A driving mechanism and crawler chassis

Abstract

The present invention discloses a driving mechanism, including a supporting shaft, an annular gear roller, a left end cover and a right end cover; the left and right ends of the annular gear roller are open, and the inner wall of the annular gear roller is processed along the circumference to form a gear ring; the left end cover is coaxially connected to the annular gear roller; the supporting shaft is coaxially provided with a one-way bearing, a driving bevel gear, a transmission bevel gear and a driven bevel gear in sequence from left to right. The present invention also discloses a crawler chassis, including a driving mechanism and a crawler travel system, the crawler travel system includes a frame and at least one belt travel mechanism; the belt travel mechanism includes a crawler, a driving wheel, a driven wheel, a plurality of supporting wheels and at least one climbing wheel. The driving mechanism is used for a vehicle chassis, and can realize the flat operation of the vehicle chassis, and can automatically and synchronously reset after the wheels slip. The crawler chassis in this case has a very wide range of applications, and it is highly hoped that researchers will further develop and utilize it.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle chassis driving, and in particular relates to a driving mechanism, and further relates to a crawler chassis. Background Art

[0002] The vehicle chassis used by cars, motorcycles, wheelchairs for the disabled, robots or agricultural machinery, etc. basically include two types of wheeled or tracked vehicles. The vehicle chassis driven by wheels generally have at least two wheels to drive the vehicle chassis, such as motorcycles or electric balance vehicles; while the vehicle chassis driven by tracks generally have no less than two steel wheels to drive the tracks. The minimum configuration of a track requires at least one driving wheel, one driven wheel and several structural support wheels. For vehicles using the above two driving methods, when the vehicle crosses a ditch, uneven road surface, mountain or stairs, it is easy for the vehicle chassis to be too bumpy, the wheels to slip, the body to tilt, the wheels to get stuck, the wheels to wear excessively, or even overturn or accidents to occur.

[0003] The above phenomenon or cause of the accident is that each wheel on the vehicle chassis contacts different terrains. For example, the vehicle chassis coaxially connects wheel A and wheel B, and the same drive shaft drives wheel A and wheel B synchronously. At this time, if wheel A is crossing the chasm, wheel A is in the process of accelerating rotation; while wheel B is crossing the stone at the same time, wheel B is in the process of decelerating rotation. Therefore, in this case, since wheel A and wheel B are driven by the same drive shaft, the rotation speed transmitted to wheel A and wheel B by the drive shaft is equal. At this time, either wheel A or wheel B or both of them will slip, causing wheel A and wheel B to wear, get stuck, or even the vehicle chassis to bump or tilt.

[0004] In order to overcome the above phenomenon, many vehicles now have independent suspension chassis, especially family cars. However, the current direction of improvement is basically concentrated in the field of cars, but this independent suspension chassis is not applicable to other fields, especially small wheelchairs for the disabled, children's toy cars or heavy motorcycles, trucks and tracked drive chassis. At the same time, the technology used by the existing independent suspension chassis basically relies on springs and hydraulic shock absorption to solve the problem of vehicle bumps, and it is not possible to completely avoid the aforementioned problems of wheel slippage or body tilt, so it actually limits the problem of vehicle off-road. One of the difficulties that needs to be solved for vehicle chassis off-road such as climbing stairs, crossing gaps or obstacles is how to control all drive wheels to achieve synchronous drive. Summary of the invention

[0005] The purpose of the present invention is to provide a driving mechanism, which can be installed on a vehicle chassis to drive wheels or steel wheels to drive tracks, so that the vehicle chassis can run smoothly and have a strong function of crossing gaps or obstacles. At the same time, it can automatically and synchronously reset after the wheels slip. It has a wide range of applications and high economic value, and is particularly suitable for off-road vehicle chassis and climbing vehicle chassis. Another purpose of the present invention is to provide a crawler chassis that can be used in various terrain environments such as wheelchair climbing, heavy vehicle obstacle crossing, and robot multi-terrain walking.

[0006] The technical scheme of the present invention is as follows: a driving mechanism comprises a one-way bearing, a supporting shaft, a ring gear roller, a left end cover and a right end cover; the left and right ends of the ring gear roller are open, and the inner wall of the ring gear roller is processed along the circumferential direction to form a gear ring; the left end cover is coaxially connected to the ring gear roller for rotation; the right end cover is coaxially connected to the ring gear roller for rotation; a driving bevel gear, a transmission bevel gear and a driven bevel gear are arranged in sequence from left to right along the axial direction of the supporting shaft; the driving bevel gear and the driven bevel gear are both rotatably connected to the supporting shaft; the inner ring of the one-way bearing is coaxially fixedly connected to the driving bevel gear; the transmission bevel gear is arranged along the plane of the left end cover (5) and is rotatably connected to the left end cover; the driving bevel gear, the transmission bevel gear and the driven bevel gear are meshed in sequence;

[0007] A transmission structure, a planetary transmission shaft and planetary gears are arranged inside the hollow cavity of the annular gear drum; the left end of the planetary transmission shaft is connected to the left end cover, and the right end of the planetary transmission shaft is connected to the right end cover; the planetary gears are mounted on the planetary transmission shaft; the planetary gears are meshed with the gear ring on the inner wall of the annular gear drum; the driven bevel gear drives the planetary gears to rotate through the transmission structure; any one or a combination of a sprocket ring, a belt groove or a gear ring is coaxially arranged on the outside of the annular gear drum.

