CN217622981U - Traveling mechanism - Google Patents

Abstract

The utility model discloses a running gear, including first wheel, second wheel and telescoping device, the telescoping device is used for the drive first wheel with the second wheel is far away mutually, nearly removal along the axial, just first wheel with the second wheel rotate respectively install in adjusting the direction of travel in order to rotate on the telescoping device, still include can with the synchronous flexible just parallel arrangement's of telescoping device telescopic connecting rod, telescopic connecting rod both ends respectively with first wheel with the second wheel rotates to be connected, so that telescopic connecting rod first wheel the telescoping device with form articulated four-bar linkage between the second wheel. Under the common constraint of the telescopic device and the telescopic connecting rod, the first wheel and the second wheel are deflected to be constrained with each other so as to ensure that the turning and the straight line running are stable. In conclusion, the traveling mechanism can effectively solve the problem that the steering control effect of the left and right vehicle paths is not good.

Description

Traveling mechanism

Technical Field

The utility model relates to the technical field of machinery, more specifically say, relate to a running gear.

Background

The high-altitude operation platform in the high-altitude section is high in operation height and strict in stability, a wider underframe is needed to support the platform, the width of the whole vehicle is needed to be small as much as possible when the whole vehicle is transported and stored and passes through certain narrow road sections, the structural form of the telescopic supporting legs is generated, the supporting legs extend out when the arm support works, the stability is improved, and the supporting legs retract when the platform is transported and stored, so that the space is saved.

The structure of the telescopic supporting leg at present needs to control a steering oil cylinder to adjust the rotating angle of a tire through a left relative angle sensor and a right relative angle sensor when steering, and the tire frequently generates a back-and-forth deflection phenomenon in the walking process due to uneven road surface and insufficient precision of the relative angle sensors; and the angle sensor is easy to break down, which can cause the high-altitude operation vehicle to be incapable of steering and influence the use.

In summary, how to effectively solve the problem of poor steering control effect of left and right lanes is a problem that needs to be solved urgently by those skilled in the art at present.

SUMMERY OF THE UTILITY MODEL

In view of this, the present invention provides a traveling mechanism, which can effectively solve the problem of poor effect of controlling the steering of the vehicle.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a running gear, includes first wheel, second wheel and telescoping device, the telescoping device is used for the drive first wheel with the second wheel is far away mutually, nearly removal along the axial, just first wheel with the second wheel rotate respectively install in adjusting the direction of travel with can rotating on the telescoping device, still include can with the telescoping device synchronous telescope and parallel arrangement's telescopic connecting rod, the telescopic connecting rod both ends respectively with first wheel with the second wheel rotates to be connected, so that the telescopic connecting rod first wheel the telescoping device with form articulated four-bar linkage between the second wheel.

In the travelling mechanism, when the telescopic device is used and the distance between the first wheel and the second wheel needs to be adjusted, the telescopic device and the telescopic connecting rod stretch synchronously, so that the first wheel and the second wheel are kept away from each other in a parallel state, and the telescopic stability is improved. And after the adjustment is completed, the expansion of the expansion device and the expansion of the expansion connecting rod are both locked, when the first wheel and/or the second wheel are driven to rotate so as to adjust the driving direction, at the moment, because an articulated four-bar structure is formed among the expansion connecting rod, the first wheel, the expansion device and the second wheel, under the constraint of the articulated four-bar structure, namely under the common constraint of the expansion device and the expansion connecting rod, the first wheel and the second wheel can be constrained mutually so as to deflect simultaneously, and whether the deflection angles are equal or not, even the difference value is large or small, the control can be performed according to the size relationship among four articulated points of the articulated four-bar structure, so that whether the first wheel and the second wheel deflect simultaneously or not is not required to be detected through an angle detector. And the first wheel and the second wheel are mutually constrained in deflection, so that the deflection is more reliable, and the stability of turning and straight running is ensured. In conclusion, the traveling mechanism can effectively solve the problem that the steering control effect of the left and right vehicle paths is not good.

