WO2016033706A1 - Walker-type traveling base apparatus - Google Patents

Walker-type traveling base apparatus Download PDF

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Publication number
WO2016033706A1
WO2016033706A1 PCT/CN2014/000823 CN2014000823W WO2016033706A1 WO 2016033706 A1 WO2016033706 A1 WO 2016033706A1 CN 2014000823 W CN2014000823 W CN 2014000823W WO 2016033706 A1 WO2016033706 A1 WO 2016033706A1
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Prior art keywords
walking
cylinder
moving
foot
frame
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PCT/CN2014/000823
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French (fr)
Chinese (zh)
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杨一男
杨旭
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杨一男
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Priority to PCT/CN2014/000823 priority Critical patent/WO2016033706A1/en
Publication of WO2016033706A1 publication Critical patent/WO2016033706A1/en

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/02—Placing by driving
    • E02D7/06—Power-driven drivers
    • E02D7/14—Components for drivers inasmuch as not specially for a specific driver construction
    • E02D7/16—Scaffolds or supports for drivers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B15/00—Supports for the drilling machine, e.g. derricks or masts

Definitions

  • the invention relates to a walking platform for a vehicle and a machine, and more particularly to a mechanical walking type walking chassis.
  • the present invention is to solve the above problems in the prior art, and provides a walking type walking chassis.
  • the walking type walking chassis is composed of a moving walking foot, a fixed walking leg, a foot cylinder, a leg cylinder sliding sleeve, a longitudinal connecting beam, a supporting roller,
  • the wheel frame, the wheel frame upper pulley (pulley), the wheel frame cylinder connecting shaft, the longitudinal traveling cylinder, the transverse connecting beam and the lateral walking cylinder are combined, and a bulldozer is added before and after the chassis to facilitate walking of the walking walking chassis on the pit road section.
  • the walking type walking chassis of the invention is characterized in that: the fixed walking foot is mounted on the bottom plate of the main body body, and the main body body is connected with the outer sliding sleeve or the longitudinal connecting beam of the supporting foot cylinder through the transverse oil cylinder or the connecting pin shaft, and the outer sliding sleeve of the supporting foot cylinder and the outer sliding sleeve
  • the longitudinal connecting beam is fixed, and the horizontal connecting beam can also be fixed with the longitudinal connecting beam.
  • the outer sliding sleeve of the supporting cylinder and the longitudinal connecting beam constitute a moving walking supporting frame, and the horizontal connecting beam can be added to form a moving walking supporting frame through the fixed walking leg.
  • One end of the foot cylinder is connected to the inner and outer sliding sleeves of the supporting cylinder, and the other end and the sliding cylinder of the supporting cylinder are connected with the wheel frame through the wheel frame shaft, and the supporting wheel is carried forward and backward along the glide path installed at the bottom of the moving walking leg, the wheel frame
  • the upper slide plate (pulley) slides along the glide path installed on both sides of the upper part of the moving walking foot, and the moving walking foot and the moving walking leg stand are connected through the longitudinal walking cylinder, and the dozer blade is added before and after the chassis to facilitate the walking type walking chassis in the pit.
  • the road is walking.
  • Figure 1 is a schematic structural view of the present invention
  • Figure 2 is a side view of the walking chassis and the main body
  • Figure 3 is a front elevational view of the walking chassis
  • Figure 4 is a front elevational view of the fixed support
  • Figure 5 is a front view of the roller set
  • Figure 6 is a side view of the roller wheel set
  • moving walking foot 1 fixed walking foot 2
  • longitudinal walking cylinder 3 wheel frame 4
  • wheel frame upper slide (pulley) 5
  • longitudinal connecting beam 6 foot cylinder 7
  • pin shaft 9 The main body 10, the transverse connecting beam 11, the lateral traveling cylinder 12, the glide path 13, the outer cylinder outer sliding sleeve 14, the wheel frame shaft 15, the roller 16, the upper slide 17, and the blade 18.
  • the main body 10 is connected to the fixed walking leg 2 through a slewing bearing and a bearing base.
  • the fixed walking leg 2 is connected to the longitudinal connecting beam 6 through the connecting pin 9, and the longitudinal connecting beam 6 and the two ends are connected.