[0008] Further: the transmission structure includes a pulley and a belt, the pulley is fixedly connected to the driven bevel gear; a belt groove is opened on the planetary transmission shaft, and the belt connects the pulley and the belt groove; the planetary transmission shaft is rotationally connected to the left end cover and the right end cover, and the planetary gear is key-connected to the planetary transmission shaft.

[0009] Further: the transmission structure includes a sprocket and a chain, the sprocket is fixedly connected to the driven bevel gear; a sprocket ring is formed on the planetary transmission shaft, and the chain connects the sprocket and the sprocket ring on the planetary transmission shaft; the planetary transmission shaft is rotatably connected to the left end cover and the right end cover, and the planetary gear is keyed to the planetary transmission shaft.

[0010] Further: the transmission structure includes a pulley and a belt, the pulley and the driven bevel gear are integrally formed; the planetary gear has a belt groove along the circumferential direction, and the belt connects the pulley and the belt groove; the planetary gear is rotationally connected to the planetary transmission shaft.

[0011] Further: the transmission structure includes a sprocket and a chain, the sprocket is rotatably connected to the supporting shaft, and the sprocket is integrally formed with the driven bevel gear; the planetary gear has a sprocket ring along the circumferential direction, and the chain connects the sprocket and the sprocket ring on the planetary gear; the planetary gear is rotatably connected to the planetary transmission shaft.

[0012] Beneficial effects of the driving mechanism in this solution: The present invention provides a driving mechanism, which is installed on the vehicle chassis, and can prevent the wheels from transmitting the resistance they encounter to the vehicle's power source system and vehicle chassis under any road conditions or when the vehicle chassis is crossing obstacles, ditches, cuttings, and climbing, thereby maintaining the stability of the vehicle chassis. At the same time, using multiple driving mechanisms to drive the same vehicle chassis can enable all the driving wheels of the vehicle to quickly achieve synchronous operation after being blocked by external resistance, and keep the vehicle's direction of travel from being affected by the terrain. The driving mechanism in this case has a very wide range of applications, especially for robots, heavy trucks, fire trucks, climbing machinery, obstacle crossing equipment, and vehicle equipment that needs to maintain horizontal motion. The present invention also provides optimized structures of multiple transmission structures, and the optimized structures of multiple transmission structures all have the same function, which is to transmit the torque of the transmission bevel gear to the planetary gear, and then drive the annular gear roller through the planetary gear. A variety of transmission structures are available for technicians to select and process, mainly for different application scenarios.

[0013] The crawler chassis disclosed in the present invention comprises a driving mechanism and a crawler travel system, wherein the crawler travel system comprises a frame and at least one belt travel mechanism; the belt travel mechanism comprises a crawler track, a driving wheel, a driven wheel, a plurality of supporting rollers and at least one climbing wheel; the supporting rollers are rotatably connected to the middle part of the frame, wherein at least one supporting roller is connected to the frame through an elastic component; the supporting rollers connected to the frame through the elastic component are away from the frame and pressed against the crawler track; the climbing wheel and the driven wheel are respectively mounted on the front and rear sides of the frame; the driving wheel is mounted on the frame and is located between the climbing wheel and the driven wheel; the driving wheel, the driven wheel, the climbing wheel, all the supporting rollers and the crawler track constitute a belt travel mechanism;

[0014] The driving wheel is connected to the crawler track through a clamping component; the driving wheel is connected to the crawler track through a clamping component, and the clamping component causes the crawler track to always adhere to the driving wheel; a crawler tensioning mechanism is also provided between the climbing wheel and the driving wheel, and a margin is left at the part of the crawler track between the driving wheel and the climbing wheel, and the track tensioning mechanism causes the driving wheel to complete the normal driving of the climbing wheel through the crawler track; the climbing wheel is connected to the frame through a driving mechanism, and the number of the climbing wheels corresponds to one another; the climbing wheel is connected to the frame and the driving mechanism through a bracket; one end of the bracket is rotatably connected or hinged to the supporting shaft of the driving mechanism, and the other end of the bracket is rotatably connected to the climbing wheel; the driving mechanism is fixedly connected to the frame through a supporting shaft; the annular gear roller of the driving mechanism and the climbing wheel are driven by the transmission mechanism, and the climbing wheel is driven by the annular gear roller to perform synchronous rotation.

[0015] Further: the elastic component is a shock absorbing system of a hydraulic telescopic rod and an additional spring, one end of the hydraulic telescopic rod in the shock absorbing system is rotatably connected to the frame, and the other end is rotatably connected to the supporting wheel. At the same time, the hydraulic telescopic rod is slidably connected to the frame, and the spring is mounted on the outside of the hydraulic telescopic rod or installed inside the hydraulic telescopic rod.

[0016] Further: the elastic component is a shock absorbing system using a pull rod and an external spring, one end of the pull rod is rotatably connected to the supporting wheel, and the other end of the pull rod is hinged to the frame, and one or a combination of a tension spring, a compression spring or a vehicle shock absorber is arranged between the middle part of the pull rod and the frame to cause the supporting wheel to have a certain contraction deformation.

[0017] Further: the track tensioning mechanism includes a pair of wheel groups and the elastic component; the pair of wheel groups includes a wheel frame and at least two rolling wheels; all the rolling wheels are rotatably connected to the wheel frame, and all the rolling wheels are arranged side by side; wherein a channel for the track to pass through is formed between the wheel surfaces of at least two rolling wheels, the track passes through the channel, and the wheel surfaces of the rolling wheels combined to form the channel are all rollingly connected or meshed with the track.

