Wheel type material grabbing machine axle distance adjusting device and method and wheel type material grabbing machine

Abstract

The invention provides a wheel type material grabbing machine axle distance adjusting device and method and a wheel type material grabbing machine, and belongs to the field of engineering machinery, the wheel type material grabbing machine axle distance adjusting device comprises a synchronizing device and a driving device, the synchronizing device is connected with a front steering drive axle and suspension oil cylinders on the two sides of a material grabbing machine frame to form a whole, and the driving device drives the whole to move in the axial direction of a pin shaft; wherein the pin shaft is a coupling piece of the suspension oil cylinder and the material grabbing machine frame and a coupling piece of the front steering drive axle and the material grabbing machine frame. The front steering drive axle and the suspension oil cylinder are jointly connected to the frame of the material grabbing machine through the synchronizing device in a pin shaft mode, synchronous adjustment of the front steering drive axle and the suspension oil cylinder is achieved, and when the wheel type material grabbing machine travels to pass through a narrow site, a driver can operate the wheel base adjusting device to reduce the wheel base of the wheel type material grabbing machine. Therefore, the turning radius of the vehicle is reduced, and the passing requirement under special sites is met.

Description

Technical Field

[0001] The invention relates to a wheel base adjustment device and method for a wheeled material grabber and the wheeled material grabber, belonging to the field of engineering machinery. Background Art

[0002] Wheeled grabbers are widely used in the material handling industry. They can quickly handle materials in steel mills, ports, docks, railways and other places. Compared with crawler grabbers, wheeled grabbers have the advantages of fast travel speed, no damage to the road surface, and the ability to move over long distances by themselves.

[0003] The chassis of a wheeled material grabber generally has two front and rear drive axles. There are two steering modes for existing wheeled material grabbers: two-wheel steering (front wheel steering) and four-wheel steering (all-wheel steering). Among them, the front drive axle is a steering drive axle and the rear drive axle is a rigid drive axle for a two-wheel steering system, and the front and rear drive axles are both steering drive axles for a four-wheel steering system. The rear drive axle is rigidly connected to the frame of the material grabber through bolts, and the center of the shell of the front steering drive axle is hinged on the frame through a pin. At the same time, suspension cylinders are installed on both sides of the front steering drive axle. The cylinder shell is fixed to the side of the frame by bolts, and the end of the piston rod is in free contact with the shell of the drive axle.

[0004] The existing four-wheel steering wheel grabber has the characteristics of flexible steering and small turning radius, but compared with the rigid drive axle, the steering drive axle has a complex structure and high cost. The two-wheel steering wheel grabber has a simpler structure and lower cost, but has a fixed wheelbase and a relatively large turning radius, and cannot or is difficult to pass through some narrow places. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a wheeled grabber wheelbase adjustment device, method and wheeled grabber, which solve the existing problems of fixed wheelbase and large turning radius based on the simple structure of a front wheel steering grabber.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In the first aspect, the present invention provides a wheelbase adjustment device for a wheeled material grabber, comprising: a synchronizing device and a driving device, wherein the synchronizing device is respectively connected to the suspension cylinders on both sides of the front steering drive axle and the material grabber frame to form a whole, and the driving device drives the whole to move along the axial direction of the pin shaft; wherein the pin shaft is the shaft connection between the suspension cylinder and the material grabber frame, and the front steering drive axle and the material grabber frame.

[0007] Furthermore, the synchronization device and the front steering drive axle are commonly pin-connected to the grabber frame; the synchronization device is commonly pin-connected to the upper holes of the suspension cylinders on both sides of the grabber frame on both sides; the lower holes of the suspension cylinders on both sides of the grabber frame are respectively pin-connected to the two ends of the front steering drive axle.

[0008] Furthermore, a locking hole is provided on the synchronization device, and a corresponding plurality of adjustment holes are provided on the grabber frame; when the whole moves to a preset position along the axial direction of the pin shaft, the locking hole on the synchronization device is mechanically fixed to the currently corresponding adjustment hole on the grabber frame to realize the wheelbase locking function.