  • the outer sliding sleeve 14 of the supporting foot cylinder is fixed as a moving walking support frame, one end of the supporting foot cylinder 7 is connected with the outer sliding sleeve 14 of the supporting foot cylinder, and the other end and the sliding sleeve 8 of the supporting foot cylinder are connected with the wheel carrier 4 through the wheel frame shaft 15 under the wheel carrier 4
  • a roller 16 is mounted, and the roller 16 travels forward and backward on the glide path 13 in the moving walking leg 1, and the moving walking leg 1 is connected to the moving walking leg through the longitudinal traveling cylinder 3.
  • Adding a dozer blade 18 to the front and rear of the chassis facilitates walking of the walking type chassis on the pit road.
  • a slide (pulley) 5 is mounted on the wheel frame 4 to slide down the upper slide 17 for moving the front, rear, left and right movements of the walking foot 5.
  • the walking walking chassis is controlled by a cab mounted on the main body 10.
  • a cab mounted on the main body 10.
  • the front and rear walking and the left and right steering of the walking type walking chassis are achieved by controlling the expansion and contraction of the longitudinal traveling cylinder 3.
  • the mobile walking foot 1 and the fixed walking foot 2 can be brought into contact with the ground at the same time to achieve the best smoothness of the use of the machine.
  • the foot cylinder 7 is controlled to extend the cylinder rod of the foot cylinder 7 to drive the wheel frame 4 to generate a downward force, so that the moving walking foot 1 is in contact with the ground downward, and the fixed walking foot 2 is lifted off the ground, and the foot cylinder 7 stops moving.
  • the cylinder rod of the longitudinal traveling cylinder 3 is controlled to telescope forward, and the moving traveling foot 1 is slid forward along the upper chute 17 along the sliding plate (pulley) 5 on the wheel frame 4, which is the maximum stroke of the longitudinal traveling cylinder 3.
  • the foot cylinder 7 is controlled to retract the cylinder rod of the foot cylinder 7, and the wheel frame 4 is driven to generate an upward force, so that the moving walking foot 1 is lifted off the ground, the fixed walking foot 2 is in contact with the ground, and the foot cylinder 7 stops moving.
  • the cylinder of the longitudinal traveling cylinder 3 is controlled to telescope forward, and the roller 16 is driven to roll on the slide 13 in the moving walking leg 1, which is the maximum stroke of the longitudinal traveling cylinder 3.
  • the steering of the walking device is performed by controlling the expansion and contraction of the other side longitudinal traveling cylinder 3.
  • the machine using the walking type walking device is operated in a safe and stable environment.
  • the main body 10 is fixed on the fixed walking leg 2, and the main body 10 is connected to the outer sliding sleeve 14 of the supporting cylinder through the lateral traveling cylinder 12, and the outer sliding sleeve 14 of the supporting cylinder is fixed to the longitudinal connecting beam 6.
  • the lateral connecting beam 11 is fixed on the longitudinal connecting beam 6.
  • the outer cylinder sliding sleeve 14, the longitudinal connecting beam 6 and the transverse connecting beam 11 constitute a moving walking tripod, and one end of the supporting cylinder 7 is connected with the outer cylinder sliding sleeve 14 and the other end.
  • the inner cylinder sliding sleeve 8 and the wheel carrier 4 are connected by the wheel frame shaft 15, and the supporting roller 16 moves forward and backward on the glide path 13 in the moving walking foot 1, and the moving walking foot 1 passes the longitudinal walking cylinder 3 and the moving walking tripod Connected, adding a dozer blade in front of and behind the chassis makes it easy for the walking type walking chassis to walk on the pit road.
  • a slide (pulley) 5 is mounted on the wheel frame 4 to slide down the upper slide 17 for moving the front, rear, left and right movements of the walking foot 5.
  • the walking walking chassis is controlled by a cab mounted on the main body 10.
  • a cab mounted on the main body 10.
  • the expansion and contraction of the foot cylinder 7 the alternate operation of the moving walking foot 1 and the fixed running foot 2 and the ground force is adjusted.
  • the expansion and contraction of the lateral traveling cylinder 12 the left and right walking and the left and right steering of the walking type walking chassis are achieved.
  • the mobile walking foot 1 and the fixed walking foot 2 can be brought into contact with the ground at the same time to achieve the best smoothness of the use of the machine.