[0018] Furthermore: the installation structures of the driven wheel and the climbing wheel are completely the same, and the driven wheel is connected to the frame and the driving mechanism through a bracket; a balancing car is installed on the frame, and the fulcrum connecting the balancing car and the frame is located at the driving mechanism.

[0019] The beneficial effects of a crawler chassis of the present invention: the crawler chassis of the present invention, the key to its effect is the application of a driving mechanism to drive the climbing wheels, the climbing wheels serve as the main climbing fulcrum to complete the crawler walking mechanism on various terrains to complete the actions of climbing slopes, crossing trenches and climbing stairs, etc., at the same time, the climbing wheels are used to achieve slipping through the driving mechanism to isolate external resistance or assist the negative impact on the driving wheels, that is, the crawler chassis, thereby enabling the crawler chassis in this case to have a very strong obstacle crossing function, can be applied to various complex terrains and special environments, and has very powerful functions.

[0020] As for the supporting rollers in this case, as supporting rollers, they need to adapt to the changes of the crawler tracks when the crawler chassis is running on the ground, so the supporting rollers are supported by elastic components. Of course, the driven wheels can also be supported by elastic components, but in actual situations, the body of the crawler chassis is generally heavier, unless it is a toy car, so the driven wheels in this case are not supported by elastic components. Several supporting rollers supported by elastic components deform up and down to adapt to the deformation of the crawler tracks, and at the same time, the supporting rollers are used to better support the crawler chassis, which is one of the key points of this case.

[0021] In this case, a relatively complete description is given of the elastic components, track tensioning mechanism, clamping components, etc. At the same time, the concentrated and specific structures given in this case are all relatively preferred structures, which can be directly manufactured and used in practical applications. The concentrated optimization structure given in this case is not only simple in structure, but also very practical, and has high reliability during implementation. The main purpose is to minimize the use of electronic control systems in the crawler chassis in this case, so that the crawler chassis in this case can face a variety of harsh and special environments. Of course, if necessary, it can also be used in the military field, animation field, and children's toys. As for how to specifically apply the crawler chassis in this case, because it has very powerful functions and a wide range of applications, researchers are also welcome to conduct further development and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the external structure of the driving mechanism in the present invention;

[0023] Figure 2 Schematic diagram of the internal structure of the driving mechanism in the present invention;

[0024] Figure 3 It is a schematic diagram of the overall structure of the first crawler chassis in the present invention;

[0025] Figure 4 This is a schematic diagram of the first crawler chassis running downhill in the present invention;

[0026] Figure 5This is a schematic diagram of the first crawler chassis running uphill in the present invention;

[0027] Figure 6 It is a schematic diagram of the overall structure of the second crawler chassis of the present invention;

[0028] Figure 7 It is a schematic diagram of the overall structure of the first wheeled chassis in the present invention;

[0029] Figure 8 It is a schematic diagram of the steering structure of the second wheeled chassis in the present invention;

[0030] Fig. 9 The schematic diagram of the installation structure of the attachment crawler and its attachment mechanism in the present invention is shown in FIG. Figure 1 ;

[0031] Fig.10 The schematic diagram of the installation structure of the attachment crawler and its attachment mechanism in the present invention is shown in FIG. Figure 2 ;

[0032] Fig.11 This is an example diagram of the driving mechanism of the present invention achieving slip when the driving wheel crosses the ditch. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0034] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 as well as Fig.11 As shown, a driving mechanism disclosed in the present invention comprises a supporting shaft 11, an annular gear roller 2, a left end cover 5 and a right end cover 10. The left and right ends of the annular gear roller 2 are open, and the inner wall of the annular gear roller 2 is processed along the circumference to form a gear ring. The left end cover 5 closes the left port of the annular gear roller 2, and the left end cover 5 is coaxially rotatably connected with the annular gear roller 2 through a bearing; the right end cover 10 closes the right port of the annular gear roller 2, and the right end cover 10 is coaxially rotatably connected with the annular gear roller 2 through a bearing. A one-way bearing 8, a driving bevel gear 7, a transmission bevel gear 9, and a driven bevel gear 6 are arranged on the supporting shaft 11 from left to right, and the inner ring of the one-way bearing 8 is fixedly connected to the driving bevel gear 7. When the one-way bearing 8 rotates, the inner ring of the one-way bearing 8 drives the driving bevel gear 7 to rotate synchronously in one direction.

[0035] The transmission bevel gear 9 is arranged along the plane of the left end cover 5 and is rotatably connected to the left end cover 5. In the present optimized embodiment, two transmission bevel gears 9 are arranged on the left end cover 5, the driving bevel gear 7 is meshed with the transmission bevel gear 9, and the transmission bevel gear 9 is meshed with the driven bevel gear 6. The driving bevel gear 7 transmits the torque to the driven bevel gear 6 through the transmission bevel gear 9, thereby prompting the driving bevel gear 7 to drive the driven bevel gear 6 to rotate at the same speed but in the opposite direction. A transmission structure, a planetary transmission shaft 14 and a planetary gear 13 are also provided inside the hollow cavity of the annular gear drum 2. The left end of the planetary transmission shaft 14 is connected to the left end cover 5, and the right end of the planetary transmission shaft 14 is connected to the right end cover 10, and the planetary gear 13 is sleeved on the planetary transmission shaft 14. The planetary gear 13 is meshed with the ring gear on the inner wall of the annular gear drum 2, and the driven bevel gear 6 drives the planetary gear 13 to rotate through the transmission structure, and then the planetary gear 13 drives the annular gear drum 2 to rotate. The transmission structure in this case has the following structures, specifically:

