CN217622981U - Traveling mechanism - Google Patents

Abstract

The utility model discloses a traveling mechanism, which comprises a first wheel, a second wheel and a telescopic device, wherein the telescopic device is used to drive the first wheel and the second wheel to move away from each other in the axial direction, and The first wheel and the second wheel are respectively rotatably mounted on the telescopic device so as to be able to rotate to adjust the traveling direction, and also include a telescopic link that can be telescopically and parallelly arranged with the telescopic device. Both ends are respectively rotatably connected with the first wheel and the second wheel, so that a four-link hinged structure is formed between the telescopic link, the first wheel, the telescopic device and the second wheel . Under the joint restraint of the telescopic device and the telescopic link, the deflection of the first wheel and the second wheel are mutually restrained to ensure smooth turning and straight running. To sum up, the walking mechanism can effectively solve the problem that the steering control effect of the left and right vehicles is not good.

Description

a walking mechanism

technical field

The utility model relates to the technical field of machinery, in particular to a traveling mechanism.

Background technique

Due to the high working height of the aerial work platform in the high-meter section, the requirements for stability are more stringent. At this time, a wider underframe is needed to support it, but the transportation, storage of the whole vehicle, and the passage of some narrow sections are also The width of the whole vehicle needs to be as small as possible, and the structure of the telescopic outriggers is thus generated. When the boom is working, the outriggers are extended to improve the stability, and when transported and stored, the outriggers are retracted to save space.

At present, the structure of the telescopic outrigger needs to use two relative angle sensors to control the steering cylinder to adjust the rotation angle of the tire during steering. However, due to the uneven road surface and the insufficient accuracy of the relative angle sensor, the tire often deviates back and forth during walking. The phenomenon of pendulum; and the angle sensor is prone to failure, which will cause the aerial work vehicle to be unable to turn, affecting the use.

To sum up, how to effectively solve the problem that the steering control effect of the left and right vehicles is not good is an urgent problem to be solved by those skilled in the art at present.

Utility model content

In view of this, the purpose of the present invention is to provide a walking mechanism, which can effectively solve the problem that the steering control effect of the left and right vehicles is not good.

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

A traveling mechanism includes a first wheel, a second wheel and a telescopic device, the telescopic device is used to drive the first wheel and the second wheel to move away and near in the axial direction, and the first wheel and the second wheel are respectively rotatably mounted on the telescopic device so as to be able to rotate to adjust the driving direction, and also include a telescopic link that can be telescopically and parallelly arranged with the telescopic device, and two ends of the telescopic link are respectively connected to the telescopic link. The first wheel and the second wheel are rotatably connected, so that an articulated four-link structure is formed between the telescopic link, the first wheel, the telescopic device and the second wheel.

In the above walking mechanism, when in use, when the distance between the first wheel and the second wheel needs to be adjusted, the telescopic device and the telescopic link are synchronously extended and retracted, which not only ensures that the first wheel and the second wheel are kept away from each other in a parallel state, but also And increase the stability of the expansion. After the adjustment is completed, the telescopic device and the telescopic link are locked. When the first wheel and/or the second wheel are driven to rotate to adjust the driving direction, the telescopic link, the first wheel and the , A hinged four-link structure is formed between the telescopic device and the second wheel. Under the constraint of the hinged four-link structure, that is, under the joint constraint of the telescopic device and the telescopic link, the first wheel and the second wheel will be constrained to each other at the same time. The deflection occurs, and whether the deflection angles are equal, or even the difference, can be controlled according to the dimensional relationship between the four hinge points of the hinged four-link structure, so that the angle detector does not need to detect the first wheel and the second wheel. Whether the two wheels are deflected at the same time. Moreover, the deflection of the first wheel and the second wheel are mutually restrained, so that the deflection is more reliable, so as to ensure smooth turning and straight running. To sum up, the walking mechanism can effectively solve the problem that the steering control effect of the left and right vehicles is not good.

Preferably, a steering driving device for driving the first wheel and the second wheel to rotate to adjust the driving direction is also included.

