Multi-posture transport vehicle chassis with adjustable outrigger span

Abstract

This invention discloses a multi-posture transport vehicle chassis with adjustable outrigger span, comprising a chassis frame including a main frame and a movable first mounting seat and a fixed second mounting seat mounted on the front and rear sides of the main frame; a bionic leg mechanism including a first bionic outrigger and a second bionic outrigger hinged to the first and second mounting seats respectively via a turntable, wherein the bionic outriggers adopt a multi-degree-of-freedom series configuration; a walking device disposed at the bottom of the chassis frame; and a span adjustment drive device for driving the first mounting seat to move longitudinally along the main frame to change the support span of the bionic leg. Through the coordinated design of the bionic leg mechanism and the span adjustment, this invention achieves multi-posture adaptive adjustment of the chassis in complex terrain, significantly improving obstacle crossing ability and terrain adaptability, and is suitable for special transport equipment and intelligent mobile platforms.

Description

Technical Field

[0001] This invention belongs to the field of transport vehicle technology, specifically relating to a multi-posture transport vehicle chassis with adjustable outrigger span. Background Technology

[0002] With the continuous development of special equipment and robots, the mobility requirements for transport vehicles in complex outdoor environments (such as mountains, ruins, and forests) are becoming increasingly stringent. Traditional wheeled chassis have a speed advantage on flat roads, but they are prone to getting stuck or becoming impassable when encountering ditches, steps, or rugged terrain. To address this, the industry has gradually developed walking chassis with multiple bionic legs or composite chassis combining wheels and legs to improve the vehicle's obstacle-crossing capabilities.

[0003] However, in existing bionic leg chassis, the mounting positions of each leg to the chassis frame are usually fixed. During normal walking, its maximum stride is limited by the mechanical dimensions of the legs themselves. When the vehicle encounters wide ditches in the wild, the fixed-mounted legs are insufficient to cross the two sides of the ditch, forcing the vehicle to often detour or use other bridging equipment, which greatly limits its terrain adaptability and passage efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-position transport vehicle chassis with adjustable outrigger span to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-position transport vehicle chassis with adjustable outrigger span, comprising: The chassis frame includes a main frame and a moving device. Two first mounting seats and two second mounting seats are symmetrically arranged on the front and rear sides of the main frame. The second mounting seats are fixedly connected to the main frame. The first mounting seats are connected to the moving device and can be driven by the moving device to move along the front and rear direction of the main frame. The bionic leg includes a first bionic leg, a second bionic leg, and a turntable. The first bionic leg and the second bionic leg are connected to the first mounting base and the second mounting base respectively through the turntable. The first bionic leg and the second bionic leg adopt a multi-degree-of-freedom series configuration. A walking device is installed at the bottom of the chassis frame to drive the chassis frame to move.

[0006] Furthermore, the moving device includes a fixed tube, a moving tube, and a driving assembly. The fixed tube is fixedly connected to the main frame. Each fixed tube is provided with two driving assemblies. Each driving assembly is connected to a moving tube and can drive the moving tube to slide along the fixed tube.

[0007] Furthermore, the drive assembly includes a first hydraulic cylinder, a first fixed rod, and a second fixed rod. The fixed end of the first hydraulic cylinder is fixedly connected to the fixed pipe via the first fixed rod, and the moving end of the first hydraulic cylinder is fixedly connected to the moving pipe via the second fixed rod.

[0008] Furthermore, the mobile device also includes two connecting blocks, each of which is fixedly connected to two mobile tubes at the same end of the main frame, and the first mounting base is disposed on the connecting block.

[0009] Furthermore, the turntable is hydraulically driven to rotate the first and second bionic legs circumferentially relative to the main frame.

[0010] Furthermore, the walking device includes an upper connecting component, a first lower connecting component, a second lower connecting component, and two adjusting devices. The two adjusting devices are symmetrically arranged on both sides of the bottom of the upper connecting component and are used to drive the first lower connecting component and the second lower connecting component to rotate around the upper connecting component. The walking device also includes a wheel assembly, and the first lower connecting component and the second lower connecting component are each connected to a wheel assembly.

[0011] Furthermore, the upper connecting assembly includes an upper frame, mounting holes, a connecting shaft, and a sleeve. The sleeve is disposed on the inner side of the bottom of the upper frame, the mounting holes are disposed on both sides of the bottom of the upper frame, and the connecting shaft passes through the mounting holes on both sides and is fixedly connected to the sleeve through the inner hole of the sleeve.