[0036] like Figure 2 As shown, the right end of the driven bevel gear 6 is formed with a belt groove or a sprocket, or the right end of the driven bevel gear 6 is directly coaxially fixed with a pulley or a sprocket, and the driven bevel gear 6 transmits the torque to the planetary gear 13 through the belt 12 or the chain, thereby driving the planetary gear 13 to rotate. There are generally two ways in which the belt 12 or the chain drives the planetary gear 13 to rotate: one is that the planetary gear 13 is fixedly connected with the planetary transmission shaft 14 and rotates synchronously, and the planetary transmission shaft 14 is directly driven to rotate by the aforementioned chain or belt 12; the second is that the sprocket or belt groove is coaxially processed on the planetary gear 13, and the planetary gear 13 is directly driven by the aforementioned belt 12 or the chain, thereby realizing that the driven gear drives the planetary gear 13 to rotate, and the planetary transmission shaft 14 is only used for support rather than transmission. Or there is another friction wheel, such as a friction wheel made of rubber to realize the transmission of the torque of the driven bevel gear 6 to the planetary gear 13, which is also a common force transmission method in the prior art. Regardless of the above methods, the driven bevel gear 6 can drive the planetary gear 13 to rotate through the transmission structure.

[0037] The practical application of the driving mechanism in this case is as follows: Figure 1 and Figure 2As shown, the driving mechanism in this case is used to drive one wheel 4 in the vehicle chassis, and the driving method of the remaining wheels 4 in the vehicle chassis is exactly the same. At the same time, because the structure of the vehicle chassis is diversified, the specific structure of the vehicle chassis is not shown in the figure in this case, but it does not affect the role of the driving mechanism in this case. In this optimized embodiment, the one-way bearing 8 serves as the power input end of the driving mechanism, that is, the external power source serves as the input power source of the driving mechanism. In this case, the external power source can be an electric motor or a fuel engine, or even a hydraulic motor or a pneumatic motor, etc., which can be selected according to different usage environments and applicable requirements. Because the external power source is not an improvement point in this case, it will not be repeated in this embodiment. The entire driving process of the driving mechanism is as follows:

[0038] The external power source drives the outer ring of the one-way bearing 8 to rotate unidirectionally, and at the same time, the outer ring of the one-way bearing 8 drives the inner ring of the one-way bearing 8 to rotate unidirectionally → the inner ring of the one-way bearing 8 drives the active bevel gear 7 to rotate synchronously → the active bevel gear 7 drives the driven bevel gear 6 to rotate synchronously in the opposite direction through the transmission bevel gear 9 → the driven bevel gear 6 drives the planetary gear 13 to rotate through the transmission structure → the planetary gear 13 drives the annular gear drum 2 to rotate through the ring gear. In the above working process: the support shaft 11 only plays a supporting role, the support shaft 11 does not rotate and does not transmit torque; the planetary transmission shaft 14 can transmit torque or not according to the needs of the transmission structure, but the planetary transmission shaft 14 must be structured as described above to support the planetary gear 13. Figure 1 and Figure 2 As shown, the annular gear drum 2 transmits the torque to a single wheel 4 mounted on the vehicle chassis through a chain. Of course, it is not a chain transmission method, and belt 12 transmission, gear transmission and other similar structure transmissions in the prior art are all possible.

[0039] During normal driving of wheel 4, a single wheel 4 is driven by an external power source through the driving mechanism in this case. When wheel 4 encounters a downhill slope, the rotation speed of wheel 4 increases. At the same time, wheel 4 transmits the increased speed and torque in reverse to ring gear drum 2 through a chain. Ring gear drum 2 transmits the speed and torque in reverse to one-way bearing 8 through a transmission structure, driven bevel gear 6, transmission bevel gear 9 and driving bevel gear 7, thereby causing the inner ring of one-way bearing 8 to increase speed in the same direction and slip in reverse relative to the outer ring of one-way bearing 8, thereby eliminating the influence of the speed and torque of wheel 4 on the vehicle chassis and external power source. When wheel 4 encounters an uphill slope, that is, when wheel 4 is climbing a slope, or climbing over a stone or steep slope, due to the effect of wheel 4 on the ground or obstacles, the rotation speed of wheel 4 also increases. Wheel 4 transmits the increased speed and torque in reverse to ring gear drum 2 through a chain. Ring gear drum 2 transmits the speed and torque in reverse to one-way bearing 8 through a transmission structure, driven bevel gear 6, transmission bevel gear 9 and driving bevel gear 7. This causes the inner ring of the one-way bearing 8 to speed up in the same direction and slip in the opposite direction relative to the outer ring of the one-way bearing 8, thereby eliminating the influence of the speed and torque of the wheel 4 on the vehicle chassis and external power source after instantaneous elimination.

[0040] When the aforementioned wheel 4 encounters a concave or convex ground, the external power source always drives the active bevel gear 7 at a constant speed, and the rotation speed of the driven active bevel gear 7 is accelerated and slipped in real time through the one-way bearing 8 according to the ground conditions. The rotation speed of the wheel 4 is increased when crossing concave or convex ground to keep the speed of the driving mechanism moving horizontally balanced. Because the wheel surface of the wheel 4 contacts the concave or convex ground, the distance of the concave or convex ground passed by the wheel surface of the wheel 4 becomes longer, so the wheel 4 needs to accelerate the rotation to ensure that the forward speed of the driving mechanism on the horizontal line is balanced. In order to further illustrate the above working principle, as shown in the figure below: Fig.11 As shown, the front wheel 4a and the rear wheel 4b are driven by the aforementioned driving mechanism in this case, and the front wheel 4a and the rear wheel 4b and the driving mechanism are installed on the same frame 28. Fig.11 As shown, the front wheel 4a is passing through the ditch, while the rear wheel 4b is on the flat ground, and the rear wheel 4b drives the frame 28 to move horizontally. At this time, when the front wheel 4a enters the ditch or leaves the ditch, if it is necessary to maintain the horizontal moving speed of the frame 28 unchanged, the rolling linear speed of the front wheel 4a in the ditch is in the process of acceleration. If the external power source used by the driving mechanism driving the front wheel 4a and the driving mechanism driving the rear wheel 4b belongs to the same external power source, at this time, the driving mechanism driving the front wheel 4a needs to slip to achieve the acceleration process of the front wheel 4a without affecting the external power source.

