preferably, the active slider 65 is inclined at one end face facing the passive slider 64, and the inclined surface of the end faces away from the side where the second hydraulic rod 66 is located. Under the action of the inclined surface, the passive slider 64 can be slid by applying a small force, which makes it more convenient to insert the passive slider 64 into the lock hole 62.More preferably, two opening limit plates 61 are provided on the wheel leg arm 3, and the two opening limit plates 61 are provided on both sides of the wheel leg arm 3; two passive sliders 64 are provided in the lock housing 63, and each passive slider 64 is correspondingly inserted into the locking hole 62 on the opening limit plate 61 on the same side thereof under the action of the second hydraulic rod 66 and the active slider 65. When the active slider 65 receives the action of the second hydraulic rod 66, the two passive sliders 64 are simultaneously inserted into the locking holes 62 on the sides thereof, and the wheel leg arm 3 is locked at the same time, thereby enhancing the locking stability.

[0049] Example 2

[0050] The difference between this embodiment and embodiment 1 is only the first fixing member. Fig.12 , specifically:

[0051] In this embodiment, the first fixing member is a limiting hole 5312; the second fixing member includes a second limiting block 5321, a limiting nail 5322, a first spring 5323 and a slide plate 5324; the second limiting block 5321 is installed on the wheel leg frame 51, and its bottom is located above the top of the limiting hole 5312; the limiting nail 5322 is slidably set on the second limiting block 5321, and its sliding direction is perpendicular to the rotation axis and the sliding direction of the wheel leg frame 51; the first spring 5323 is installed on the second limiting block 5321, one end of which is connected to the limiting nail 5322, and the other end is connected to the second limiting block 5321 , when the first spring 5323 is in a natural state, the top of the limiting pin 5322 is located above the top of the second block, and the bottom of the limiting pin 5322 is located above the top of the limiting hole 5312; the slide plate 5324 is slidably installed on the wheel leg frame 51 and is connected to the movable end of the first hydraulic rod 52. The first hydraulic rod 52 drives the slide plate 5324 to slide relative to the wheel leg frame 51. During the sliding process, the slide plate 5324 abuts against the top of the limiting pin 5322 to drive the limiting pin 5322 to slide downward, and makes the bottom of the limiting pin 5322 located below the top of the limiting hole 5312. When the force driven by the first hydraulic rod 52 pushes forward, the slide plate 5324 slides relative to the wheel leg frame 51. During the sliding process, the inclined mouth of the slide plate 5324 abuts against the top of the limiting nail 5322, and the downward pressure component drives the limiting nail 5322 to slide downward, and makes the bottom of the limiting nail 5322 located below the top of the first limiting block 5311 and located in the limiting hole 5312 to prevent the wheel leg frame 51 from sliding relative to the chassis frame 1; when the first hydraulic rod 52 retracts, the slide plate 5324 retreats away from the top of the limiting nail 5322, and the limiting nail 5322 is pushed up by the elastic force of the first spring 5323 and returns to its original position.

[0052] The above description is a detailed description of the preferred feasible embodiments of the present invention, but the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modified changes completed under the technical spirit suggested by the present invention should fall within the patent scope covered by the present invention.

Claims

1. A wheel-leg-track composite chassis with retractable wheels and legs, comprising a chassis frame, tracks, wheel-leg arms and outrigger wheels, wherein the tracks are respectively installed on both sides of the chassis in the width direction, the wheel-leg arms are arranged between the tracks on both sides and connected to the chassis frame, and the outrigger wheels are installed on one end of each wheel-leg arm that is not connected to the chassis frame; characterized in that: The wheel-leg arm is movably mounted on the chassis frame via a wheel-leg driving assembly, and the wheel-leg driving assembly drives the wheel-leg arm to extend outward from the chassis frame and can drive the wheel-leg arm to rotate relative to the chassis frame to adjust the installation angle of the wheel-leg arm relative to the chassis frame.

2. The wheel-leg-track composite chassis with retractable wheels and legs according to claim 1, characterized in that: The wheel-leg driving assembly comprises a wheel-leg frame, a first hydraulic rod and an anti-skid fixing device for preventing the wheel-leg frame from sliding relative to the chassis frame; the wheel-leg frame is slidably mounted on the chassis frame, and the wheel-leg arm is rotatably mounted on the wheel-leg frame, and its rotation axis is parallel to the width direction of the chassis; two gears are arranged at intervals on the rotation axis, and the two gears are arranged on both sides of the wheel-leg arm, and each gear is meshed with a rack, and the rack meshed with one gear is located at the top of the gear, and the rack meshed with the other gear is located at the bottom of the gear; each rack is slidably connected to the wheel-leg frame, and each rack is also connected to the movable end of the first hydraulic rod, and the fixed end of the first hydraulic rod is mounted on the chassis frame; the anti-skid fixing device comprises a first fixing member and a second fixing member, the first fixing member is mounted on the chassis frame, and the second fixing member is mounted on the wheel-leg frame, and the second fixing member is opposite to the first fixing member under the action of the first hydraulic rod, and when the second fixing member is opposite to the first fixing member, the wheel-leg arm is located on the outside of the chassis frame; the second fixing member is detachably connected to the first fixing member under the driving action of the first hydraulic rod.