[0012] Furthermore, the first lower connecting assembly includes a first lower frame and a first connecting seat. One end of the first connecting seat is fixedly connected to the first lower frame, and the other end is sleeved on the outer wall of the sleeve and rotatably connected thereto. The second lower connecting assembly includes a second lower frame and a second connecting seat. One end of the second connecting seat is fixedly connected to the second lower frame, and the other end is sleeved on the outer wall of the sleeve and rotatably connected thereto.

[0013] Furthermore, the adjustment device includes a third hydraulic cylinder, a fourth connecting seat, and a fifth connecting seat. The fourth connecting seat is respectively disposed on both sides of the bottom of the upper frame, and the fifth connecting seat is respectively disposed on the first lower frame and the second lower frame. The two ends of the third hydraulic cylinder are fixedly connected to the fourth connecting seat and the fifth connecting seat, respectively.

[0014] Furthermore, a sixth connecting seat is provided on one side of the first and second lower frame bodies. The wheel assembly includes a walking component, a third connecting seat, and a second hydraulic cylinder. The walking component is rotatably connected to the sixth connecting seat through the third connecting seat. There are two second hydraulic cylinders, which are respectively disposed on the first and second lower frame bodies, and their fixed ends are respectively connected to the first and second lower frame bodies, and their moving ends are respectively connected to the corresponding third connecting seat to drive the third connecting seat to rotate around the sixth connecting seat, thereby driving the walking component to rotate.

[0015] The technical effects and advantages of this invention are as follows: By symmetrically arranging a first mounting seat and a second mounting seat on the front and rear sides of the main frame, wherein the second mounting seat is fixed, and the first mounting seat connected to the first bionic outrigger can slide back and forth along the main frame via a moving device, the first and second bionic outriggers on the front and rear sides alternately support the vehicle's movement on normal roads. When the vehicle encounters a wide ditch, it can be supported and fixed in position by the second bionic outrigger, while the moving device extends the first bionic outrigger on the front side significantly and retracts the first bionic outrigger on the rear side, increasing the span between the front and rear outriggers so that it can easily cross wider ditches, significantly enhancing the chassis's passability in extreme terrain. The walking device adopts a rotatable and adjustable design at the bottom of the chassis frame. Through the cooperation of the upper connecting component, the lower connecting component, and the adjusting device, the lower frame and its connected wheel assembly can rotate and swing around the sleeve of the upper connecting component. When the vehicle is walking with the outriggers, the third hydraulic cylinder can retract, folding the bottom wheel assembly upwards. This operation increases the ground clearance of the chassis and effectively reduces the bottom wheels from bottoming out when the bionic legs are walking. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the present invention; Figure 2 This is a schematic diagram of the chassis frame structure of the present invention; Figure 3 This is a schematic diagram of the mobile device structure of the present invention; Figure 4 This is a schematic diagram of the drive component structure of the present invention; Figure 5 This is a schematic diagram of the initial state of the bionic leg of the present invention during normal walking; Figure 6 This is a schematic diagram illustrating the support of the bionic leg in the walking state of the present invention; Figure 7 This is a schematic diagram of the initial state of the bionic leg when crossing a ditch according to the present invention; Figure 8 This is a schematic diagram of the bionic leg crossing the ditch according to the present invention; Figure 9 This is a schematic diagram of another support state of the bionic leg of the present invention; Figure 10This is a schematic diagram of the trench crossing in this invention; Figure 11 This is a schematic diagram of the detection state of the present invention; Figure 12 This is a schematic diagram of the walking device structure of the present invention; Figure 13 This is a schematic diagram of the walking device of the present invention from another perspective; Figure 14 This is a schematic diagram of the connection component structure of the present invention; Figure 15 This is a schematic diagram of the structure of the first lower connecting component and the second lower connecting component of the present invention; Figure 16 This is a schematic diagram of the first lower connecting component and the second lower connecting component of the present invention from another perspective.