[0041] The acceleration of wheel 4a actually causes the ring gear drum 2 to rotate faster. The slipping principle of the above-mentioned driving mechanism is actually realized based on the one-way bearing 8: the external power source drives the active bevel gear 7 to rotate in one direction through the one-way bearing 8, but the inner ring and outer ring of the one-way bearing 8 are in a slipping state in the opposite direction. When rotating in the reverse direction, the outer ring of the one-way bearing 8 cannot drive its inner ring; and the purpose of the series transmission between the driven bevel gear 6 and the ring gear drum 2 is to realize the opposite rotation between the ring gear drum 2 and the active bevel gear 7. In this way, when the outer ring of the one-way bearing 8 and the active bevel gear 7 rotate in the forward direction, that is, in one direction, the driven bevel gear 6 and the ring gear drum 2 rotate in the reverse direction. At this time, whether the ring gear drum 2 accelerates or decelerates, it causes the outer ring and inner ring of the one-way bearing 8 to slip in the reverse direction, that is, the reverse effect of the ring gear drum 2 on the external power source is directly eliminated at the one-way bearing 8, or the reverse effect of the wheel 4 on the external power source is also eliminated. This is also the slipping principle of the driving mechanism in this case. For this case, the one-way bearing 8 is not the only rotation. For example, the one-way bearing 8 can be replaced by a ratchet. The external power source can realize one-way transmission of the active bevel gear 7 through the ratchet structure, but the reverse rotation will slip. However, the one-way bearing 8 is used for transmission, which has a simpler structure and higher transmission efficiency than the ratchet.

[0042] No matter what state a single wheel 4 is in, the driving structure in this case can eliminate the external reaction force it receives, thereby preventing the wheel 4 from being transmitted to the vehicle chassis due to the ground's reverse force on the wheel 4 due to climbing or sliding down, and also eliminating the influence of the wheel 4 on the external power source. In this way, when the wheel 4 is climbing, crossing a roadblock, encountering a slope, and crossing a road cut, a single wheel 4 can slip alone, thereby maintaining the stability of the vehicle chassis. If the wheels 4 driven by multiple driving mechanisms in this case are installed on the same vehicle chassis, then the multiple driving mechanisms and the wheels 4 towed by each can cooperate with each other to promote the vehicle chassis to have a strong off-road climbing function, and can cross obstacles, cross gullies, or climb stairs. While the wheel 4 will not affect the vehicle chassis and the external power source, the external power source can act on and drive the wheel 4 at a constant speed and torque through the driving mechanism, and after the wheel 4 slips, the wheel 4 is quickly reset and continues to travel at a predetermined speed.

[0043] The present invention discloses a crawler chassis of a first structural form, which adopts the aforementioned drive mechanism. The crawler chassis includes a drive mechanism and a crawler travel system. The crawler travel system includes a frame 28 and a belt travel mechanism, and the belt travel mechanism includes a crawler 16, a driving wheel 17, a driven wheel 18, a plurality of supporting rollers 19 and at least one climbing wheel 15. Specifically, Figures 3 to 5As shown, it is similar to the traditional crawler 16 structure such as crawler 16 excavator and crawler 16 robot: all the supporting rollers 19 are installed in the middle of the frame 28 through elastic components, or some supporting rollers 19 are rotatably installed in the middle of the frame 28. In this embodiment, the supporting roller 19 is installed in the middle of the frame 28 through elastic components as an example for explanation. In this case, the climbing wheel 15 and the driven wheel 18 are respectively installed on the front and rear sides of the frame 28, and the driving wheel 17 is installed on the frame 28, and the driving wheel 17 is located between the climbing wheel 15 and the driven wheel 18. The driving wheel 17, the driven wheel 18, the climbing wheel 15, all the supporting rollers 19 and the crawler 16 are combined to form a belt-type walking mechanism. The belt-type walking mechanism uses the driving wheel 17 to drive the driven wheel 18 and the supporting roller 19 through the crawler 16, so that the belt-type walking mechanism can travel back and forth. In this case, a belt-type walking mechanism is arranged on the frame 28 to support the frame 28, and the combination constitutes a complete crawler-type walking system. Of course, multiple belt-type walking mechanisms can also be arranged side by side on the frame 28, and the user can adjust according to the width of the selected crawler 16 and the use environment.