  • the foot cylinder 7 is controlled to extend the cylinder rod of the foot cylinder 7 to drive the wheel frame 4 to generate a downward force, so that the moving walking foot 1 is in contact with the ground downward, and the fixed walking foot 2 is lifted off the ground, and the foot cylinder 7 stops moving.
  • the cylinder that controls the lateral traveling cylinder 12 is telescopic to the left, and the fixed traveling base 2 is moved to the left, which is the process until the lateral traveling cylinder 12 reaches the maximum stroke.
  • the cylinder rod of the lateral traveling cylinder 12 is controlled to be telescopic to the left, and the moving walking foot 1 is moved to the left, which is the process until the longitudinal traveling cylinder 3 reaches the maximum stroke.
  • the steering of the walking device is performed by controlling the expansion and contraction of the other side longitudinal traveling cylinder 3.
  • the machine using the walking type walking device is operated in a safe and stable environment.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Paleontology (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
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  • Manipulator (AREA)

Abstract

Provided is a walker-type traveling chassis, comprising a fixed traveling frame (2) mounted on the base plate of a main machine body (10); by means of a lateral traveling cylinder (12) or a connecting pin (9), the main machine body (10) is connected to a frame cylinder outer sliding sleeve (14) or a longitudinal connecting beam (6); the frame cylinder outer sliding sleeve (14) is fixed to the longitudinal connecting beam (6), and a lateral connection beam (11) fixed to the longitudinal connecting beam (6) may also be used; the frame cylinder outer sliding sleeve (14) and longitudinal connecting beam (6) constitute a mobile traveling support frame; a lateral connecting beam (11) may also be added to constitute the mobile traveling support frame; one end of a frame cylinder (7) is connected to the frame cylinder outer sliding sleeve (14), and the other end is connected to the frame cylinder inner sliding sleeve (8) and the wheel frame (4) by means of a wheel frame shaft (15); a supporting wheel (16) travels forward and backward along a lower slideway (13) mounted in the bottom of a mobile traveling frame (1); the wheel frame (4) upper slide plate (slide wheel) (5) slides below the upper slideway (17) mounted at the two sides of the upper part of the mobile traveling frame (1); the mobile traveling frame (1) and the mobile traveling support frame are connected by means of a longitudinal traveling cylinder (3); dozer blades (18) are added at the front and rear of the chassis to facilitate the travel of the walker-type traveling chassis over road sections having potholes. The walker-type chassis constituted by the described components has greatly improved mechanical stability.

Description

一种步履式行走底座装置Walking walking base device 技术领域Technical field
本发明涉及到车辆、机械的行走底盘，尤其涉及一种机械步履式行走底盘。The invention relates to a walking platform for a vehicle and a machine, and more particularly to a mechanical walking type walking chassis.
背景技术Background technique
在现有的车辆、机械中绝大部分都在使用链轨式行走底盘。存在的问题是：链轨式底盘稳定性差，制作成本高。Most of the existing vehicles and machinery use a chain-rail walking chassis. The problem is that the chain-rail chassis has poor stability and high manufacturing cost.
发明内容Summary of the invention
本发明是要解决现有技术存在的上述问题，提供一种步履式行走底盘，步履式行走底盘由移动行走支脚、固定行走支脚、支脚油缸、支脚油缸滑套、纵向连接梁、支重轮、轮架、轮架上滑板(滑轮)、轮架油缸连接轴、纵向行走油缸、横向连接梁和横向行走油缸所组成，在底盘前后增加推土铲便于步履式行走底盘在坑洼路段行走。The present invention is to solve the above problems in the prior art, and provides a walking type walking chassis. The walking type walking chassis is composed of a moving walking foot, a fixed walking leg, a foot cylinder, a leg cylinder sliding sleeve, a longitudinal connecting beam, a supporting roller, The wheel frame, the wheel frame upper pulley (pulley), the wheel frame cylinder connecting shaft, the longitudinal traveling cylinder, the transverse connecting beam and the lateral walking cylinder are combined, and a bulldozer is added before and after the chassis to facilitate walking of the walking walking chassis on the pit road section.