[0009] Furthermore, the driving device includes: a controller, a driving unit and a position identification component; the controller controls the driving unit to move according to an operation signal, and controls the driving unit to stop moving according to an identification signal from the position identification component.

[0010] Furthermore, the position identification component is a sensing component and a proximity switch that work together, the sensing component moves with the driving part, and the proximity switch is installed on the gripper frame.

[0011] Furthermore, the controller is also connected to proximity switches arranged on the four leg cross beams of the grabber, so as to detect the status of the four leg arms of the grabber before the device adjusts the wheelbase; wherein the proximity switches on the four leg cross beams are respectively paired with the induction probes on the corresponding leg arms.

[0012] In a second aspect, the present invention provides a method for adjusting the wheelbase of a wheeled grabber, which uses the device described in the first aspect to adjust the wheelbase, and the method includes: in response to receiving a wheelbase adjustment instruction, the driving device executes driving to drive the synchronization device, the front steering drive axle and the suspension cylinder to move together along the axial direction of the pin shaft from an initial position; in response to detecting that the synchronization device, the front steering drive axle and the suspension cylinder move to a preset target position, the driving device stops driving to maintain the synchronization device, the front steering drive axle and the suspension cylinder at the preset target position; in response to receiving a wheelbase recovery instruction, the driving device executes driving to drive the synchronization device, the front steering drive axle and the suspension cylinder to move together in the opposite direction of the rear drive axle of the grabber; in response to detecting that the synchronization device, the front steering drive axle and the suspension cylinder return to the initial position, the driving device stops driving to maintain the synchronization device, the front steering drive axle and the suspension cylinder at the initial position.

[0013] Furthermore, before the driving device executes driving, it also includes: detecting the status of the four leg arms of the grabber; in response to the four leg arms of the grabber being in a supporting state, the driving device executes driving; in response to at least one leg arm being in a retracted state, the driving device is prohibited from executing driving, and the status of the four leg arms of the grabber is continuously detected.