[0017] In the picture: 10. Chassis frame; 110 Main frame, 120 Fixed pipe, 130 Moving pipe, 140 Connecting block, 150 First mounting base, 160 Second mounting base, 170 Drive assembly, 1701 First hydraulic cylinder, 1702 First fixed rod, 1703 Second fixed rod; 20 bionic legs; 210 First bionic support leg, 220 Second bionic support leg, 230 Turntable; 30 walking device; 310 Upper connecting component, 3101 Upper frame, 3102 Mounting hole, 3103 Connecting shaft, 3104 Sleeve; 320 First lower connecting component, 3201 First lower frame, 3202 First connecting seat; 330 Second lower connecting component, 3301 Second lower frame, 3302 Second connecting seat; 340 Wheel assembly, 3401 Walking assembly, 3402 Third connecting seat, 3403 Second hydraulic cylinder; 350 Adjustment device, 3501 Third oil cylinder, 3502 Fourth connecting seat, 3503 Fifth connecting seat; 360 sixth connector. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0020] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution. Example

[0022] like Figures 1-4 As shown, a multi-position transport vehicle chassis with adjustable outrigger span includes: The chassis frame 10 includes a main frame 110 and a moving device. Two first mounting seats 150 and two second mounting seats 160 are symmetrically arranged on the front and rear sides of the main frame 110. The second mounting seats 160 are fixedly connected to the main frame 110. The first mounting seats 150 are connected to the moving device and can be driven by it to move along the front and rear direction of the main frame 110. The bionic leg 20 includes a first bionic support leg 210, a second bionic support leg 220, and a turntable 230. The first bionic support leg 210 and the second bionic support leg 220 are both connected to the first mounting base 150 and the second mounting base 160 respectively through the turntable 230. The first bionic support leg 210 and the second bionic support leg 220 adopt a multi-degree-of-freedom series configuration. The walking device 30 is located at the bottom of the chassis frame 10 and is used to drive the chassis frame 10 to move.

[0023] The chassis frame 10 is used to support the overall structure. Two first bionic outriggers 210 on each of the front and rear sides are mounted on movable first mounting bases 150, and two second bionic outriggers 220 on each of the front and rear sides are mounted on fixed second mounting bases 160. The first bionic outriggers 210 and the second bionic outriggers 220 are used to provide walking-style off-road walking power. Since the first bionic outriggers 210 can move relative to the main frame 110, the increased distance between the first bionic outriggers 210 and the second bionic outriggers 220 provides amplitude variation capability, thereby enabling the chassis to cross wider ditches and improving its off-road capability. The walking device 30 is set at the bottom of the chassis frame 10 and is used to provide conventional wheeled rapid movement.

[0024] like Figures 3-4 As shown, in this embodiment, the moving device includes a fixed tube 120, a moving tube 130, and a driving assembly 170. The fixed tube 120 is fixedly connected to the main frame 110. Each fixed tube 120 is provided with two driving assemblies. Each driving assembly is connected to a moving tube 130 and can drive the moving tube 130 to slide along the fixed tube 120. The driving assembly 170 includes a first hydraulic cylinder 1701, a first fixed rod 1702, and a second fixed rod 1703. The fixed end of the first hydraulic cylinder 1701 is fixedly connected to the fixed tube 120 through the first fixed rod 1702, and the moving end of the first hydraulic cylinder 1701 is fixedly connected to the moving tube 130 through the second fixed rod 1703. It also includes two connecting blocks 140. Each connecting block 140 is fixedly connected to two moving tubes 130 at the same end of the main frame 110. A first mounting seat 150 is disposed on the connecting block 140.

[0025] Two moving devices are provided, arranged parallel to each other in the middle of the main frame 110. Each fixed tube 120 has a first hydraulic cylinder 1701 at both its front and rear ends. When the first hydraulic cylinder 1701 extends or retracts, its moving end drives the moving tube 130 to extend outward or retract inward along the inner wall of the fixed tube 120. The two moving tubes 130 on the same side (e.g., the front end) of the main frame 110 are connected into a whole by a connecting block 140 at the same end, allowing them to move synchronously and drive the first mounting base 150 fixedly connected to it to move synchronously, thereby achieving precise amplitude adjustment of the first bionic support leg 210 in the front-rear direction.

[0026] In this embodiment, the turntable 230 is hydraulically driven to drive the first bionic support leg 210 and the second bionic support leg 220 to rotate circumferentially relative to the main frame 110.

[0027] Among them, the hydraulic rotary drive has high-precision positioning and high torque output characteristics, which can ensure that the outriggers can adjust their orientation in real time in complex terrain.

[0028] like Figures 5-6As shown, during normal walking using the bionic legs, the second bionic support leg 220 on the front side and the first bionic support leg 210 on the rear side work together to provide support, allowing the walking device 30 to lift off the ground. Then, the first bionic support leg 210 on the front side and the second bionic support leg 220 on the rear side take turns stepping, forming a diagonal gait similar to that of a quadruped. Each set of support legs completes a four-stage cycle of lifting, swinging, lowering, and bearing weight under the drive of the hydraulic servo system.