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

Preferably, the first wheel includes a first tire assembly and a first steering connection plate, the first tire assembly is mounted on one side of the first steering connection plate, and the other side of the first steering connection plate A hinge point is provided to be hingedly connected with the telescopic device, the telescopic link and the first steering telescopic cylinder; the second wheel includes a second tire assembly and a second steering connection plate, the second The tire assembly is installed on one side of the second steering connection plate, and the other side of the second steering connection plate is provided with a hinge point to be respectively connected with the telescopic device, the telescopic link and the second steering telescopic cylinder Hinged connection.

Preferably, the edge portion of the first steering connection plate is fixedly connected with a first connecting rod extending toward the second steering connection plate, and the edge portion of the second steering connection plate is fixedly connected with a connecting rod extending toward the first steering connection plate. The second connecting rod, the two ends of the telescopic link are hingedly connected with the first connecting rod and the second connecting rod respectively.

Preferably, the telescopic device comprises a double-headed telescopic oil cylinder, a base frame, a first telescopic outrigger slidably installed at one end of the base frame, and a second telescopic outrigger slidably installed at the other end of the base frame. The telescopic heads at both ends of the head telescopic oil cylinder are respectively connected with the first telescopic leg and the second telescopic leg. The first telescopic outrigger and the second wheel are rotatably connected to the second telescopic outrigger.

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

Description of drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are just some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

Fig. 1 is the exploded structure schematic diagram of the traveling mechanism provided by the utility model embodiment;

2 is a schematic diagram of the assembled structure of the traveling mechanism when the chassis provided by the embodiment of the present invention is cut away;

3 is a schematic diagram of the oil circuit when the telescopic device of the walking mechanism and the telescopic link are linked according to the embodiment of the present invention.

The figures are marked as follows:

1. The first hinge rotating pair; 2. The second hinge rotating pair; 3. The third hinge rotating pair; 4. The fourth hinge rotating pair; 5. The fifth hinge rotating pair; 6. The sixth hinge rotating pair; 7. The seventh hinge rotation pair; 8, the eighth hinge rotation pair; 9, the first tire assembly; 10, the first steering connection plate; 11, the first telescopic outrigger; 12, the chassis; 13, the double-head telescopic oil cylinder; 14. Second telescopic outrigger; 15. Second steering connection plate; 16. Second tire assembly; 17. Second steering telescopic cylinder; 18. Telescopic connecting rod; 19. First steering telescopic cylinder.

Detailed ways

The embodiment of the utility model discloses a walking mechanism, which can effectively solve the problem that the steering control effect of the left and right vehicles is not good.

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

Please refer to Fig. 1-Fig. 3, Fig. 1 is a schematic diagram of an exploded structure of a traveling mechanism provided by an embodiment of the present utility model; Fig. 2 is a schematic structural diagram after assembly of the traveling mechanism when the chassis provided by an embodiment of the present utility model is cut open; Fig. 3 is a schematic diagram of the oil circuit when the telescopic device of the walking mechanism and the telescopic link are linked according to the embodiment of the present invention.

In a specific embodiment, this embodiment provides a walking mechanism, which can be a walking mechanism of aerial work equipment, such as a walking mechanism of an aerial work platform, or a walking mechanism of general engineering vehicles or other vehicles. Institutions such as cars, trucks, tractors, bulldozers, etc. Specifically, the traveling mechanism mainly includes a first wheel, a second wheel, a telescopic device and a telescopic link 18 , wherein the first wheel and the second wheel are generally a left wheel, and the other is a right wheel.

The telescopic device is used to drive the first wheel and the second wheel to move away from each other in the axial direction, so as to increase the lateral distance between the first wheel and the second wheel when the first wheel and the second wheel are driven to move away from each other, and then The stability of support and transportation is increased, and when the first wheel and the second wheel are driven to move close together in the axial direction, the lateral distance between the first wheel and the second wheel is reduced, thereby facilitating walking on narrow road sections.

