Active gait obstacle crossing slewing steering chassis device

The invention discloses an active gait obstacle crossing slewing steering chassis device applicable to engineering mechanical chassis, which comprises a hydraulic system 11 comprising a hydraulic pump 1, an energy accumulator 2, a throttling valve 3, a pressure control overflow valve 4, a left slewing bearing oil cylinder reversing valve 5, a left slewing bearing oil cylinder 6, a right slewing bearing oil cylinder reversing valve 7, a right slewing bearing oil cylinder 8, a brake caliper hydraulic cylinder reversing valve 9, a brake caliper hydraulic cylinder 10 and a hydraulic oil tank, a steering hinge 12, a front frame 13, brake calipers 14, a slewing bearing 15, a bow slewing connecting frame 16, a brake disc 17, a bow hinge 18, a rear frame 19 and a steering oil cylinder 20. The device can control the slewing performance of the chassis in the vertical direction by actively adjusting the compression level of springs of the left slewing bearing oil cylinder 6 and the right slewing bearing oil cylinder 8, and simultaneously can also limit a slewing device through the brake caliper hydraulic cylinder 10 and the brake disc 17.