[0044] The elastic member used to connect the supporting wheel 19 to the frame 28 is as follows: Figure 3 and Figure 4 As shown: the elastic component has the following specific forms: one is that the elastic component adopts a shock absorbing system of a hydraulic telescopic rod 20 and a spring 21, which is similar to the vehicle shock absorber in the prior art. One end of the hydraulic telescopic rod 20 in the shock absorbing system is rotatably connected to the frame 28, and the other end is rotatably connected to the supporting wheel 19. At the same time, the hydraulic telescopic rod 20 is slidably connected to the frame 28, and the spring 21 is sleeved on the outside of the hydraulic telescopic rod 20 or installed on the inside of the hydraulic telescopic rod 20; the second is a shock absorbing system using a pull rod 24 and a spring 21, such as one end of the pull rod 24 is rotatably connected to the supporting wheel 19, and the other end of the pull rod 24 is hinged to the frame 28, and a tension spring, a compression spring or a vehicle shock absorber or a combination thereof is arranged between the middle part of the pull rod 24 and the frame 28, so as to enable the supporting wheel 19 to have a certain contraction deformation while being able to complete the support belt walking mechanism. The contraction deformation of the above-mentioned supporting wheel 19 is relative to the frame 28 and the ground, as shown in the following example. Figure 4 and Figure 5 As shown, no matter the belt-type walking mechanism is in a climbing or descending state, all the supporting wheels 19 are supported by the elastic components away from the frame 28 and pressed against the track 16. In this optimized embodiment, an elastic component of a pull rod 24 plus a spring 21 is used to illustrate the working principle of the supporting wheels 19.

[0045] The connection mode of the driving wheel 17 and the crawler belt 16 is as follows: Figure 3As shown, the driving wheel 17 is connected to the crawler 16 through a clamping component. The function of the clamping component is: when the belt-type walking mechanism can operate normally, under the pressure of the clamping component, the crawler 16 can be attached to the driving wheel 17, and the driving wheel 17 can transmit power to the driven wheel 18, the climbing wheel 15 and the supporting wheel 19 through the crawler 16. This solution also discloses the specific structural layout of the clamping component:

[0046] The first type: the clamping component includes two contact wheels 22, a spring 21 and a hydraulic telescopic rod 20 symmetrically arranged on the left and right sides of the driving wheel 17, the contact wheel 22 is rotatably connected to the frame 28, and the wheel surface of the contact wheel 22 is in rolling contact with the track 16; one end of the hydraulic telescopic rod 20 is rotatably connected to the contact wheel 22, and the other end is rotatably connected to the frame 28; the spring 21 is sleeved on the outside of the hydraulic telescopic rod 20 or installed inside the hydraulic telescopic rod 20; at this time, under the action of the spring 21, the contact wheel 22 can contact the track 16 to the driving wheel 17 to prevent the track 16 from detaching from the driving wheel 17;

[0047] The second type: the clamping component includes a tensioning mechanism arranged between the driving wheel 17 and the climbing wheel 15, the tensioning mechanism includes a pull rod 24, a tensioning wheel 23 and a spring 21, one end of the pull rod 24 is fixed to the spring 21, the other end of the pull rod 24 is rotatably connected to the tensioning wheel 23, and the end of the spring 21 away from the pull rod 24 is fixed to the frame 28; and the wheel surface of the tensioning wheel 23 is tightened and fitted on the crawler 16 from top to bottom, so that the crawler 16 can be stably attached to the driving wheel 17 under the tension of the tensioning wheel 23;

[0048] The above are two structural arrangements of the two clamping components provided in this case. For those skilled in the art, there are many other such structures, which will not be listed one by one in this case.

[0049] In order to realize the climbing wheel 15 in this case to play a normal climbing function, a track 16 tensioning mechanism and a driving mechanism in this case are also included between the climbing wheel 15 and the driving wheel 17. The function of the track 16 tensioning mechanism is to enable the driving wheel 17 to complete the normal driving of the climbing wheel 15 through the track 16 when the climbing wheel 15 is working. This is also an indispensable structural component of the crawler chassis of the present invention. Figure 3As shown, the specific structure of the track 16 tensioning mechanism in this case is as follows: the track 16 tensioning mechanism includes a pair of wheels and an elastic component; the pair of wheels includes a wheel frame 27 and at least two rolling wheels 26. This case takes two rolling wheels 26 as an example to illustrate the working method of the track 16 tensioning mechanism. In this case, the two rolling wheels 26 are rotatably connected to the wheel frame 27, and the two rolling wheels 26 are arranged side by side. A channel is formed between the wheel surfaces of the two rolling wheels 26 for the track 16 to pass through. After the track 16 passes through the channel, the wheel surfaces of the two rolling wheels 26 are both in rolling contact or meshing with the track 16.

[0050] In this case, the wheel frame 27 is connected to the frame 28 through an elastic component, so that the wheel frame 27 always tensions the crawler 16 between the driving wheel 17 and the climbing wheel 15. Figures 3 to 5 As shown, for the connection structure between the wheel frame 27 and the vehicle frame 28, this case provides one of the specific connection forms: for the wheel frame 27, this case uses a vehicle shock absorber to illustrate the connection structure between the wheel frame 27 and the vehicle frame 28. Specifically, one end of the vehicle shock absorber is rotatably connected to the wheel frame 27, and the other end of the vehicle shock absorber is fixedly rotatably connected to the vehicle frame 28. The vehicle shock absorber is located between the climbing wheel 15 and the driving wheel 17, and the vehicle shock absorber is also located directly above the crawler track 16. The normal working state of the crawler track 16 tensioning mechanism: that is, the vehicle shock absorber always provides a pressing force for the wheel frame 27, prompting the wheel frame 27 to apply pressure to the crawler track 16 through the wheel group.