Preferably, the vehicle further comprises a steering driving device for driving the first wheel and the second wheel to rotate so as to adjust the driving direction.

Preferably, the steering driving device comprises a first steering telescopic cylinder and a second steering telescopic cylinder, two ends of the first steering telescopic cylinder are respectively hinged with the first wheel and the telescopic device, and two ends of the second steering telescopic cylinder are respectively hinged with the second wheel and the telescopic device.

Preferably, the first wheel comprises a first tire assembly and a first steering connecting disc, the first tire assembly is mounted on one side of the first steering connecting disc, and the other side of the first steering connecting disc is provided with a hinge point for being respectively connected with the expansion device, the expansion connecting rod and the first steering expansion cylinder in a hinged manner; the second wheel comprises a second tire assembly and a second steering connecting disc, the second tire assembly is installed on one side of the second steering connecting disc, and the other side of the second steering connecting disc is provided with a hinge point which is respectively connected with the telescopic device, the telescopic connecting rod and the second steering telescopic cylinder in a hinged mode.

Preferably, a first connecting rod extending to a second steering connecting disk is fixedly connected to the edge portion of the first steering connecting disk, a second connecting rod extending to the first steering connecting disk is fixedly connected to the edge portion of the second steering connecting disk, and two ends of the telescopic connecting rod are respectively hinged to the first connecting rod and the second connecting rod.

Preferably, the telescoping device includes the flexible hydro-cylinder of double-end, chassis, slidable mounting in the first flexible landing leg and the slidable mounting of chassis one end in the flexible landing leg of the second of the chassis other end, the flexible head in both ends of the flexible hydro-cylinder of double-end respectively with first flexible leg with the flexible leg of second is connected, the cylinder body fixed mounting of the flexible hydro-cylinder of double-end in the chassis, first wheel rotate connect in first flexible landing leg, the second wheel rotate connect in the flexible landing leg of second.

Preferably, when the telescopic oil cylinder of the telescopic device extends out, the oil inlet is communicated with the oil outlet of the telescopic oil cylinder of the telescopic connecting rod when the telescopic oil cylinder extends out, so as to synchronously extend and retract; when the telescopic oil cylinder of the telescopic device stretches out, the oil outlet is communicated to the oil return port, and when the telescopic oil cylinder of the telescopic connecting rod stretches out, the oil inlet is communicated to the oil supply port.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the description below are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is an exploded schematic view of a traveling mechanism according to an embodiment of the present invention;

fig. 2 is a schematic diagram of an assembled structure of the traveling mechanism when the underframe is cut open according to the embodiment of the present invention;

fig. 3 is a schematic view of an oil path when the telescopic device of the traveling mechanism and the telescopic link are linked according to an embodiment of the present invention.

The drawings are numbered as follows:

1. a first hinge revolute pair; 2. a second hinge revolute pair; 3. a third hinge revolute pair; 4. a fourth hinge revolute pair; 5. a fifth hinge revolute pair; 6. a sixth hinge revolute pair; 7. a seventh hinge revolute pair; 8. an eighth hinge revolute pair; 9. a first tire assembly; 10. a first steering land; 11. a first telescoping leg; 12. a chassis; 13. a double-head telescopic oil cylinder; 14. a second telescopic leg; 15. a second steering linkage disc; 16. a second tire assembly; 17. a second steering telescopic cylinder; 18. a telescopic connecting rod; 19. the first steering telescopic cylinder.

Detailed Description

The embodiment of the utility model discloses running gear to control the not good problem of car road steering control effect effectively.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, fig. 1 is a schematic diagram illustrating an explosion structure of a traveling mechanism according to an embodiment of the present invention; fig. 2 is a schematic diagram of an assembled structure of the traveling mechanism when the underframe is cut open according to the embodiment of the present invention; fig. 3 is a schematic diagram of an oil path when the expansion device of the traveling mechanism is linked with the expansion link according to the embodiment of the present invention.