[0014] In a third aspect, the present invention provides a wheeled material grabber, wherein the wheeled material grabber comprises the wheelbase adjustment device of the wheeled material grabber as described in the first aspect.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The wheelbase adjustment device of the wheeled grabber provided by the present invention connects the front steering drive axle and the suspension cylinder to the grabber frame through a synchronization device, thereby realizing synchronous adjustment of the front steering drive axle and the suspension cylinder. Both the front steering drive axle and the suspension cylinder can adjust the distance between them and the grabber frame under the drive of the driving device; the wheelbase adjustment is realized in a low-cost two-wheel steering system. When the wheeled grabber is driving through a narrow site, the driver can operate the wheelbase adjustment device to reduce the wheelbase of the wheeled grabber, thereby reducing the turning radius of the vehicle and meeting the passing requirements in special sites, without considering the passing requirements of some narrow sites and adopting a wheeled grabber equipped with a four-wheel steering system with higher costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front cross-sectional view of the suspension cylinder in Embodiment 1 of the present invention; Figure 2 It is a side sectional view of the suspension cylinder in Embodiment 1 of the present invention; Among them, 1-1 upper mounting seat; 1-2 material grabber frame; 1-3 lower mounting seat; 1-4 front steering drive axle; 1-5 upper hole of suspension cylinder; 1-6 suspension cylinder; 1-7 lower hole of suspension cylinder; Figure 3 It is a front cross-sectional view of the front steering drive axle in Embodiment 1 of the present invention; Figure 4 It is a side sectional view of the front steering drive axle in Embodiment 1 of the present invention; Among them, 2-1 is the front steering drive axle housing; 2-2 is the mounting hole; 2-3 is the material grabber frame; 2-4 is the suspension cylinder; Figure 5 is a front cross-sectional view of a T-shaped fixing frame in Example 1 of the present invention; Figure 6 is a side cross-sectional view of a T-shaped fixing frame in Example 1 of the present invention; Among them, 3-1 is a cross beam; 3-2 is a longitudinal beam; 3-3 is a cylinder mounting seat; 3-4 is a first induction plate; 3-5 is a second induction plate; 3-6 is an ear plate; Figure 7It is a front cross-sectional view of the wheelbase adjustment device of the wheel type material grabber in Example 1 of the present invention; Figure 8 It is a side sectional view of the wheelbase adjustment device of the wheel type material grabber in Example 1 of the present invention; Among them, 4-1 is the material grabber frame; 4-2 is the upper mounting seat; 4-3 is the pin at the upper hole of the suspension cylinder; 4-4 is the lower mounting seat; 4-5 is the suspension cylinder; 4-6 is the front steering drive axle; 4-7 is the mounting seat of the front steering drive axle on the material grabber frame; 4-8 is the pin at the mounting hole; 4-9 is the connecting frame; 4-10 is the wheelbase adjustment cylinder; 4-11 is the front mounting seat of the wheelbase adjustment cylinder; 4-12 is the rear mounting seat of the wheelbase adjustment cylinder; 4-13 is the proximity switch; 4-14 is the induction plate; Fig. 9 This is a schematic diagram of a wheeled material grabber control system provided in Example 3 of the present invention; Among them, 5-1 wheelbase reduction position proximity switch, 5-2 wheelbase increase position proximity switch, 5-3 outrigger position proximity switch 4#, 5-4 outrigger position proximity switch 3#, 5-5 outrigger position proximity switch 2#, 5-6 outrigger position proximity switch 1#, 5-7 vehicle controller, 5-8 vehicle display screen, 5-9 wheelbase adjustment enable button, 5-10 wheelbase adjustment operation button, 5-11 outrigger telescopic operation button, 5-12 outrigger cylinder extension solenoid valve Y1, 5-13 outrigger cylinder retraction solenoid valve Y2, 5-14 wheelbase adjustment cylinder extension solenoid valve Y3, 5-15 wheelbase adjustment cylinder retraction solenoid valve Y4, 5-16 travel motor displacement switching valve Y5 and 5-17 travel motor. DETAILED DESCRIPTION

[0017] The terms "first", "second", "third", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0018] It should be noted that a wheeled grabber refers to a grabber that uses tires as its traveling parts. It has the characteristics of fast traveling speed, no damage to the road surface, and the ability to move over long distances on its own.

[0019] Each wheeled grabber has four outriggers, which are supported by four outrigger arms. When the wheeled grabber is traveling and transferring, all the outrigger arms are retracted. When the wheeled grabber is performing grabbing operations, all the outrigger arms are controlled by the outrigger cylinders to move downward, fully propping up the vehicle and lifting the tires off the ground.

[0020] The steering drive axle of the wheeled grabber not only bears the load and transmits power, but also has a steering function, which can deflect the wheels at both ends to a certain angle to achieve steering driving of the vehicle.

[0021] The suspension cylinder is a hydraulic component that connects the frame and the drive axle of the wheeled grabber. Each wheeled grabber has two suspension cylinders installed on both sides of the frame, and the piston rods of the suspension cylinders float on the upper end of the housing of the drive axle. Example 1

[0022] The invention provides a wheelbase adjusting device for a wheeled material grabber, comprising a synchronizing device and a driving device.

[0023] The synchronization device is respectively connected to the suspension cylinders on both sides of the front steering drive axle and the grabber frame to form a whole, and the driving device drives the whole to move axially along the pin shaft; wherein the pin shaft is the shaft connection between the suspension cylinder and the grabber frame, and the front steering drive axle and the grabber frame.

[0024] As is known, a pin is a type of standardized fastener that enables a connecting member and a connected member to make relative movement, and is mainly used at the hinge of two parts to form a hinge connection.