The first wheel and the second wheel are installed on the telescopic device, so as to drive the first wheel and the second wheel to move far and near in the axial direction through the telescopic device, wherein the telescopic body in the telescopic device can be an oil cylinder, an electric cylinder, etc. , so that the first wheel and the second wheel at both ends can move far and near. If a telescopic cylinder is used, one of the first wheel and the second wheel is mounted on the telescopic rod of the telescopic cylinder, and the other is mounted on the cylinder of the telescopic cylinder, and the cylinder of the telescopic cylinder is connected to the vehicle body.

The first wheel and the second wheel are respectively rotatably installed on the telescopic device, so that the driving direction can be adjusted by rotation. For example, when the vehicle turns, the two left and right front wheels will rotate to one side synchronously, so that the driving direction is deflected in this direction. It should be noted that, in some embodiments, the walking mechanism may not be provided with a power mechanism to drive the first wheel and the second wheel to turn. At this time, other external structures, such as manpower, wheel guides, etc., can be used to make the first wheel and the second wheel steering; the purpose here is to define the rotational connection relationship between the first wheel and the second wheel and the telescopic device, so that the first wheel and the second wheel can achieve rotational direction adjustment. Specifically, the first wheel and the telescopic device can be rotatably connected through the first hinge rotating pair 1, so that the driving direction can be adjusted by rotating; the second wheel and the telescopic device can be rotatably connected through the second hinge rotating pair 2, so as to The direction of travel can be adjusted by turning. The rotating shafts of the first hinge rotating pair 1 and the second hinge rotating pair 2 are arranged in parallel, preferably extending in the vertical direction, either vertically or inclined in the vertical direction.

The telescopic link 18 can be telescopically and parallelly arranged with the telescopic device, and both ends of the telescopic link 18 are rotatably connected to the first wheel and the second wheel, so that when both the telescopic link 18 and the telescopic device stop extending and retracting, the telescopic link 18 A hinged four-link structure is formed between the telescopic device and the first wheel and the second wheel. Specifically, for example, the first wheel and one end of the telescopic link 18 are rotatably connected through a seventh hinge rotation pair 7 , and the second wheel and the other end of the telescopic link 18 are rotatably connected through a fourth hinge rotation pair 4 . In combination with the above-mentioned first hinge rotating pair 1 and second hinge rotating pair 2, the first hinge rotating pair 1, the second hinge rotating pair 2, the fourth hinge rotating pair 4, and the seventh hinge rotating pair 7 can all be mutually mutually They are arranged in parallel and distributed in sequence at the four corners of the quadrilateral to form four hinge points of the hinged four-link structure.

It should be noted that the above-mentioned hinged four-link structure is a transmission structure, which aims to define the above-mentioned four hinge points, namely the first hinge rotation pair 1, the second hinge rotation pair 2, the fourth hinge rotation pair 4, the seventh hinge rotation pair The positional relationship between the rotating shafts of the hinge rotating pair 7 is not strictly limited to the structure between any two rotating pairs (hinging points) as rods. Of course, blocks and plates can be used. In the hinged four-link structure, the same It has the function of connecting rod and should be regarded as the connecting rod of the hinged four-link structure. Similarly, some of the links can also be telescopically adjustable links, such as a telescopic device located between the first hinge rotating pair 1 and the second hinge rotating pair 2, and a telescopic device located between the fourth hinge rotating pair 4 and the first hinge rotating pair 2. The telescopic link 18 between the seven hinge pairs 7 is rotated. In some use states, when neither the telescopic device nor the telescopic link 18 is telescopic, the transmission is carried out through the hinged four-link structure; Change the spacing between the corresponding hinge points, but after the change, the hinged four-link structure is still formed.

Wherein the telescopic link 18 can be extended and retracted synchronously with the telescopic device, so that the telescopic device can be extended and retracted to adjust the lateral distance between the first wheel and the second wheel, then the corresponding telescopic link 18 telescopic length is the same as that of the first wheel and the second wheel. Adjust the spacing between the wheels to suit. After the adjustment, the telescopic link 18, the telescopic device, the first wheel and the second wheel still form a four-link hinged structure. Combining the above hinge rotation pair, the expansion and contraction of the telescopic device will change the distance between the first hinge rotation pair 1 and the second hinge rotation pair 2, such as increasing L; then the telescopic link 18 should also be extended and retracted to change the fourth hinge rotation. The distance between the pair 4 and the seventh hinge rotation pair 7 will also increase by L.