本发明涉及的步履式行走底盘，其特征是：固定行走支脚安装在主机体底板上，主机体通过横向油缸或连接销轴与支脚油缸外滑套或纵向连接梁连接，支脚油缸外滑套与纵向连接梁固定，也可用横向连接梁与纵向连接梁相固定，支脚油缸外滑套、纵向连接梁组成了移动行走支脚架，也可添加横向连接梁穿过固定行走支脚组成移动行走支脚架，支脚油缸一端连接在支脚油缸内外滑套上、另一端和支脚油缸内滑套与轮架通过轮架轴连接，支重轮沿安装在移动行走支脚内底部的下滑道上进行前后的行走，轮架上滑板(滑轮)沿安装在移动行走支脚内上部两侧的下滑道下滑行，移动行走支脚与移动行走支脚架通过纵向行走油缸连接，在底盘前后增加推土铲便于步履式行走底盘在坑洼路段行走。The walking type walking chassis of the invention is characterized in that: the fixed walking foot is mounted on the bottom plate of the main body body, and the main body body is connected with the outer sliding sleeve or the longitudinal connecting beam of the supporting foot cylinder through the transverse oil cylinder or the connecting pin shaft, and the outer sliding sleeve of the supporting foot cylinder and the outer sliding sleeve The longitudinal connecting beam is fixed, and the horizontal connecting beam can also be fixed with the longitudinal connecting beam. The outer sliding sleeve of the supporting cylinder and the longitudinal connecting beam constitute a moving walking supporting frame, and the horizontal connecting beam can be added to form a moving walking supporting frame through the fixed walking leg. One end of the foot cylinder is connected to the inner and outer sliding sleeves of the supporting cylinder, and the other end and the sliding cylinder of the supporting cylinder are connected with the wheel frame through the wheel frame shaft, and the supporting wheel is carried forward and backward along the glide path installed at the bottom of the moving walking leg, the wheel frame The upper slide plate (pulley) slides along the glide path installed on both sides of the upper part of the moving walking foot, and the moving walking foot and the moving walking leg stand are connected through the longitudinal walking cylinder, and the dozer blade is added before and after the chassis to facilitate the walking type walking chassis in the pit. The road is walking.
该步履式行走装置的有益效果是： The beneficial effects of the walking type walking device are:
1、由于发明了步履式行走装置，大大提高了使用设备的安全平稳性，降低了设备的制作成本。1. Due to the invention of the walking type walking device, the safety and stability of the used equipment are greatly improved, and the manufacturing cost of the equipment is reduced.
附图说明DRAWINGS
图1为本发明结构示意图；Figure 1 is a schematic structural view of the present invention;
图2为步履式底盘和主机体的侧视图；Figure 2 is a side view of the walking chassis and the main body;
图3为步履式底盘的正视图；Figure 3 is a front elevational view of the walking chassis;
图4为固定支承座的正视图；Figure 4 is a front elevational view of the fixed support;
图5为支重轮轮组正视图；Figure 5 is a front view of the roller set;
图6为支重轮轮组侧视图；Figure 6 is a side view of the roller wheel set;
图中：移动行走支脚1，固定行走支脚2，纵向行走油缸3，轮架4，轮架上滑板(滑轮)5，纵向连接梁6，支脚油缸7，支脚油缸内滑套8，销轴9，主机体10，横向连接梁11，横向行走油缸12，下滑道13，支脚油缸外滑套14，轮架轴15，支重轮16，上滑道17，推土铲18。In the figure: moving walking foot 1, fixed walking foot 2, longitudinal walking cylinder 3, wheel frame 4, wheel frame upper slide (pulley) 5, longitudinal connecting beam 6, foot cylinder 7, foot cylinder inner sliding sleeve 8, pin shaft 9 The main body 10, the transverse connecting beam 11, the lateral traveling cylinder 12, the glide path 13, the outer cylinder outer sliding sleeve 14, the wheel frame shaft 15, the roller 16, the upper slide 17, and the blade 18.