In a specific embodiment, the embodiment provides a traveling mechanism, which may be a traveling mechanism of an aerial work device, such as a traveling mechanism of an aerial work platform, or a traveling mechanism of a general engineering vehicle or other vehicles, such as a car, a truck, a tractor, a bulldozer, and the like. Specifically, the traveling mechanism mainly comprises a first wheel, a second wheel, a telescopic device and a telescopic connecting rod 18, wherein the first wheel and the second wheel are generally a left wheel, and the other wheel is a right wheel.

The telescopic device is used for driving the first wheel and the second wheel to move far and near along the axial direction, so that when the first wheel and the second wheel are driven to move far and far, the transverse distance between the first wheel and the second wheel is increased, the stability of supporting and transporting is further increased, and when the first wheel and the second wheel are driven to move close along the axial direction, the transverse distance between the first wheel and the second wheel is reduced, and the vehicle can conveniently walk on a narrow road section.

The first wheel and the second wheel are installed on the telescopic device, so that the first wheel and the second wheel are driven to move far and near along the axial direction in a telescopic mode through the telescopic device, and a telescopic main body in the telescopic device can be an oil cylinder, an electric cylinder and the like, so that the first wheel and the second wheel at two ends can move far and near. If a telescopic cylinder is adopted, one of the first wheel and the second wheel is arranged on a telescopic rod of the telescopic cylinder, the other wheel is arranged on a cylinder body of the telescopic cylinder, and the cylinder body of the telescopic cylinder is connected to the vehicle body.

The first wheel and the second wheel are respectively rotatably mounted on the telescopic device so as to be capable of rotatably adjusting the running direction, and when the vehicle turns, the two left and right front wheels can synchronously rotate to one side so that the running direction deflects to the direction. It should be noted that, in some embodiments, the traveling mechanism may not be provided with a power mechanism to drive the first wheel and the second wheel to steer, and in this case, the first wheel and the second wheel may be steered by other external structures, such as manpower, a wheel guide rail, and the like; it is intended to be limited herein that the first wheel and the second wheel can be rotationally steered by a rotational connection between the first wheel and the second wheel and the retractor. Specifically, the first wheel and the telescopic device can be rotationally connected through a first hinge revolute pair 1, so that the driving direction can be adjusted through rotation; the second wheel and the telescopic device can be rotatably connected through a second hinge revolute pair 2, so that the driving direction can be adjusted through rotation. The rotating shafts of the first hinge revolute pair 1 and the second hinge revolute pair 2 are arranged in parallel, and preferably extend in the vertical direction, and can be vertically arranged or obliquely arranged in the vertical direction.

The telescopic connecting rod 18 can be synchronously telescopic and arranged in parallel with the telescopic device, and two ends of the telescopic connecting rod 18 are respectively connected with the first wheel and the second wheel in a rotating mode, so that when the telescopic connecting rod 18 and the telescopic device stop telescopic, a hinged four-bar structure is formed among the telescopic connecting rod 18, the telescopic device and the first wheel and the second wheel. Specifically, for example, the first wheel is rotatably connected to one end of the telescopic link 18 through the seventh hinge revolute pair 7, the second wheel is rotatably connected to the other end of the telescopic link 18 through the fourth hinge revolute pair 4, and by combining the first hinge revolute pair 1 and the second hinge revolute pair 2, the rotating shafts of the first hinge revolute pair 1, the second hinge revolute pair 2, the fourth hinge revolute pair 4 and the seventh hinge revolute pair 7 are all arranged in parallel to each other and sequentially distributed at four corners of a quadrangle, so as to form four hinge points of the hinged four-link structure.