When both the first wheel and the second wheel are moving forward, the above-mentioned four-link hinged structure is actually an isosceles trapezoidal hinged four-link structure (a trapezoidal steering mechanism), so as to conform to the first wheel and the second wheel. The two wheel deflection angles are not the same requirements. Because during the actual turning, a differential speed needs to be formed between the first wheel and the second wheel to ensure that the tires turn around a circle center when turning, that is, the first wheel and the second wheel (when turning, one of them is the outer wheel. , the other is the inner wheel) The steering circle center is in the same place to ensure that the steering turns around a circle center. Specifically, when the first wheel and the second wheel turn, the constraint relationship between each other can also be set as required.

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

How to realize the synchronous expansion and contraction of the telescopic link 18 and the telescopic device, the two telescopic rods can be linked together, for example, connected by a connecting rod, or the same driving source is used, or the detection mechanism can detect the telescopic link 18 and the telescopic device respectively. stroke for dynamic adjustment.

In the above walking mechanism, when in use, when the distance between the first wheel and the second wheel needs to be adjusted, the telescopic device and the telescopic link 18 are synchronously telescopic, which not only ensures that the first wheel and the second wheel are kept away from each other in a parallel state , and increase the stability of the expansion and contraction. After the adjustment is completed, the telescopic device and the telescopic link 18 are locked. When the first wheel and/or the second wheel are driven to rotate to adjust the driving direction, the telescopic link 18 and the third An articulated four-link structure is formed between the first wheel, the telescopic device and the second wheel. Under the constraint of the articulated four-link structure, that is, under the joint constraint of the telescopic device and the telescopic link 18, the first wheel and the second wheel will interact with each other. Constrained so that the deflection occurs at the same time, and whether the deflection angles are equal or even the difference can be controlled according to the dimensional relationship between the four hinge points of the hinged four-link structure, so that it is not necessary to detect the first angle through the angle detector. Whether the wheel and the second wheel are deflected at the same time. Moreover, the deflection of the first wheel and the second wheel are mutually restrained, so that the deflection is more reliable, so as to ensure smooth turning and straight running. To sum up, the walking mechanism can effectively solve the problem that the steering control effect of the left and right vehicles is not good.

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

In some embodiments, the steering driving device can be used to drive the relative movement of the telescopic device and the telescopic link 18 in the telescopic direction. For example, the two cylinders can be driven to move away from each other, and both the telescopic device and the telescopic link 18 stop. When telescopic, the rotating drive device drives the two to move, which can be realized based on the principle of the hinged four-link structure. Specifically, the rotational driving device may be a clamping device, and both ends of the clamping device are respectively abutted against the telescopic device and the telescopic link 18 to change the lateral distance between the two.

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

In some embodiments, the steering driving device can 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 hinged with the first wheel and the telescopic device, respectively, and the second steering telescopic cylinder The two ends of 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 the eighth hinge rotation pair 8 , and the other end is rotatably connected with the telescopic device through the sixth hinge rotation pair 6 . One end of the second steering telescopic cylinder 17 is rotatably connected with the second wheel through the third hinge rotating pair 3 , and the other end is rotatably connected with the telescopic device through the fifth hinge rotating pair 5 .

In some embodiments, in order to facilitate the installation with the first wheel and the second wheel, the first wheel may include the first tire assembly 9 and the first steering connection plate 10, and the second wheel may include the second tire assembly 16 and the first wheel assembly 16. The second turns to the connecting plate 15 . For subsequent installation through the first steering connection plate 10 and the second steering connection plate 15 .

Specifically, the first tire assembly 9 is installed on one side of the first steering connection plate 10, such as screw connection, bolt connection, snap connection, welding and the like. The other side of the first steering connection plate 10 is provided with a hinge point to be hingedly connected with the telescopic device, the telescopic link 18 and the first steering telescopic cylinder 19 respectively.