具体实施方式detailed description
下面结合附图和具体实施方式对本发明做进一步详细说明：The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
如图1、图2所示，包括主机体10通过回转支撑轴承和轴承底座与固定行走支脚2连接，固定行走支脚2通过连接销轴9与纵向连接梁6连接，纵向连接梁6与两端的支脚油缸外滑套14固定成为移动行走支脚架，支脚油缸7一端与支脚油缸外滑套14连接，另一端和支脚油缸内滑套8与轮架4通过轮架轴15连接，轮架4下安装有支重轮16，支重轮16在移动行走支脚1内的下滑道13上前后行走，移动行走支脚1通过纵向行走油缸3与移动行走支脚架相连。在底盘前后增加推土铲18便于步履式行走底盘在坑洼路段行走。 As shown in FIG. 1 and FIG. 2, the main body 10 is connected to the fixed walking leg 2 through a slewing bearing and a bearing base. The fixed walking leg 2 is connected to the longitudinal connecting beam 6 through the connecting pin 9, and the longitudinal connecting beam 6 and the two ends are connected. The outer sliding sleeve 14 of the supporting foot cylinder is fixed as a moving walking support frame, one end of the supporting foot cylinder 7 is connected with the outer sliding sleeve 14 of the supporting foot cylinder, and the other end and the sliding sleeve 8 of the supporting foot cylinder are connected with the wheel carrier 4 through the wheel frame shaft 15 under the wheel carrier 4 A roller 16 is mounted, and the roller 16 travels forward and backward on the glide path 13 in the moving walking leg 1, and the moving walking leg 1 is connected to the moving walking leg through the longitudinal traveling cylinder 3. Adding a dozer blade 18 to the front and rear of the chassis facilitates walking of the walking type chassis on the pit road.
所述轮架4上安装有滑板(滑轮)5沿上滑道17下滑行，用于移动行走支脚5的前后左右运动。A slide (pulley) 5 is mounted on the wheel frame 4 to slide down the upper slide 17 for moving the front, rear, left and right movements of the walking foot 5.
通过安装在主机体10上的驾驶室来控制步履式行走底盘。通过控制支脚油缸7的伸缩，来调节移动行走支脚1和固定行走支脚2与地面受力情况的交替运行。通过控制纵向行走油缸3的伸缩达到步履式行走底盘的前后行走和左右转向。在使用机械作业时，可使移动行走支脚1与固定行走支脚2同时与地面接触受力，以达到使用机械的最佳平稳性。The walking walking chassis is controlled by a cab mounted on the main body 10. By controlling the expansion and contraction of the foot cylinder 7, the alternate operation of the moving walking foot 1 and the fixed running foot 2 and the ground force is adjusted. The front and rear walking and the left and right steering of the walking type walking chassis are achieved by controlling the expansion and contraction of the longitudinal traveling cylinder 3. When using mechanical work, the mobile walking foot 1 and the fixed walking foot 2 can be brought into contact with the ground at the same time to achieve the best smoothness of the use of the machine.
控制支脚油缸7，使支脚油缸7缸杆伸出，带动轮架4产生向下的力，使移动行走支脚1向下与地面接触，提升固定行走支脚2离开地面，支脚油缸7停止运动。The foot cylinder 7 is controlled to extend the cylinder rod of the foot cylinder 7 to drive the wheel frame 4 to generate a downward force, so that the moving walking foot 1 is in contact with the ground downward, and the fixed walking foot 2 is lifted off the ground, and the foot cylinder 7 stops moving.
控制纵向行走油缸3的缸杆向前伸缩，带动移动行走支脚1沿轮架4上的滑板(滑轮)5沿上滑道17向前滑动，这一过程在纵向行走油缸3达到最大行程为止。The cylinder rod of the longitudinal traveling cylinder 3 is controlled to telescope forward, and the moving traveling foot 1 is slid forward along the upper chute 17 along the sliding plate (pulley) 5 on the wheel frame 4, which is the maximum stroke of the longitudinal traveling cylinder 3.
控制支脚油缸7，使支脚油缸7缸杆缩回，带动轮架4产生向上的力，使移动行走支脚1向上离开地面，固定行走支脚2与地面接触，支脚油缸7停止运动。The foot cylinder 7 is controlled to retract the cylinder rod of the foot cylinder 7, and the wheel frame 4 is driven to generate an upward force, so that the moving walking foot 1 is lifted off the ground, the fixed walking foot 2 is in contact with the ground, and the foot cylinder 7 stops moving.
控制纵向行走油缸3的缸体向前伸缩，带动支重轮16在移动行走支脚1内的滑道13上滚动，这一过程在纵向行走油缸3达到最大行程为止。The cylinder of the longitudinal traveling cylinder 3 is controlled to telescope forward, and the roller 16 is driven to roll on the slide 13 in the moving walking leg 1, which is the maximum stroke of the longitudinal traveling cylinder 3.