[0025] In a specific embodiment, the synchronization device is pin-connected to the upper holes of the suspension cylinders on both sides of the grabber frame, and the synchronization device is pin-connected to the grabber frame with the front steering drive axle; the lower holes of the suspension cylinders on both sides of the grabber frame are pin-connected to the two ends of the front steering drive axle.

[0026] Specifically, Figure 1 and Figure 2 As shown, the upper hole 1-5 of the suspension cylinder is hinged to the side of the grabber frame 1-2 through an upper pin, and the upper hole 1-5 of the suspension cylinder is arranged to be adjustable along the axial direction of the pin, and the lower hole 1-7 of the suspension cylinder is hinged to the housing of the front steering drive axle 1-4 through a pin.

[0027] In a more specific embodiment, the upper hole 1-5 of the suspension cylinder is welded to the grabber frame 1-2 through the upper mounting seat 1-1, and the lower hole 1-7 of the suspension cylinder is welded to the front steering drive axle 1-4 through the lower mounting seat 1-3.

[0028] In some specific embodiments, the center of the housing of the front steering drive axle is connected to the bottom of the frame through a pin shaft, and the connection is configured to be movable along the axial direction of the pin shaft.

[0029] Specifically, Figure 3 and Figure 4 As shown, the center of the shell of the front steering drive axle 2-1 is hingedly mounted on the grabber frame 2-3 through a pin shaft 2-2, and both sides of the shell of the front steering drive axle 2-1 are connected to the grabber frame 2-3 through a suspension cylinder 2-4.

[0030] In a specific embodiment, the synchronization device is a T-shaped connecting frame.

[0031] Specifically, Figure 5 and Figure 6 As shown, the T-shaped connecting frame is composed of two cross beams 3-1 and one longitudinal beam 3-2. The cross beam 3-1 is fixedly installed on the longitudinal beam 3-2. The holes at the ends of the two cross beams 3-1 are respectively installed at the pins at the upper holes of the suspension cylinder, and the hole at the lower end of the longitudinal beam 3-2 is installed at the pin at the center of the front steering drive axle housing.

[0032] In some specific embodiments, a locking hole is provided on the synchronization device, and a corresponding plurality of adjustment holes are provided on the grabber frame; when the whole moves to a preset position along the axial direction of the pin shaft, the locking hole on the synchronization device is mechanically fixed to the currently corresponding adjustment hole on the grabber frame to realize the wheelbase locking function.

[0033] Specifically, Figure 5 and Figure 6 The longitudinal beam 3-2 of the T-shaped connecting frame shown is provided with an ear plate 3-6 with a pin shaft hole, and a corresponding number of pin shaft holes are provided on the bottom plate of the grabber frame. When the T-shaped connecting frame is moved to a preset position along the axial direction of the pin shaft, a pin shaft with a retaining edge is used to connect the ear plate 3-6 and the hole on the bottom plate of the frame to play a role of mechanical fixation.

[0034] In a specific embodiment, the driving device includes: a controller, a driving unit and a position identification member; the controller controls the driving unit to move according to an operation signal, and controls the driving unit to stop moving according to an identification signal of the position identification member.

[0035] In a more specific embodiment, the position identification component is a sensing component and a proximity switch that work together, the sensing component moves with the driving part, and the proximity switch is installed on the gripper frame.

[0036] Specifically, Figure 7 and Figure 8As shown, the driving part is the wheelbase adjustment cylinder 4-10, a front mounting seat 4-11 of the telescopic cylinder is welded on the T-shaped connecting frame 4-9, a rear mounting seat 4-12 of the wheelbase adjustment cylinder is welded on the grabber frame 4-1, and both ends of the wheelbase adjustment cylinder 4-10 are respectively mounted on the front mounting seat 4-11 and the rear mounting seat 4-12 through pins.

[0037] like Figure 5 and Figure 6 As shown, the induction plates 3-4 and 3-5 are installed on a T-shaped connecting frame, and the proximity switches that cooperate with the induction plates are installed at corresponding positions on the grabber frame.

