A multi-track mobile platform

Abstract

A multi-track moving platform comprises a vehicle body which is provided with more than two crawler belt travelling mechanisms; the number of the crawler belt travelling mechanisms is even and the crawler belt travelling mechanisms are symmetrically arranged at two sides and / or front and rear of the vehicle body; each crawler belt travelling mechanism is connected with the vehicle body through a deformable active suspension frame; the deformable active suspension frame comprises an upper fixed swing arm, an upper moving swing arm, a lower swing arm, a main actuator and an auxiliary actuator; one end of the upper fixed swing arm is hinged to the vehicle body and the other end is hinged to one end of the upper moving swing arm; the other end of the upper moving swing arm is hinged to a main load bearing support of the crawler belt travelling mechanism; one end of the lower swing arm is hinged to the vehicle body and the other end is hinged to the main load bearing support; a five-lever mechanism is formed by the vehicle body, the main load bearing support, the lower swing arm, the upper fixed swing arm and the upper moving swing arm; the main actuator and the auxiliary actuator are mounted on the five-lever mechanism and are used for controlling the stretching and retracting movement of the five-lever mechanism. The multi-track moving platform has simple structure, strong adaptability and is easy to realize; by means of the multi-track moving platform, the safety and reliability can be greatly increased.

Description

technical field [0001] The invention mainly relates to the field of ground mobile platforms, in particular to a ground platform realized by a crawler system, so as to be suitable for moving in harsh ground environments. Background technique [0002] The crawler walking mechanism can well adapt to the slippery, soft and muddy ground shape, so it is widely used in various platforms that move in harsh ground environments, including various engineering work vehicles (such as excavators, etc.), military special Vehicles (such as heavy armored vehicles, etc.). The performance of the crawler running mechanism will directly affect the passing ability of the ground platform. [0003] Currently used in engineering vehicles and military special vehicles, the crawler running mechanism is mainly distributed on the left and right sides of the vehicle body, and runs through the front and rear. The crawler running mechanism on each side is composed of a complete and closed strip-shaped cr...

AI Technical Summary

Problems solved by technology

If the track is disconnected due to the fracture of the pin shaft of the track chain link, or the actual contact area between the track and the ground is greatly reduced due to the rugged hard road surface, slope ridges and other landforms, it will inevitably lead to a decrease in the performance of the track running mechanism, which will greatly affect the performance of the track. Trafficability of mobile platforms in harsh environments

In the traditional structure, during the platform walking process, each chain link of this closed strip track will bear all the driving force of a single traveling mechanism, and the chain link pins are prone to fracture when overloaded, resulting in failure of the crawler traveling mechanism.

[0006] (2) In addition, since the crawler running mechanism basically runs through the front and rear of the car body, the spatial position of the crawler running surface can only move up and down in a limited range relative to the attitude of the car body, but cannot tilt left and right. Walking in a hard and rugged ground environment This will cause local force on the track running surface, which may easily cause damage to the support structure, or reduce the adhesion of the track, resulting in slipping and making it impossible to move forward.

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