It should be noted that, the four-bar linkage structure is a transmission structure, and is intended to define the position relationship among the four hinge joints, that is, the rotating shafts of the first hinge revolute pair 1, the second hinge revolute pair 2, the fourth hinge revolute pair 4, and the seventh hinge revolute pair 7, and the structure between any two revolute pairs (hinge joints) is not strictly defined as a rod, but a block or a plate may be adopted. Likewise, some of the links may also be a telescopically adjustable link, such as a telescopic device between the first hinge revolute pair 1 and the second hinge revolute pair 2, and a telescopic link 18 between the fourth hinge revolute pair 4 and the seventh hinge revolute pair 7. In some use states, in which the telescopic device and the telescopic connecting rod 18 are not telescopic, the transmission is performed by a hinged four-bar structure; in some use states, the telescopic device and/or the telescopic connecting rod 18 can be used for telescopic adjustment so as to change the distance between the corresponding hinge points, and after the change, the hinged four-bar structure is still formed.

And wherein the pantograph linkage 18 is able to telescope synchronously with the pantograph to cause the pantograph to telescope to adjust the lateral distance between the first wheel and the second wheel, the corresponding pantograph linkage 18 has a telescopic length corresponding to the adjusted distance between the first wheel and the second wheel. So that after adjustment, the articulated four-bar linkage is still formed between the pantograph linkage 18, the pantograph, the first wheel and the second wheel. When the hinge revolute pair is combined: the telescopic device can change the distance between the first hinge revolute pair 1 and the second hinge revolute pair 2 by telescoping, such as increasing L; the telescopic link 18 is also telescopic to change the distance between the fourth 4 and seventh 7 hinge revolute pairs and also increase L.

When the first wheel and the second wheel are both driving forward, the articulated four-bar linkage structure is actually an isosceles trapezoid articulated four-bar linkage structure (a trapezoid steering mechanism) to meet the requirement that the deflection angles of the first wheel and the second wheel are not the same. When the vehicle actually steers, a differential speed needs to be formed between the first wheel and the second wheel to ensure that the tires steer around a circle center when steering, namely, the steering circle centers of the first wheel and the second wheel (one of the wheels is the outer wheel and the other wheel is the inner wheel) are in the same place when steering, and the steering is ensured to steer around a circle center. When the first wheel and the second wheel are steered, the constraint relation between the first wheel and the second wheel can be set according to requirements.

Specifically, for example, the distance between the rotation axis of first hinge revolute pair 1 and the rotation axis of second hinge revolute pair 2 is greater than the distance between the rotation axis of seventh hinge revolute pair 7 and the rotation axis of fourth hinge revolute pair 4. The distance between the rotation axis of the first hinge revolute pair 1 and the rotation axis of the seventh hinge revolute pair 7 is equal to the distance between the rotation axis of the second hinge revolute pair 2 and the rotation axis of the fourth hinge revolute pair 4.

How to realize synchronous extension and contraction of the telescopic connecting rod 18 and the telescopic device can enable the telescopic rods of the telescopic connecting rod 18 and the telescopic device to be linked, for example, the telescopic connecting rod is connected, or the same driving source is adopted, or the telescopic strokes of the telescopic connecting rod 18 and the telescopic device can be respectively detected through a detection mechanism so as to carry out dynamic adjustment.

In the travelling mechanism, when the telescopic device is used and the distance between the first wheel and the second wheel needs to be adjusted, the telescopic device and the telescopic connecting rod 18 are synchronously telescopic, so that the first wheel and the second wheel are ensured to be far away from each other in a parallel state, and the telescopic stability is increased. And after the adjustment is completed, the expansion of the expansion device and the expansion of the expansion connecting rod 18 are both locked, when the first wheel and/or the second wheel are driven to rotate so as to adjust the driving direction, at this time, because an articulated four-bar structure is formed among the expansion connecting rod 18, the first wheel, the expansion device and the second wheel, under the constraint of the articulated four-bar structure, namely under the common constraint of the expansion device and the expansion connecting rod 18, the first wheel and the second wheel can be constrained mutually so as to deflect simultaneously, and whether the deflection angles are equal or not, even the difference is large or small, the control can be carried out according to the size relationship among four articulated points of the articulated four-bar structure, so that whether the first wheel and the second wheel deflect simultaneously or not does not need to be detected through an angle detector. And the first wheel and the second wheel are mutually constrained in deflection, so that the deflection is more reliable, and the stability of turning and straight running is ensured. In conclusion, the traveling mechanism can effectively solve the problem that the steering control effect of the left and right vehicle paths is not good.