[0029] like Figure 7 , Figure 8 and Figure 10 As shown, when encountering a wider ditch, the gait should be changed. The specific steps for crossing the ditch are as follows: First stage (ditch crossing preparation): Before crossing, the first bionic support leg 210 on the rear side is in a rearward extended state along with the first mounting base 150, and the first bionic support leg 210 on the front side is in a rearward retracted state. The second stage (posture locking and front leg crossing): The second bionic support leg 220, fixedly installed on the front and rear sides, touches the ground, forming a stable support posture reference to ensure vehicle stability. Subsequently, the first cylinder 1701 at the front of the span adjustment drive device extends, while the first cylinder 1701 at the rear retracts, driving the suspended front first bionic support leg 210 to move forward significantly and cross the ditch to the other side. During this process, the rear first bionic support leg 210 retracts forward in sync. The third stage (alternating support and chassis translation): The support state is changed, with the first bionic support legs 210 on the front and rear sides becoming the new support anchor points, while the second bionic support legs 220 on the front and rear sides are raised and suspended in the air. At this time, the span adjustment drive device works in reverse, that is, the first hydraulic cylinder 1701 at the front retracts and the first hydraulic cylinder 1701 at the rear extends. Since the first bionic support legs 210 on the front and rear sides are relatively fixed in their anchored positions on the ground, the extension and retraction of the hydraulic cylinders will push the main frame 110 forward as a whole, thereby smoothly sending the chassis and the suspended second bionic support legs 220 across the ditch; Phase 4 (Circular Movement): Switch back to the second bionic support leg 220 on the front and rear sides to maintain a fixed posture, and repeat the above actions until the bionic leg at the rear end has completely crossed the ditch.

[0030] The aforementioned multi-posture adaptive adjustment mechanism breaks the traditional limitation of a single chassis stride by the mechanical size of the outriggers. The movement span of the first mounting base 150 relative to the main frame 110 can be flexibly adjusted according to the width of the ditch, greatly improving the chassis' obstacle-crossing ability and passage efficiency in extreme field environments. Example

[0031] like Figure 5 , Figure 9 and Figure 11As shown, this embodiment, based on embodiment one, employs a different method of use. When encountering unknown road conditions ahead, such as soft ground, in the initial state, the second bionic support leg 220 on the front side and the first bionic support leg 210 on the rear side work together to provide support. Subsequently, the first bionic support leg 210 on the front side extends through the first hydraulic cylinder 1701, driving the first mounting base 150 forward, allowing the first bionic support leg 210 to probe the soft area for ground contact. If the load-bearing capacity is normal, the entire machine moves forward and enters the area. If the load-bearing capacity is abnormal, the second bionic support leg 220 on the front side and the first bionic support leg 210 on the rear side are used to provide support again, and the extended first bionic support leg 210 on the front side is retracted back to its original position to avoid entering a dangerous area and prevent the vehicle from getting stuck. Example

[0032] like Figures 12-13 As shown, in this embodiment, the walking device 30 includes an upper connecting component 310, a first lower connecting component 320, a second lower connecting component 330, and two adjusting devices 350. The two adjusting devices 350 are symmetrically arranged on both sides of the bottom of the upper connecting component 310 and are used to drive the first lower connecting component 320 and the second lower connecting component 330 to rotate around the upper connecting component 310. It also includes a wheel assembly 340, and the first lower connecting component 320 and the second lower connecting component 330 are respectively connected to a wheel assembly 340.

[0033] The walking device 30 is provided in two parts. The upper connecting component 310 is fixedly connected to the main frame 110 to ensure stable torque transmission. When walking with the bionic leg 20, the adjusting device 350 drives the first lower connecting component 320 and the second lower connecting component 330 to rotate upward, so that the tires of the wheel assembly 340 connected to them are close to the main frame 110, increasing the ground clearance, avoiding interference with the movement of the bionic outrigger, and reducing the occurrence of bottoming out.