[0051] As for the climbing wheel 15, the climbing wheel 15 in this case is connected to the frame 28 through the aforementioned driving mechanism. Figures 3 to 5 As shown, the climbing wheel 15 is connected to the frame 28 and the driving mechanism through a bracket 29. One end of the bracket 29 is rotationally connected or hinged to the support shaft 11 of the driving mechanism, and the other end of the bracket 29 is rotationally connected to the climbing wheel 15. The driving mechanism is fixed to the frame 28 through the support shaft 11. The annular roller 2 of the driving mechanism and the climbing wheel 15 are driven by the annular roller 2 to perform synchronous rotation. The working principle of the transmission mechanism in this case is similar to that of the transmission structure. The annular roller 2 can transmit the torque to the climbing wheel 15 through a belt, chain or gear set. Therefore, the climbing wheel 15 in this case is driven by the crawler 16 on the one hand, and is also driven by the driving mechanism on the other hand, which belongs to a dual power drive mode. Due to the existence of the bracket 29, the climbing wheel 15 can also rotate with the vertical distance between the rotation connection points of the bracket 29 and the climbing wheel 15 and the frame 28 as the radius. As shown Figure 3 As shown, the theoretical rotation angle of the climbing wheel 15 is 360° in the axial direction. In actual use, the rotation angle of the climbing wheel 15 is generally within the range of 90° clockwise to 90° counterclockwise relative to the horizontal line shown in the figure.

[0052] When the climbing wheel 15 rotates around the central axis of the annular gear drum, Figures 3 to 5 As shown, the center distance between the climbing wheel 15 and the driving wheel 17 is constantly changing: when the climbing wheel 15 rotates clockwise, the center distance between the climbing wheel 15 and the driving wheel 17 becomes shorter, and the track 16 between the climbing wheel 15 and the driving wheel 17 is in a contracted state; when the climbing wheel 15 rotates counterclockwise, the center distance between the climbing wheel 15 and the driving wheel 17 becomes longer, and the track 16 between the climbing wheel 15 and the driving wheel 17 is in an extended state. Regardless of any of the above states, the track 16 tensioning mechanism enables the track 16 to be attached to the climbing wheel 15 and maintains the driving wheel 17 to smoothly drive the track 16 and the driven wheel 18 to work normally, which is why the track 16 tensioning mechanism must be set between the climbing wheel 15 and the driving wheel 17 in this case, and the track 16 tensioning mechanism must be connected to the frame 28 through an elastic component. In this case, the driving mechanism is fixedly mounted on the frame 28. The driven wheel 18 in this case also adopts the installation structure of the climbing wheel 15, that is, with the driving wheel 17 as the center, two climbing wheels 15 are symmetrically arranged on the left and right sides of the driving wheel 17, and the two climbing wheels 15 are connected to the frame 28 and the crawler 16 using the same structure as above, so that the crawler chassis in this case can have stronger climbing and off-road capabilities. Below, this case explains the working principle and function of the crawler chassis in this case in more detail:

[0053] In the optimized embodiment: Figure 3 , Figure 4 as well as Figure 5 As shown, a climbing wheel 15 is installed on the left side of the driving wheel 17, and the climbing wheel 15 is connected to the frame 28 and the driving mechanism through a bracket 29, and a track 16 tensioning mechanism is provided between the climbing wheel 15 and the driving wheel 17. In this embodiment, there is actually an additional power mechanism not shown in the figure for driving the active bevel gear 7 to rotate through the one-way bearing 8. The additional power mechanism described in this case, such as a motor, a gear pump or other similar power, can be used to drive the active bevel gear 7 to rotate. The additional driving mechanism can transmit the power source to the one-way bearing 8 through the transmission mechanism, and drive the active bevel gear 7 to rotate. In order to be able to specifically explain the working method of the climbing wheel 15 of this case: In one embodiment of this optimization, a hydraulic cylinder 30 is simulated on the bracket 29, and the bracket 29 is driven by the hydraulic cylinder 30, which is actually to realize the climbing function of the climbing wheel 15 through the bracket 29.

[0054] like Figure 4As shown, when the crawler chassis in this case moves downhill, the hydraulic cylinder 30 drives the end of the bracket 29 close to the climbing wheel 15 to rotate counterclockwise, and the climbing wheel 15 presses the track 16 downward and causes the track 16 to contact the ground. At the same time, a number of supporting rollers 19 also press the track 16 downward under the action of the elastic component. At this time, the part of the track 16 close to the ground is completely in contact with the ground. Under the maintenance of the track 16 tensioning mechanism, the driving wheel 17 continues to drive the climbing wheel 15 and the driven wheel 18 to rotate, thereby maintaining the crawler chassis to continue to move forward. Since the climbing wheel 15 is moving downhill, the climbing wheel 15 will be subject to a driving force from the driving wheel 17 that is greater than that of the supporting rollers 19 and the driven wheel 18. However, since the linear speed provided by the track 16 to the supporting rollers 19, the driven wheel 18 and the climbing wheel 15 is the same, the climbing wheel 15 will slip in the positive direction at this time. When the climbing wheel 15 slips in the reverse direction, the crawler track 16 can drive the climbing wheel 15 to continue to move forward to complete the climbing action, such as climbing stairs, climbing uphill on ditches and crossing downhill parts of obstacles.