In some embodiments, the steering driving device may be further included for driving the first wheel and the second wheel to rotate to adjust the driving direction.

In some embodiments, where the steering drive may be used to drive the relative movement of the telescopic device and the telescopic link 18 in the telescopic direction, such as to drive the cylinders of both away from each other, the rotation drive drives both to move when both the telescopic device and the telescopic link 18 stop telescopic, which can be achieved based on the articulated four-bar linkage principle. Specifically, the rotation driving device may be a clamping device, and both ends of the clamping device are respectively abutted against the telescopic device and the telescopic connecting rod 18 to change the transverse distance between the telescopic device and the telescopic connecting rod.

In some embodiments, the steering driving device may be a rotating mechanism such as a rotating hydraulic cylinder or an electric motor, and the first wheel and the second wheel rotate relative to the telescopic device.

In some embodiments, the steering driving device may include a first steering telescopic cylinder 19 and a second steering telescopic cylinder 17, wherein both ends of the first steering telescopic cylinder 19 are respectively hinged with the first wheel and the telescopic device, and both ends of the second steering telescopic cylinder 17 are respectively hinged with the second wheel and the telescopic device.

Specifically, one end of the first steering telescopic cylinder 19 is rotatably connected with the first wheel through an eighth hinge revolute pair 8, and the other end of the first steering telescopic cylinder is rotatably connected with the telescopic device through a sixth hinge revolute pair 6. One end of the second steering telescopic cylinder 17 is rotatably connected with the second wheel through a third hinge rotating pair 3, and the other end of the second steering telescopic cylinder is rotatably connected with the telescopic device through a fifth hinge rotating pair 5.

In some embodiments, to facilitate mounting with a first wheel and a second wheel, the first wheel may include a first tire assembly 9 and a first steering interface disc 10, and the second wheel may include a second tire assembly 16 and a second steering interface disc 15. For subsequent mounting by means of the first steering interface disc 10 and the second steering interface disc 15.

Specifically, the first tire assembly 9 is mounted on one side of the first steering connecting disc 10, such as by screwing, bolting, clamping, welding, etc. And the other side of the first steering connection disc 10 is provided with a hinge point to be respectively hinged with the telescopic device, the telescopic connecting rod 18 and the first steering telescopic cylinder 19.

The second tire assembly 16 is mounted on one side of the second steering connection plate 15, such as by screwing, bolting, clamping, welding, etc. And the other side of the second steering connecting disc 15 is provided with a hinge point for respectively being in hinge connection with the telescopic device, the telescopic connecting rod 18 and the second steering telescopic cylinder 17.

In some embodiments, for convenience of connection, a first connecting rod extending to the second steering connecting disk 15 may be further fixedly connected to an edge portion of the first steering connecting disk 10, a second connecting rod extending to the first steering connecting disk 10 may be further fixedly connected to an edge portion of the second steering connecting disk 15, and two ends of the telescopic connecting rod 18 are respectively hinged to the first connecting rod and the second connecting rod.

In some embodiments, in order to facilitate the driving of the first and second wheels to move far and near, the telescopic device may include a double-headed telescopic cylinder 13, a chassis 12, a first telescopic leg 11 slidably mounted at one end of the chassis 12, and a second telescopic leg 14 slidably mounted at the other end of the chassis 12.

The two ends of the double-head telescopic oil cylinder 13 are respectively connected with the first telescopic leg and the second telescopic leg, the cylinder body of the double-head telescopic oil cylinder 13 is fixedly installed on the base frame 12, the first wheel is rotatably connected with the first telescopic leg 11, and the second wheel is rotatably connected with the second telescopic leg 14.