[0034] like Figures 12-16As shown, in this embodiment, the upper connecting assembly 310 includes an upper frame 3101, mounting holes 3102, a connecting shaft 3103, and a sleeve 3104. The sleeve 3104 is disposed on the inner side of the bottom of the upper frame 3101, and the mounting holes 3102 are disposed on both sides of the bottom of the upper frame 3101. The connecting shaft 3103 passes through the mounting holes 3102 on both sides and is fixedly connected to the sleeve 3104 through the inner hole of the sleeve 3104. The first lower connecting assembly 320 includes a first lower frame 3201 and a first connecting seat 3202. One end of the first connecting seat 3202 is fixedly connected to the first lower frame 3201, and the other end is sleeved on the outer wall of the sleeve 3104 and rotatably connected to it. The second lower connecting assembly 330 includes a second lower frame 3301 and a second connecting seat 3302. One end of the second connecting seat 3302 is fixedly connected to the second lower frame 3301, and the other end is sleeved on the outer wall of the sleeve 3104 and rotatably connected thereto. The adjusting device 350 includes a third hydraulic cylinder 3501, a fourth connecting seat 3502 and a fifth connecting seat 3503. The fourth connecting seat 3502 is respectively disposed on both sides of the bottom of the upper frame 3101, and the fifth connecting seat 3503 is respectively disposed on the first lower frame 3201 and the second lower frame 3301. The two ends of the third hydraulic cylinder 3501 are fixedly connected to the fourth connecting seat 3502 and the fifth connecting seat 3503 respectively.

[0035] The first lower frame 3201 and the second lower frame 3301 are driven by the first connecting seat 3202 and the second connecting seat 3302 to rotate around the sleeve 3104. One end of the adjusting device 350 is hinged to the fourth connecting seat 3502 of the upper frame 3101, and the other end is hinged to the fifth connecting seat 3503 of the corresponding lower frame. When the chassis needs to perform leg-like walking or cross obstacles, the third cylinder 3501 retracts, pulling the fifth connecting seat 3503, causing the first lower frame 3201 and the second lower frame 3301 to fold diagonally upward around the sleeve 3104, thereby raising the bottom wheel assembly 340 upward and retracting it to both sides of the chassis frame 10, which greatly increases the ground clearance of the entire vehicle chassis and avoids interfering with the movement of the bionic outriggers. When rapid maneuvering is required on flat roads, the third cylinder 3501 extends, lowering the wheel assembly 340 to the ground.

[0036] like Figure 13 and Figure 15As shown, in this embodiment, a sixth connecting seat 360 is also provided on one side of the first lower frame 3201 and the second lower frame 3301. The wheel assembly 340 includes a walking component 3401, a third connecting seat 3402 and a second hydraulic cylinder 3403. The walking component 3401 is rotatably connected to the sixth connecting seat 360 through the third connecting seat 3402. One second hydraulic cylinder 3403 is provided on each of the first lower frame 3201 and the second lower frame 3301, and its fixed end is connected to the first lower frame 3201 and the second lower frame 3301 respectively. Its moving end is connected to the third connecting seat 3402 to drive the third connecting seat 3402 to rotate around the sixth connecting seat 360, thereby driving the walking component 3401 to rotate.

[0037] The walking assembly 3401 is driven by a hub motor, and its steering function is achieved by the extension and retraction of the second cylinder 3403, which causes the third connecting seat 3402 to swing around the sixth connecting seat 360. Specifically, by controlling the different extension and retraction amounts of the second cylinders 3403 on the left and right sides, the independent steering angle of each wheel assembly 340 can be adjusted, improving the flexibility of wheeled travel.

[0038] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, in the description of the present invention, the reference to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., means that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A multi-posture transport vehicle chassis with adjustable outrigger span, characterized in that, include: The chassis frame (10) includes a main frame (110) and a moving device. The main frame (110) is symmetrically provided with two first mounting seats (150) and two second mounting seats (160) on its front and rear sides. The second mounting seats (160) are fixedly connected to the main frame (110). The first mounting seats (150) are connected to the moving device and can be driven by the moving device to move along the front and rear direction of the main frame (110). The bionic leg (20) includes a first bionic support leg (210), a second bionic support leg (220), and a turntable (230). The first bionic support leg (210) and the second bionic support leg (220) are connected to the first mounting base (150) and the second mounting base (160) respectively via the turntable (230). The first bionic support leg (210) and the second bionic support leg (220) adopt a multi-degree-of-freedom series configuration. The walking device (30) is located at the bottom of the chassis frame (10) and is used to drive the chassis frame (10) to move.

2. The multi-posture transport vehicle chassis with adjustable outrigger span according to claim 1, characterized in that: The moving device includes a fixed tube (120), a moving tube (130), and a driving assembly (170). The fixed tube (120) is fixedly connected to the main frame (110). Each fixed tube (120) is provided with two driving assemblies. Each driving assembly is connected to a moving tube (130) and can drive the moving tube (130) to slide along the fixed tube (120).