[0038] In some specific embodiments, the controller is also connected to proximity switches arranged on the four leg beams of the grabber, so as to detect the status of the four leg arms of the grabber before the device adjusts the wheelbase; wherein the proximity switches on the four leg beams are respectively paired with the sensing probes on the corresponding leg arms.

[0039] Specifically, the outrigger arms of the material grabber are hingedly mounted on the outrigger crossbeams through outrigger oil cylinders and pins. Each wheeled material grabber has 4 sets of outrigger arms, 4 outrigger oil cylinders and 2 outrigger crossbeams. The outrigger crossbeams and the material grabber frame are integrally welded structures. When the outrigger oil cylinders telescope, the outrigger arms can rotate around the pins to prop up the material grabber until the tires are off the ground.

[0040] Proximity switches are installed on both sides of each outrigger beam, and an induction probe paired with the proximity switch is installed at the corresponding position of each outrigger arm. When the outrigger cylinder extends and the outrigger arm rotates around the pin shaft until the induction probe on it moves to the proximity switch, the proximity switch outputs an electrical signal, indicating that the outrigger arm has supported the grabber. Example 2

[0041] This embodiment provides a method for adjusting the wheelbase of a wheeled material grabber, and the method uses the device described in Example 1 to adjust the wheelbase.

[0042] The method includes: in response to receiving a wheelbase adjustment instruction, the driving device drives the synchronization device, the front steering drive axle and the suspension cylinder to move from an initial position along the axial direction of the pin shaft; in response to detecting that the synchronization device, the front steering drive axle and the suspension cylinder move to a preset target position, the driving device stops driving and maintains the synchronization device, the front steering drive axle and the suspension cylinder at the preset target position; in response to receiving a wheelbase recovery instruction, the driving device drives the synchronization device, the front steering drive axle and the suspension cylinder to move in the opposite direction of the rear drive axle of the grabber; in response to detecting that the synchronization device, the front steering drive axle and the suspension cylinder return to the initial position, the driving device stops driving and maintains the synchronization device, the front steering drive axle and the suspension cylinder at the initial position.

[0043] In a specific embodiment, before the driving device executes the driving, it also includes: detecting the status of the four leg arms of the grabber; in response to the four leg arms of the grabber being in the supporting state, the driving device executes the driving; in response to at least one leg arm being in the retracted state, the driving device is prohibited from executing the driving, and the status of the four leg arms of the grabber is continuously detected. Example 3

[0044] This embodiment provides an application of the wheelbase adjustment device of the wheel grabber of the present invention in a wheel grabber control system, and its application scenario is that the wheel grabber needs a smaller turning radius to travel through a narrow site.

[0045] like Fig. 9 As shown, the wheeled grabber control system in this embodiment includes: a wheelbase reduction position proximity switch 5-1, a wheelbase increase position proximity switch 5-2, an outrigger position proximity switch 4#5-3, an outrigger position proximity switch 3#5-4, an outrigger position proximity switch 2#5-5, an outrigger position proximity switch 1#5-6, a vehicle controller 5-7, a vehicle display screen 5-8, a wheelbase adjustment enable button 5-9, a wheelbase adjustment operation button 5-10, an outrigger telescopic operation button 5-11, an outrigger cylinder extension solenoid valve Y15-12, an outrigger cylinder retraction solenoid valve Y25-13, a wheelbase adjustment cylinder extension solenoid valve Y35-14, a wheelbase adjustment cylinder retraction solenoid valve Y45-15, a travel motor displacement switching valve Y55-16 and a travel motor 5-17.