步履式行走装置正常行驶时，在一边的纵向行走油缸3停止的情况下，通过控制另一边纵向行走油缸3的伸缩达到步履行走装置的转向行走。When the walking type traveling device is normally running, when one of the longitudinal traveling cylinders 3 is stopped, the steering of the walking device is performed by controlling the expansion and contraction of the other side longitudinal traveling cylinder 3.
通过以上一系列的操作使使用步履式行走装置的机械在安全平稳的环境下进行行走。 Through the above series of operations, the machine using the walking type walking device is operated in a safe and stable environment.
如图3、图4所示，包括主机体10固定在固定行走支脚2上面，主机体10通过横向行走油缸12与支脚油缸外滑套14相连，支脚油缸外滑套14与纵向连接梁6固定，横向连接梁11固定在纵向连接梁6上，支脚油缸外滑套14、纵向连接梁6和横向连接梁11组成移动行走支脚架，支脚油缸7一端与支脚油缸外滑套14连接，另一端和支脚油缸内滑套8与轮架4通过轮架轴15连接，支重轮16在移动行走支脚1内的下滑道13上前后行走，移动行走支脚1通过纵向行走油缸3与移动行走支脚架相连，在底盘前后增加推土铲便于步履式行走底盘在坑洼路段行走。As shown in FIG. 3 and FIG. 4, the main body 10 is fixed on the fixed walking leg 2, and the main body 10 is connected to the outer sliding sleeve 14 of the supporting cylinder through the lateral traveling cylinder 12, and the outer sliding sleeve 14 of the supporting cylinder is fixed to the longitudinal connecting beam 6. The lateral connecting beam 11 is fixed on the longitudinal connecting beam 6. The outer cylinder sliding sleeve 14, the longitudinal connecting beam 6 and the transverse connecting beam 11 constitute a moving walking tripod, and one end of the supporting cylinder 7 is connected with the outer cylinder sliding sleeve 14 and the other end. And the inner cylinder sliding sleeve 8 and the wheel carrier 4 are connected by the wheel frame shaft 15, and the supporting roller 16 moves forward and backward on the glide path 13 in the moving walking foot 1, and the moving walking foot 1 passes the longitudinal walking cylinder 3 and the moving walking tripod Connected, adding a dozer blade in front of and behind the chassis makes it easy for the walking type walking chassis to walk on the pit road.
所述轮架4上安装有滑板(滑轮)5沿上滑道17下滑行，用于移动行走支脚5的前后左右运动。A slide (pulley) 5 is mounted on the wheel frame 4 to slide down the upper slide 17 for moving the front, rear, left and right movements of the walking foot 5.
如图3、图4所示与图1、图2所示前后行走操作一致。As shown in Fig. 3 and Fig. 4, the forward and backward walking operations shown in Fig. 1 and Fig. 2 are identical.
通过安装在主机体10上的驾驶室来控制步履式行走底盘。通过控制支脚油缸7的伸缩，来调节移动行走支脚1和固定行走支脚2与地面受力情况的交替运行。通过控制横向行走油缸12的伸缩达到步履式行走底盘的左右行走和左右转向。在使用机械作业时，可使移动行走支脚1与固定行走支脚2同时与地面接触受力，以达到使用机械的最佳平稳性。The walking walking chassis is controlled by a cab mounted on the main body 10. By controlling the expansion and contraction of the foot cylinder 7, the alternate operation of the moving walking foot 1 and the fixed running foot 2 and the ground force is adjusted. By controlling the expansion and contraction of the lateral traveling cylinder 12, the left and right walking and the left and right steering of the walking type walking chassis are achieved. When using mechanical work, the mobile walking foot 1 and the fixed walking foot 2 can be brought into contact with the ground at the same time to achieve the best smoothness of the use of the machine.
控制支脚油缸7，使支脚油缸7缸杆伸出，带动轮架4产生向下的力，使移动行走支脚1向下与地面接触，提升固定行走支脚2离开地面，支脚油缸7停止运动。The foot cylinder 7 is controlled to extend the cylinder rod of the foot cylinder 7 to drive the wheel frame 4 to generate a downward force, so that the moving walking foot 1 is in contact with the ground downward, and the fixed walking foot 2 is lifted off the ground, and the foot cylinder 7 stops moving.