Specifically, the first telescopic leg 11 and the first steering connecting plate 10 may be connected by a first hinge revolute pair 1, and the second telescopic leg 14 and the second steering connecting plate 15 may be connected by a second hinge revolute pair 2. The side supporting leg of the first telescopic supporting leg 11 can be connected with the cylinder body of the first steering telescopic cylinder 19 through a sixth hinge revolute pair 6; and the side leg of the second telescopic leg 14 can be connected with the cylinder body of the second steering telescopic cylinder 17 through a fifth hinge revolute pair 5.

In some embodiments, in order to perform synchronous telescoping, it is preferable that the oil inlet of the telescopic cylinder of the telescoping device is communicated with the oil outlet of the telescopic cylinder of the telescopic connecting rod 18 when the telescopic cylinder extends, so as to extend and retract synchronously; and when the telescopic oil cylinder of the telescopic device extends out, the oil outlet is communicated to the oil return port, and when the telescopic oil cylinder of the telescopic connecting rod 18 extends out, the oil inlet is communicated to the oil supply port.

In some embodiments, the oil outlet of the telescopic oil cylinder of the telescopic device is communicated with the oil inlet of the telescopic oil cylinder of the telescopic connecting rod 18 when the telescopic oil cylinder extends out, so as to extend and retract synchronously; and when the telescopic oil cylinder of the telescopic device extends out, the oil inlet is communicated to the oil supply port, and when the telescopic oil cylinder of the telescopic connecting rod 18 extends out, the oil outlet is communicated to the oil return port.

The oil inlet when the telescopic cylinder of the telescopic device extends and the oil inlet when the telescopic cylinder of the telescopic connecting rod 18 extends are generally arranged on the rodless cavity, and the oil outlet when the telescopic cylinder of the telescopic device extends and the oil outlet when the telescopic cylinder of the telescopic connecting rod 18 extends are generally arranged on the rod cavity.

In the synchronous telescopic steering connecting rod structure, a first tire assembly 9 can be fixed on a first steering connecting disc 10 through bolts; the second tire assembly 16 may be bolted to the second steering interface plate 15.

The first steering connecting disc 10 is connected with the first telescopic leg 11 through a first hinge revolute pair 1; the telescopic rod of the first steering telescopic cylinder 19 is connected with the first steering connecting disc 10 through an eighth hinge rotating pair 8, and the cylinder body of the first steering telescopic cylinder 19 is connected with the first telescopic supporting leg 11 through a sixth hinge rotating pair 6.

The second steering connecting disc 15 is connected with the second telescopic supporting leg 14 through a second hinge revolute pair 2; the telescopic rod of the second steering telescopic cylinder 17 is connected with the second steering connecting disc 15 through a third hinge revolute pair 3, and the cylinder body of the second steering telescopic cylinder 17 is connected with the second telescopic supporting leg 14 through a fifth hinge revolute pair 5.

The double-head telescopic oil cylinder 13 is connected with the first telescopic supporting leg 11 at one end and the second telescopic supporting leg 14 at the other end, and the first telescopic supporting leg 11 and the second telescopic supporting leg 14 can be telescopic in the underframe 12 through the double-head telescopic oil cylinder 13.

One end of a telescopic connecting rod 18 is connected with the first steering connecting disc 10 through a seventh hinge revolute pair 7, the other end of the telescopic connecting rod is connected with the second steering connecting disc 15 through a fourth hinge revolute pair 4, and the telescopic connecting rod 18 and the double-head telescopic oil cylinder 13 achieve synchronous telescopic effect.