The second tire assembly 16 is installed on one side of the second steering connection plate 15, such as screw connection, bolt connection, snap connection, welding, and the like. The other side of the second steering connection plate 15 is provided with a hinge point to be hingedly connected with the telescopic device, the telescopic link 18 and the second steering telescopic cylinder 17 respectively.

In some embodiments, in order to facilitate connection, the edge portion of the first steering connection plate 10 may be further fixedly connected with a first connecting rod extending toward the second steering connection plate 15, and the edge portion of the second steering connection plate 15 is fixedly connected There is a second connecting rod extending toward the first steering connecting plate 10, and both ends of the telescopic link 18 are hingedly connected with the first connecting rod and the second connecting rod, respectively.

In some embodiments, in order to facilitate driving the first wheel and the second wheel to move far and near, the telescopic device may include a double-head telescopic oil cylinder 13 , a base frame 12 , and a first telescopic support slidably mounted on one end of the base frame 12 . The leg 11 and the second telescopic outrigger 14 slidably mounted on the other end of the base frame 12 .

The telescopic heads at both 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 chassis 12, and the first wheel is rotatably connected to the first telescopic outrigger 11. The second wheel is rotatably connected to the second telescopic outrigger 14.

Specifically, the first telescopic outrigger 11 and the first steering connection plate 10 can be connected through the first hinge rotation pair 1 , and the second telescopic outrigger 14 and the second steering connection plate 15 can be connected through the second hinge rotation pair 2 . The side outriggers of the first telescopic outriggers 11 can be connected with the cylinder body of the first steering telescopic cylinder 19 through the sixth hinge rotation pair 6; and the side outriggers of the second telescopic outriggers 14 can be telescopic with the second steering The cylinders of the cylinder 17 are connected by the fifth hinge rotation pair 5 .

In some embodiments, in order to better perform synchronous expansion and contraction, it is preferred here that the oil inlet of the telescopic device is connected with the oil outlet when the telescopic cylinder of the telescopic link 18 is extended, so as to extend and retract synchronously. When the telescopic oil cylinder of the telescopic device is extended, the oil outlet is connected to the oil return port, and the oil inlet is connected to the oil supply port when the retractable oil cylinder of the telescopic connecting rod 18 is extended.

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

When the telescopic cylinder of the telescopic device is extended, the oil inlet and the oil inlet of the telescopic cylinder of the telescopic link 18 are generally arranged on the rodless cavity, while the oil outlet and the telescopic link 18 when the telescopic cylinder of the telescopic device is extended When the telescopic cylinder is extended, the oil outlet is generally set on the rod cavity.

In the synchronous telescopic steering link structure, the first tire assembly 9 can be fixed on the first steering connecting plate 10 by bolts; the second tire assembly 16 can be fixed on the second steering connecting plate 15 by bolts.

The first steering connection plate 10 is connected with the first telescopic outrigger 11 through the first hinge rotation pair 1; the telescopic rod of the first steering extension cylinder 19 is connected with the first steering connection plate 10 through the eighth hinge rotation pair 8, and the first steering telescopic The cylinder body of the cylinder 19 is connected with the first telescopic outrigger 11 through the sixth hinge rotation pair 6 .

The second steering connection plate 15 is connected with the second telescopic outrigger 14 through the second hinge rotation pair 2; the telescopic rod of the second steering extension cylinder 17 is connected with the second steering connection plate 15 through the third hinge rotation pair 3, and the second steering telescopic The cylinder body of the cylinder 17 is connected with the second telescopic outrigger 14 through the fifth hinge rotation pair 5 .

One end of the double-headed telescopic oil cylinder 13 is connected to the first telescopic outrigger 11 , and the other end is connected to the second telescopic outrigger 14 . Telescopic within 12.

One end of the telescopic link 18 is connected with the first steering connection plate 10 through the seventh hinge rotation pair 7, and the other end is connected with the second steering connection plate 15 through the fourth hinge rotation pair 4, wherein the telescopic link 18 is connected with the double-headed telescopic cylinder 13. Do synchronous scaling.