控制横向行走油缸12的缸体向左伸缩，带动固定行走底座2向左运动，这一过程在横向行走油缸12达到最大行程为止。The cylinder that controls the lateral traveling cylinder 12 is telescopic to the left, and the fixed traveling base 2 is moved to the left, which is the process until the lateral traveling cylinder 12 reaches the maximum stroke.
控制支脚油缸7，使支脚油缸7缸杆缩回，带动轮架4产生向上的力，使 移动行走支脚1向上离开地面，固定行走支脚2与地面接触，支脚油缸7停止运动。Controlling the foot cylinder 7 to retract the cylinder rod of the foot cylinder 7 to drive the wheel frame 4 to generate an upward force, so that The moving walking foot 1 is moved upwards away from the ground, the fixed walking foot 2 is in contact with the ground, and the supporting foot cylinder 7 stops moving.
控制横向行走油缸12的缸杆向左伸缩，带动移动行走支脚1向左运动，这一过程在纵向行走油缸3达到最大行程为止。The cylinder rod of the lateral traveling cylinder 12 is controlled to be telescopic to the left, and the moving walking foot 1 is moved to the left, which is the process until the longitudinal traveling cylinder 3 reaches the maximum stroke.
向右行走过程同上。The process of walking to the right is the same as above.
步履式行走装置正常行驶时，在一边的纵向行走油缸3停止的情况下，通过控制另一边纵向行走油缸3的伸缩达到步履行走装置的转向行走。When the walking type traveling device is normally running, when one of the longitudinal traveling cylinders 3 is stopped, the steering of the walking device is performed by controlling the expansion and contraction of the other side longitudinal traveling cylinder 3.
通过以上一系列的操作使使用步履式行走装置的机械在安全平稳的环境下进行行走。 Through the above series of operations, the machine using the walking type walking device is operated in a safe and stable environment.

Claims (10)

  1. 一种步履式行走装置，包括固定行走支脚安装在主机体底板上，主机体通过横向油缸或连接销轴与支脚油缸外滑套或纵向连接梁连接，支脚油缸外滑套与纵向连接梁固定，也可用横向连接梁与纵向连接梁相固定，支脚油缸外滑套、纵向连接梁组成了移动行走支脚架，也可添加横向连接梁组成移动行走支脚架，支脚油缸一端连接在支脚油缸内外滑套上、另一端和支脚油缸内滑套与轮架通过轮架轴连接，支重轮沿安装在移动行走支脚内底部的下滑道上进行前后的行走，轮架上滑板(滑轮)沿安装在移动行走支脚内上部两侧的上滑道下滑行，移动行走支脚与移动行走支脚架通过纵向行走油缸连接，在底盘前后增加推土铲便于步履式行走底盘在坑洼路段行走。The utility model relates to a walking type walking device, which comprises a fixed walking foot mounted on a bottom plate of a main body body, and the main body body is connected with an outer sliding sleeve or a longitudinal connecting beam of a supporting cylinder through a transverse oil cylinder or a connecting pin shaft, and the outer sliding sleeve of the supporting foot cylinder is fixed with the longitudinal connecting beam. The horizontal connecting beam can also be fixed with the longitudinal connecting beam, the outer sliding sleeve of the supporting cylinder and the longitudinal connecting beam constitute a moving walking tripod, and the horizontal connecting beam can also be added to form a moving walking tripod. One end of the supporting cylinder is connected to the inner and outer sliding sleeve of the supporting cylinder. The upper and the other ends and the inner cylinder of the supporting cylinder are connected with the wheel frame through the wheel frame shaft, and the supporting roller is carried forward and backward along the glideslope mounted on the bottom of the moving walking foot, and the upper sliding plate (pulley) is mounted along the moving walking. The upper slides on both sides of the upper part of the leg slide down, and the moving walking foot and the moving walking stand are connected by a longitudinal walking cylinder, and a bulldozer is added before and after the chassis to facilitate walking of the walking walking chassis in the pit road section.