3. The multi-posture transport vehicle chassis with adjustable outrigger span according to claim 2, characterized in that: The drive assembly (170) includes a first hydraulic cylinder (1701), a first fixed rod (1702), and a second fixed rod (1703). The fixed end of the first hydraulic cylinder (1701) is fixedly connected to the fixed tube (120) through the first fixed rod (1702), and the moving end of the first hydraulic cylinder (1701) is fixedly connected to the moving tube (130) through the second fixed rod (1703).

4. The multi-posture transport vehicle chassis with adjustable outrigger span according to claim 3, characterized in that: The mobile device also includes two connecting blocks (140), each of the connecting blocks (140) being fixedly connected to the two moving tubes (130) at the same end of the main frame (110), and the first mounting base (150) being disposed on the connecting block (140).

5. The multi-posture transport vehicle chassis with adjustable outrigger span according to claim 1, characterized in that: The turntable (230) is hydraulically driven to drive the first bionic leg (210) and the second bionic leg (220) to rotate circumferentially relative to the main frame (110).

6. The multi-posture transport vehicle chassis with adjustable outrigger span according to claim 1, characterized in that: The walking device (30) includes an upper connecting assembly (310), a first lower connecting assembly (320), a second lower connecting assembly (330), and two adjusting devices (350). The two adjusting devices (350) are symmetrically arranged on both sides of the bottom of the upper connecting assembly (310) to drive the first lower connecting assembly (320) and the second lower connecting assembly (330) to rotate around the upper connecting assembly (310). The walking device (30) also includes a wheel assembly (340), and the first lower connecting assembly (320) and the second lower connecting assembly (330) are respectively connected to a wheel assembly (340).

7. The multi-posture transport vehicle chassis with adjustable outrigger span according to claim 6, characterized in that: The upper connecting assembly (310) includes an upper frame (3101), mounting holes (3102), a connecting shaft (3103), and a sleeve (3104). The sleeve (3104) is disposed on the inner side of the bottom of the upper frame (3101). The mounting holes (3102) are disposed on both sides of the bottom of the upper frame (3101). The connecting shaft (3103) passes through the mounting holes (3102) on both sides and is fixedly connected to the sleeve (3104) through the inner hole of the sleeve (3104).

8. The multi-posture transport vehicle chassis with adjustable outrigger span according to claim 7, characterized in that: The first lower connecting assembly (320) includes a first lower frame (3201) and a first connecting seat (3202). One end of the first connecting seat (3202) is fixedly connected to the first lower frame (3201), and the other end is sleeved on the outer wall of the sleeve (3104) and rotatably connected thereto. The second lower connecting assembly (330) includes a second lower frame (3301) and a second connecting seat (3302). One end of the second connecting seat (3302) is fixedly connected to the second lower frame (3301), and the other end is sleeved on the outer wall of the sleeve (3104) and rotatably connected thereto.

9. The multi-posture transport vehicle chassis with adjustable outrigger span according to claim 8, characterized in that: The adjusting device (350) includes a third hydraulic cylinder (3501), a fourth connecting seat (3502), and a fifth connecting seat (3503). The fourth connecting seat (3502) is respectively disposed on both sides of the bottom of the upper frame (3101), and the fifth connecting seat (3503) is respectively disposed on the first lower frame (3201) and the second lower frame (3301). The two ends of the third hydraulic cylinder (3501) are fixedly connected to the fourth connecting seat (3502) and the fifth connecting seat (3503) respectively.

10. The multi-posture transport vehicle chassis with adjustable outrigger span according to claim 8, characterized in that: A sixth connecting seat (360) is also provided on one side of the first lower frame (3201) and the second lower frame (3301). The wheel assembly (340) includes a walking component (3401), a third connecting seat (3402), and a second hydraulic cylinder (3403). The walking component (3401) is rotatably connected to the sixth connecting seat (360) through the third connecting seat (3402). There are two second hydraulic cylinders (3403), which are respectively provided on the first lower frame (3201) and the second lower frame (3301), and their fixed ends are respectively connected to the first lower frame (3201) and the second lower frame (3301). Their moving ends are respectively connected to the corresponding third connecting seat (3402) to drive the third connecting seat (3402) to rotate around the sixth connecting seat (360), thereby driving the walking component (3401) to rotate.

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