When the aerial work vehicle needs to work, the first telescopic outrigger 11 and the second telescopic outrigger 14 need to be extended, as shown in FIG. 3 , the cross-sectional area of the end of the double-head telescopic cylinder 13 without rod cavity can be equal to the rod cavity of the telescopic link 18 When the double-head telescopic cylinder 13 is extended, the telescopic connecting rod 18 can be extended synchronously, and the extension amount is the same. When the locking circuit is activated, the telescopic link 18 can become a "steering link". During steering, the left and right tires (the first tire assembly 9, the second tire assembly 16) are also subjected to telescopic connection when they are turned by the left and right steering cylinders (the first steering telescopic cylinder 19, the second steering telescopic cylinder 17). The "steering link" of lever 18 acts as a restraint to form differential steering, which can replace the steering angle sensor, reduce electrical control, improve steering stability and walking stability, and optimize customer experience.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other.

The above description of the disclosed embodiments enables those skilled in the art to implement 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 implemented in 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. A traveling mechanism, comprising a first wheel, a second wheel and a telescopic device, the telescopic device is used to drive the first wheel and the second wheel to move away from each other in the axial direction, and the first wheel and the second wheel move close together. A wheel and the second wheel are respectively rotatably mounted on the telescopic device so as to be able to rotate to adjust the running direction, and it is characterized in that it also includes a telescopic link that can be telescopically and parallelly arranged with the telescopic device. Both ends of the rod are respectively rotatably connected with the first wheel and the second wheel, so that a four-link hinged connection is formed between the telescopic link, the first wheel, the telescopic device and the second wheel structure. 2 . The traveling mechanism according to claim 1 , further comprising a steering driving device for driving the first wheel and the second wheel to rotate to adjust the traveling direction. 3 . 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, and two ends of the first steering telescopic cylinder are respectively connected to the first wheel. 4 . It is hinged with the telescopic device, and both ends of the second steering telescopic cylinder are hinged with the second wheel and the telescopic device respectively. 4. The running gear according to claim 3, characterized in that, The first wheel includes a first tire assembly and a first steering connection plate, the first tire assembly is mounted on one side of the first steering connection plate, and the other side of the first steering connection plate is provided with a hinge point to be hingedly connected with the telescopic device, the telescopic link and the first steering telescopic cylinder; The second wheel includes a second tire assembly and a second steering connection plate, the second tire assembly is mounted on one side of the second steering connection plate, and the other side of the second steering connection plate is provided with a hinge The points are hingedly connected with the telescopic device, the telescopic link and the second steering telescopic cylinder, respectively. 5 . The traveling mechanism according to claim 4 , wherein the edge of the first steering connection plate is fixedly connected with a first connecting rod extending toward the second steering connection plate, and the second steering connection plate has a The edge portion is fixedly connected with a second connecting rod extending toward the first steering connecting plate, and both ends of the telescopic link are hingedly connected with the first connecting rod and the second connecting rod, respectively. 6 . The walking mechanism according to claim 1 , wherein the telescopic device comprises a double-head telescopic oil cylinder, a chassis, a first telescopic outrigger slidably installed on one end of the chassis, and a first telescopic outrigger slidably installed on the bottom. 7 . The second telescopic outrigger at the other end of the frame, the telescopic heads at both ends of the double-head telescopic oil cylinder are respectively connected with the first telescopic leg and the second telescopic leg, and the cylinder body of the double-head telescopic oil cylinder is fixedly installed in the In the chassis, the first wheel is rotatably connected to the first telescopic outrigger, and the second wheel is rotatably connected to the second telescopic outrigger. 7 . The traveling mechanism according to claim 1 , wherein when the telescopic cylinder of the telescopic device extends, the oil inlet communicates with the oil outlet when the telescopic cylinder of the telescopic link extends. 8 . , so as to extend and retract synchronously; when the telescopic cylinder of the telescopic device is extended, the oil outlet is connected to the oil return port, and the oil inlet is connected to the oil supply port when the telescopic cylinder of the telescopic link is extended.

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