The invention discloses a walking machine suitable for complex terrains. The walking machine comprises a vehicle body, a suspension mechanism, walking wheels, a communicating pipeline and a middle supporting mechanism. The hydraulic cylinders of the suspension mechanisms are communicated with one another through communicating pipelines; in the middle supporting mechanism, an electric push rod pushes a sliding block assembly to move in an arc-shaped rail. The sliding block assemblies drive the supporting wheels to move, when the sliding block assemblies are located at the two ends of the arc-shaped rail, the supporting wheels are supported on the ground, and when the sliding block assemblies are located in the middle of the arc-shaped rail, the supporting wheels leave the ground. The invention further discloses a walking method of the walking machine, when the walking machine encounters a protrusion, hydraulic oil in the corresponding hydraulic cylinder flows into the hydraulic cylinders in other rows, and the walking wheels are lifted; when a pit is encountered, hydraulic oil of other hydraulic cylinders flows into the hydraulic cylinder, and the walking wheels are lowered; when the walking wheels are lowered to a preset height, the supporting wheels are supported on the ground; and when crossing the pit, the supporting wheels leave the ground. According to the invention, the usability and the high efficiency of the low-speed walking machinery for complex terrains are improved.
本发明公开了一种适应复杂地形的行走机械,包括车身、悬挂机构、行走轮、连通管道和中间支撑机构;各悬挂机构的液压缸之间通过连通管道相互连通;中间支撑机构中,电动推杆推动滑块组件在弧形轨道中运动;滑块组件带动支撑轮运动,滑块组件位于弧形轨道的两端时,支撑轮支撑于地面,滑块组件位于弧形轨道的中部时,支撑轮离开地面。本发明还公开了一种行走机械的行走方法,遇到凸起时,对应液压缸中液压油流入其他行液压缸,该行走轮抬高;遇到凹坑时,其他液压缸的液压油流入该液压缸,行走轮降低;行走轮降低至预设高度时,支撑轮支撑于地面;越过凹坑时,支撑轮离开地面。本发明提高了复杂地形的低速行走机械的易用性和高效性。
Walking machine suitable for complex terrains and walking method
一种适应复杂地形的行走机械及行走方法
2023-04-04
Patent
Electronic Resource
Chinese
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