When the aerial work platform needs to work, the first telescopic leg 11 and the second telescopic leg 14 need to extend out, as shown in fig. 3, the cross section area of the rodless cavity end of the double-head telescopic oil cylinder 13 can be equal to the cross section area of the rod cavity end of the telescopic connecting rod 18, when the double-head telescopic oil cylinder 13 extends out, the telescopic connecting rods 18 can synchronously extend out, the extending amount is consistent, after the double-head telescopic oil cylinder 13 extends out, the telescopic connecting rods 18 simultaneously extend out, the locking loop acts, and the telescopic connecting rods 18 can become steering connecting rods. When the steering wheel is turned, left and right tires (a first tire assembly 9 and a second tire assembly 16) are under the action of left and right steering oil cylinders (a first steering telescopic cylinder 19 and a second steering telescopic cylinder 17) to steer, and are also under the restraining action of the steering connecting rod 18, namely the steering connecting rod, so that differential steering is formed, a steering angle sensor can be replaced, electrical control is reduced, the steering stability and the walking stability are improved, and the use experience of customers is optimized.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (7)

1. The utility model provides a running gear, includes first wheel, second wheel and telescoping device, the telescoping device is used for the drive first wheel with the second wheel is far away mutually, nearly removal along the axial, just first wheel with the second wheel rotate respectively install in adjusting the direction of travel with rotating on the telescoping device, its characterized in that still including can with the telescoping device synchronous telescope and parallel arrangement's telescopic connecting rod, the telescopic connecting rod both ends respectively with first wheel with the second wheel rotates to be connected, so that the telescopic connecting rod first wheel the telescoping device with form articulated four-bar linkage between the second wheel.

2. The running gear of claim 1, further comprising a steering drive for driving the first wheel and the second wheel to rotate to adjust the direction of travel.

3. The traveling mechanism according to claim 2, wherein the steering driving device comprises a first steering telescopic cylinder and a second steering telescopic cylinder, two ends of the first steering telescopic cylinder are respectively hinged to the first wheel and the telescopic device, and two ends of the second steering telescopic cylinder are respectively hinged to the second wheel and the telescopic device.

4. Running gear according to claim 3,

the first wheel comprises a first tire assembly and a first steering connecting disc, the first tire assembly is mounted on one side of the first steering connecting disc, and the other side of the first steering connecting disc is provided with a hinge point to be respectively hinged with the telescopic device, the telescopic connecting rod and the first steering telescopic cylinder;

the second wheel comprises a second tire assembly and a second steering connecting disc, the second tire assembly is mounted on one side of the second steering connecting disc, and the other side of the second steering connecting disc is provided with a hinge point to be respectively connected with the telescopic device, the telescopic connecting rod and the second steering telescopic cylinder in a hinged mode.

5. The running mechanism according to claim 4, wherein a first connecting rod extending to a second steering connecting disc is fixedly connected to an edge portion of the first steering connecting disc, a second connecting rod extending to the first steering connecting disc is fixedly connected to an edge portion of the second steering connecting disc, and both ends of the telescopic connecting rod are respectively hinged to the first connecting rod and the second connecting rod.

6. The walking mechanism of claim 1, wherein the telescopic device comprises a double-head telescopic cylinder, a bottom frame, a first telescopic leg slidably mounted at one end of the bottom frame, and a second telescopic leg slidably mounted at the other end of the bottom frame, two telescopic heads of the double-head telescopic cylinder are respectively connected with the first telescopic leg and the second telescopic leg, a cylinder body of the double-head telescopic cylinder is fixedly mounted on the bottom frame, the first wheel is rotatably connected with the first telescopic leg, and the second wheel is rotatably connected with the second telescopic leg.

7. The walking mechanism of any one of claims 1 to 6, wherein an oil inlet of a telescopic oil cylinder of the telescopic device is communicated with an oil outlet of a telescopic oil cylinder of the telescopic connecting rod when the telescopic oil cylinder is extended so as to synchronously extend and retract; an oil outlet is communicated to the oil return port when a telescopic oil cylinder of the telescopic device stretches out, and an oil inlet is communicated to the oil supply port when a telescopic oil cylinder of the telescopic connecting rod stretches out.

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