3. The wheel-leg-track composite chassis with retractable wheels and legs according to claim 2, characterized in that: The first fixing member is a first limit block; the second fixing member includes a second limit block, a limit pin, a first spring and a slide plate; the second limit block is installed on the wheel leg frame, and its bottom is located above the top of the first limit block; the limit pin is slidably arranged on the second limit block, and its sliding direction is respectively perpendicular to the rotation axis and the sliding direction of the wheel leg frame; the first spring is installed on the second limit block, one end of which is connected to the limit pin, and the other end is connected to the second limit block, and in the natural state of the first spring, the top of the limit pin is located above the top of the second block, and the bottom of the limit pin is located above the top of the first limit block; the slide plate is slidably installed on the wheel leg frame and is connected to the movable end of the first hydraulic rod, and the first hydraulic rod drives the slide plate to slide relative to the wheel leg frame, and during the sliding process, the slide plate abuts against the top of the limit pin to drive the limit pin to slide downward, and makes the bottom of the limit pin located below the top of the first limit block.

4. The wheel-leg-track composite chassis with retractable wheels and legs according to claim 3, characterized in that: One end of the slide plate is connected to the first hydraulic rod, and the other end is an inclined opening, wherein the inclined surface of the inclined opening faces downward.

5. The wheel-leg-track composite chassis with retractable wheels and legs according to claim 3, characterized in that: The second fixing member also includes a second spring, one end of the second spring is connected to the second limit block, and the other end is connected to the movable end of the first hydraulic rod. When the second spring is in a compressed state, the slide plate abuts against the top of the limit pin; when the second spring is in a natural state, the oblique slide plate is away from the limit pin.

6. The wheel-leg-track composite chassis with retractable wheels and legs according to claim 3, characterized in that: A guide block is fixedly installed on the wheel leg frame, and the guide block is located between the limiting nail and the first hydraulic rod. A guide groove for the slide plate to movably pass through is opened on the guide block. One end of the slide plate slides through the guide groove, and the other end is connected to the movable end of the first hydraulic rod.

7. The wheel-leg-track composite chassis with retractable wheels and legs according to claim 2, characterized in that: The first fixing part is a limiting hole; the second fixing part includes a second limiting block, a limiting nail, a first spring and a slide plate; the second limiting block is installed on the wheel leg frame, and its bottom is located above the top of the limiting hole; the limiting nail is slidably arranged on the second limiting block, and its sliding direction is respectively perpendicular to the rotation axis and the sliding direction of the wheel leg frame; the first spring is installed on the second limiting block, one end of which is connected to the limiting nail, and the other end is connected to the second limiting block, and in the natural state of the first spring, the top of the limiting nail is located above the top of the second limiting block, and the bottom of the limiting nail is located above the top of the limiting hole; the slide plate is slidably installed on the wheel leg frame and is connected to the movable end of the first hydraulic rod, and the first hydraulic rod drives the slide plate to slide relative to the wheel leg frame, and during the sliding process, the slide plate abuts against the top of the limiting nail to drive the limiting nail to slide downward, and makes the bottom of the limiting nail located below the top of the limiting hole.

8. The wheel-leg-track composite chassis with retractable wheels and legs according to claim 1, characterized in that: It also includes a limit lock, which includes an open hole limit plate, a lock shell, a passive slider, an active slider, and a second hydraulic rod; the open hole limit plate is arranged on one side of the wheel leg arm and is installed on the wheel leg frame, the open hole limit plate is movably penetrated by the rotating shaft, and a plurality of lock holes are spaced apart on it, and the plurality of lock holes are arranged around the circumference of the rotating shaft, and the distance from the center of each lock hole to the rotating shaft is the same; the lock shell is installed on the wheel leg arm, and a passive slider is slidably installed on the lock shell, and its sliding direction is parallel to the rotating shaft, and the distance from the passive slider to the rotating shaft is the same as the distance from the center of the lock hole to the rotating shaft; one end of the passive slider is located outside the lock shell, and the other end is located inside the lock shell and is directly opposite to the active slider, and the other end A groove is provided on one end; a notch matching the groove is provided on the active slider, the active slider is slidably installed in the lock shell, and its sliding direction is perpendicular to the sliding direction of the passive slider, the active slider is connected to the movable end of the second hydraulic rod, and the fixed end of the second hydraulic rod is fixedly installed on the lock shell; when the movable end of the second hydraulic rod is extended, it drives the active slider to slide, so that the groove wall of the groove is inserted with the notch, thereby prompting the passive slider to slide, and the end of the passive slider located outside the lock shell is inserted into the lock hole; when the movable end of the second hydraulic rod is retracted, the active slider slides, and under the action of the notch, it drives the passive slider to slide, so that the end of the spare slider located outside the lock shell is out of the lock hole.

9. The wheel-leg-track composite chassis with retractable wheels and legs according to claim 8, characterized in that: The active slider is inclined at one end surface facing the passive slider, and the inclined surface at the one end faces away from the side where the second hydraulic rod is located.

10. The wheel-leg-track composite chassis with retractable wheels and legs according to claim 8, characterized in that: There are two hole limit plates on the wheel-leg arm, and the two hole limit plates are arranged on both sides of the wheel-leg arm; there are two passive sliders in the lock housing, and each passive slider is inserted into the lock hole on the hole limit plate on the same side under the action of the second hydraulic rod and the active slider.

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