[0046] The vehicle display screen is used to display the status of the four outrigger proximity switches; the wheelbase adjustment enable button 5-9 is used to enter or exit the wheelbase adjustment state; the wheelbase adjustment operation button 5-10 is used to send a wheelbase adjustment cylinder extension or retraction operation signal to the vehicle controller 5-7; the outrigger telescopic operation button 5-11 is used to send an outrigger cylinder extension or retraction operation signal to the vehicle controller 5-7; the outrigger cylinder extension solenoid valve Y15-12 is used to control the outrigger cylinder extension; the outrigger cylinder retraction solenoid valve Y25-13 is used to control the outrigger cylinder retraction; the wheelbase adjustment cylinder extension solenoid valve Y35-14 is used to control the wheelbase adjustment cylinder extension; the wheelbase adjustment cylinder retraction solenoid valve Y45-15 is used to control the wheelbase adjustment cylinder retraction; the travel motor displacement switching valve Y55-16 is used to control the travel motor large displacement locking oil port; the travel motor 5-17 is used to control the vehicle's driving speed.

[0047] It should be noted that the vehicle controller 5-7 includes a controller in the drive device.

[0048] In a specific embodiment, the vehicle controller 5-7 and the vehicle display screen 5-8 are interconnected via a CAN bus, or other forms of communication interconnection.

[0049] It should be noted that the wheeled material grabber can only adjust its wheelbase when all outrigger arms fully support the vehicle off the ground. When the wheeled material grabber needs to drive through a narrow site with a smaller turning radius, all outrigger arms must be fully supported in place before the wheelbase can be adjusted. After the wheelbase adjustment is completed, all outrigger arms are controlled to be retracted, the vehicle is lowered to the ground, and the speed of the vehicle is reduced at the same time, that is, the large displacement locking oil port of the travel motor that controls the vehicle's driving speed is opened, and the displacement is switched to a small displacement.

[0050] Specifically, after the wheeled grabber control system is powered on, the vehicle controller 5-7 collects status information of the wheelbase reduction position proximity switch 5-1, the wheelbase increase position proximity switch 5-2, the outrigger position proximity switch 1#5-6, the outrigger position proximity switch 2#5-5, the outrigger position proximity switch 3#5-4 and the outrigger position proximity switch 4#5-3, as well as the wheelbase adjustment enable button 5-9, and displays the collected status information on the vehicle display screen 5-8.

[0051] In response to the wheelbase adjustment enable button 5-9 being in the on state, it is detected whether the outrigger position proximity switch 1#5-6, the outrigger position proximity switch 2#5-5, the outrigger position proximity switch 3#5-4 and the outrigger position proximity switch 4#5-3 have all sent out signals that they have reached their full extension position. In response to not all of them sending out signals that they have reached their full extension position, the vehicle display screen 5-8 prompts that the vehicle has not been propped up, and keeps the travel motor displacement switching valve Y55-16 powered off.

[0052] If the outrigger telescopic operation button 5-11 is manually operated to extend the outrigger cylinder, so that the vehicle controller 5-7 detects that all the outrigger proximity switches have sent out signals that they have been extended, the state of the wheelbase adjustment enable button 5-9 is detected again. In response to not detecting the on signal of the wheelbase adjustment enable button 5-9, the operation is terminated; in response to detecting the on signal of the wheelbase adjustment enable button 5-9, the wheelbase adjustment cylinder extension solenoid valve Y35-14 or the wheelbase adjustment cylinder retraction solenoid valve Y45-15 is energized according to the operation of the wheelbase adjustment operation button 5-9, thereby performing the corresponding extension action or retraction action.

[0053] The vehicle controller 5-7 continuously detects whether the wheelbase reduction position proximity switch 5-1 generates an electrical signal. In response to the wheelbase reduction position proximity switch 5-1 not generating a signal, the travel motor displacement switching valve Y55-16 is kept powered off; in response to the wheelbase reduction position proximity switch 5-1 generating a signal, the travel motor displacement switching valve Y55-16 is energized, the large displacement locking oil port on the travel motor 5-17 is opened to oil, and the travel motor speed is reduced. In response to the wheelbase reduction position proximity switch 5-1 stopping generating a signal, the travel motor displacement switching valve Y55-16 is powered off, the large displacement locking oil port on the travel motor 5-17 is cut off from oil, and the travel motor speed is restored. Example 4

[0054] This embodiment provides a wheeled material grabber, and the wheeled material grabber is equipped with the wheelbase adjustment device of the wheeled material grabber described in Example 1.