  2. 根据权利要求1所述的步履式行走装置，其特征是：设有轮架，轮架下方安装有支重轮，轮架上方设有滑板(滑轮)，在轮架中间设计有支脚油缸连接轴，支脚油缸一端和支脚油缸内滑套通过连接轴连接在轮架上，另一端与支脚油缸外滑套连接。The walking type walking device according to claim 1, characterized in that: a wheel frame is arranged, a roller is mounted under the wheel frame, a sliding plate (pulley) is arranged above the wheel frame, and a supporting cylinder connecting shaft is arranged in the middle of the wheel frame. One end of the foot cylinder and the inner sliding sleeve of the foot cylinder are connected to the wheel frame through the connecting shaft, and the other end is connected with the outer sliding sleeve of the foot cylinder.
  3. 根据权利要求1所述的步履式行走装置，其特征是：设置有移动行走支脚，移动行走支脚通过纵向行走油缸与移动行走支脚架连接。The walking type walking device according to claim 1, wherein a moving walking leg is provided, and the moving walking leg is connected to the moving walking leg through the longitudinal traveling cylinder.
  4. 根据权利要求1所述的步履式行走装置，其特征是：在轮架上安装有滑板，沿安装在移动行走支脚内的上滑道下滑行，用于移动行走支脚的前后行走和左右转向运动。The walking type walking device according to claim 1, wherein a sliding plate is mounted on the wheel frame and slides along an upper sliding path installed in the moving walking leg for moving the walking leg to the front and rear and the left and right steering movement. .
  5. 根据权利要求1所述的步履式行走装置，其特征是：也可以在轮架上安装有滑轮，沿安装在移动行走支脚内的上滑道下滑行，用于移动行走支脚的前 后行走和左右转向运动。The walking type walking device according to claim 1, wherein a pulley is mounted on the wheel frame and slides along an upper sliding path installed in the moving walking leg for moving the front of the walking foot. After walking and steering left and right.
  6. 根据权利要求1所述的步履式行走装置，其特征是：在移动行走支脚内底部安装有下滑道用于支重轮的行走；在移动行走支脚内上部两侧安装有上滑道，用于轮架上设置的滑板(滑轮)沿其滑行运动和转向运动。The walking type walking device according to claim 1, wherein: a sliding path is installed on the bottom of the moving walking leg for the walking of the supporting wheel; and an upper sliding path is installed on both sides of the upper part of the moving walking leg for The skateboard (pulley) provided on the wheel frame moves along its gliding and steering motion.
  7. 根据权利要求1所述的步履式行走装置，其特征是：纵向连接梁与两端的支脚油缸外滑套固定成为移动行走支脚架，也可添加横向连接梁穿过固定行走支脚与纵向连接梁和支脚油缸外滑套组成移动行走支脚架。The walking type walking device according to claim 1, wherein the longitudinal connecting beam and the outer sliding sleeve of the supporting legs at both ends are fixed as a moving walking stand, and the transverse connecting beam can also be added through the fixed walking leg and the longitudinal connecting beam and The outer sliding sleeve of the foot cylinder constitutes a moving walking stand.
  8. 根据权利要求1所述的步履式行走装置，其特征是：移动行走支脚架通过连接销轴与固定行走支脚连接，也可用横向行走油缸与固定行走支脚连接。The walking type walking device according to claim 1, wherein the moving walking stand is connected to the fixed walking leg through the connecting pin shaft, and the horizontal running cylinder is connected to the fixed running leg.
  9. 根据权利要求1所述的步履式行走装置，其特征是：安装纵向行走油缸，通过控制纵向行走油缸的伸缩来实现步履式行走底盘的前后行走和左右转向运动；也可安装横向行走油缸，通过控制横向油缸的伸缩来实现步履式行走底盘的左右行走。The walking type walking device according to claim 1, wherein the longitudinal traveling cylinder is installed, and the front and rear walking and the left and right steering movement of the walking type walking chassis are realized by controlling the expansion and contraction of the longitudinal traveling cylinder; and the lateral traveling cylinder can also be installed. Control the expansion and contraction of the transverse cylinder to achieve the left and right walking of the walking type walking chassis.
  10. 根据权利要求1所述的步履式行走装置，其特征是：固定行走支脚固定在主机体底座下，在底盘前后增加推土铲便于步履式行走底盘在坑洼路段行走。 The walking type walking device according to claim 1, wherein the fixed walking legs are fixed under the base of the main body, and the dozer blade is added before and after the chassis to facilitate walking of the walking walking chassis in the pit section.
PCT/CN2014/000823 2014-09-03 2014-09-03 Walker-type traveling base apparatus WO2016033706A1 (en)

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