[0055] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A wheelbase adjustment device for a wheeled material grabber, characterized in that: include: A synchronizing device and a driving device, wherein the synchronizing device is respectively connected to the suspension cylinders on both sides of the front steering drive axle and the material grabber frame to form a whole, and the driving device drives the whole to move along the axial direction of the pin shaft; wherein the pin shaft is the shaft connection between the suspension cylinder and the material grabber frame, and between the front steering drive axle and the material grabber frame.

2. The wheelbase adjustment device for a wheeled material grabber according to claim 1, characterized in that: The synchronization device and the front steering drive axle are connected to the material grabber frame through a common pin shaft; the synchronization device is respectively connected to the upper holes of the suspension cylinders on both sides of the material grabber frame through a common pin shaft; the lower holes of the suspension cylinders on both sides of the material grabber frame are respectively connected to the two ends of the front steering drive axle through a pin shaft.

3. The wheelbase adjustment device for a wheeled material grabber according to claim 1, characterized in that: The synchronization device is provided with a locking hole, and the grabber frame is provided with corresponding multiple adjustment holes; when the whole is moved to a preset position along the axial direction of the pin shaft, the locking hole on the synchronization device is mechanically fixed to the currently corresponding adjustment hole on the grabber frame to realize the wheelbase locking function.

4. The wheelbase adjustment device for a wheeled material grabber according to claim 1, characterized in that: The driving device comprises: a controller, a driving part and a position identification member; the controller controls the driving part to move according to an operation signal, and controls the driving part to stop moving according to an identification signal of the position identification member.

5. The wheelbase adjustment device for a wheeled material grabber according to claim 4, characterized in that: The position identification component is a sensing component and a proximity switch that work together. The sensing component moves with the driving part, and the proximity switch is installed on the material grabber frame.

6. The wheelbase adjustment device for a wheeled material grabber according to claim 4, characterized in that: The controller is also connected to proximity switches arranged on the four leg cross beams of the grabber, and is used to detect the status of the four leg arms of the grabber before the device adjusts the wheelbase; wherein the proximity switches on the four leg cross beams are paired with the induction probes on the corresponding leg arms respectively.

7. A method for adjusting the wheelbase of a wheeled material grabber, characterized in that: The wheelbase is adjusted by using the device according to any one of claims 1 to 6, the method comprising: In response to receiving the wheelbase adjustment instruction, the driving device drives the synchronization device, the front steering drive axle and the suspension cylinder to move together along the axial direction of the pin shaft from the initial position; In response to detecting that the synchronizing device, the front steering drive axle and the suspension oil cylinder move to a preset target position, the driving device stops driving to maintain the synchronizing device, the front steering drive axle and the suspension oil cylinder at the preset target position; In response to receiving the wheelbase recovery instruction, the driving device drives the synchronization device, the front steering drive axle and the suspension cylinder to move in the opposite direction of the rear drive axle of the material grabber; In response to detecting that the synchronizing device, the front steering drive axle and the suspension oil cylinder have returned to their initial positions, the driving device stops driving to maintain the synchronizing device, the front steering drive axle and the suspension oil cylinder at their initial positions.

8. The wheelbase adjustment method of a wheeled material grabber according to claim 6, characterized in that: Before the driving device performs driving, the device also includes: detecting the states of the four leg arms of the material grabber; In response to the four supporting legs of the material grabber being in a supporting state, the driving device performs driving; In response to at least one of the outrigger arms being in a retracted state, the driving device is prohibited from driving, and the states of the four outrigger arms of the gripper are continuously detected.

9. A wheeled material grabber, characterized in that: The wheeled material grabber comprises the wheeled material grabber wheelbase adjustment device as described in any one of claims 1-6.

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