[0055] like Figure 5 As shown, when the crawler chassis in this case moves uphill, the hydraulic cylinder 30 drives the end of the bracket 29 close to the climbing wheel 15 to rotate clockwise, and the climbing wheel 15 lifts the crawler 16 upward and causes the crawler 16 to leave the ground. At the same time, the crawler 16 is lifted up by the uphill ground, and a number of supporting rollers 19 react to the elastic component and cause the elastic component to retract. Under the maintenance of the tensioning mechanism of the crawler 16, the driving wheel 17 continues to drive the climbing wheel 15 and the driven wheel 18 to rotate, thereby maintaining the crawler chassis to continue to move forward. Since the climbing wheel 15 is moving uphill, the climbing wheel 15 will be subject to greater resistance than the supporting rollers 19 and the driven wheel 18. However, since the linear speed provided by the crawler 16 to the supporting rollers 19, the driven wheel 18 and the climbing wheel 15 is the same, and the driving force of the driving wheel 17 is generally greater than the resistance of the climbing wheel 15, the climbing wheel 15 will slip in the reverse direction at this time. Since the climbing wheel 15 is traveling uphill, the climbing wheel 15 will receive a driving force from the driving wheel 17 that is greater than that of the supporting wheel 19 and the driven wheel 18. However, since the linear speed provided by the crawler 16 to the supporting wheel 19, the driven wheel 18 and the climbing wheel 15 is the same, the climbing wheel 15 will slip in the opposite direction. During the reverse slipping of the climbing wheel 15, the crawler 16 can drive the climbing wheel 15 to continue to move forward and complete the downward climbing action, such as climbing down stairs, climbing downhill on a ditch, and crossing the uphill part of an obstacle.

[0056] It should be noted that the reverse slip of the climbing wheel 15 is achieved based on the one-way bearing 8 of the driving mechanism in this case; and the forward slip of the climbing wheel 15 is achieved based on the bracket 29 between the driving mechanism and the climbing wheel 15, the transmission mechanism between the climbing wheel 15 and the annular gear roller 2, and the rotation between the annular gear roller 2 and the left end cover 5 and the right end cover 10. The principle of realization is also based on the working process of the driving mechanism mentioned above. After the above-mentioned climbing wheel 15 realizes slip, the reverse resistance or the component force of the climbing wheel 15 when working in the forward slope will not act on the crawler 16, thereby maintaining the crawler walking system in this case to be in a normal working state. In fact, the supporting wheels 19 and the driving wheels 17 in this case can achieve the above-mentioned purpose and the aforementioned effect by installing a driving mechanism. Based on the same principle of realization, it will not be elaborated one by one in this case. In the process of climbing uphill and downhill, the driving mechanism and the driven wheel 18 and the frame 28 are fixedly installed. After the climbing wheel 15 rotates clockwise or counterclockwise, the horizontal fulcrum formed by the driving wheel and the driven wheel 18 is formed. Figure 3 , Figure 4 as well as Figure 5 As shown by the horizontal line, by installing the vehicle balancing car 31 or other components that need to maintain balance at the horizontal fulcrum, the vehicle balancing car 31 and other required components can be kept in a horizontal and stable state when the crawler chassis crosses a gully or goes up or down a slope. Figure 6 As shown, this case also provides a second structural form of crawler chassis:

[0057] The present invention discloses a crawler chassis of a second structural form, which also adopts the aforementioned drive mechanism, and also includes a drive mechanism and a crawler walking system. Figure 6 As shown, the crawler chassis of the second structural form has the same structure as the crawler chassis of the first structural form, except that: the crawler chassis of the second structural form is not equipped with supporting wheels 19, and at least two climbing wheels 15 are installed on the second crawler chassis, and the two climbing wheels 15 are connected to the driving wheel 17 through a driving mechanism; specifically, all the climbing wheels 15 and the driving wheel 17 are combined to form a basic belt-type walking mechanism, and are driven by the same crawler 16; the driving mechanism drives the climbing wheels 15 through a transmission mechanism; the driving wheel 17 drives the driving bevel gear 7 of the driving mechanism in a one-way manner through a transmission mechanism such as a belt, chain or gear; at the same time, the climbing wheel 15 drives the harvester, impeller 32, rotary tiller or rice transplanter and other equipment or devices that require rotational drive through the transmission mechanism to complete the functions of various equipment.

[0058] The main purpose of the above-mentioned arrangement is to complete specific functions such as transplanting, sowing, harvesting, shoveling, furrowing and ridging, and hull driving by driving various types of equipment or devices with specific functions through the crawler chassis of the second structural form disclosed in this case, and the realization principle is based on the fact that the driving mechanism in this case can realize forward and reverse slipping according to the specific use conditions, thereby avoiding damage to the crawler chassis or specific equipment that completes various functions, but after the driving mechanism completes the slipping, it can continue to complete the normal driving of the climbing wheel 15 at a predetermined speed. The specific working and implementation principles are the same as the working principle description of the crawler chassis of the first structural form in this specification. The present invention also discloses a wheeled chassis, which also adopts the aforementioned driving mechanism in this case. The wheeled chassis specifically includes a driving mechanism, a frame 28 and a wheel, and the wheel is rotatably installed on the frame 28, so that the wheel supports the frame 28. There are two structural types of the installation methods of the wheel and the driving mechanism with the frame 28 respectively:

[0059] The first structural type: the driving mechanism is fixedly mounted on the frame 28, and the wheel is fixedly sleeved on the annular gear drum 2 of the driving mechanism, or as Figure 7 The wheels shown are connected to the annular gear drum 2 of the driving mechanism through a transmission mechanism; a complete wheeled chassis is formed by the wheels and the frame 28. In this case, four wheels are installed on the frame 28 as an example. The function to be achieved by the wheeled chassis is: an additional power mechanism is installed on the frame 28 to drive the active bevel gear 7 of the driving mechanism, and then the annular gear drum 2 of the driving mechanism is used to drive the wheels, thereby enabling the wheeled chassis to complete the forward and backward functions. And the effect that can be achieved is: when any wheel encounters a ditch or stone obstacle, the wheel can slip forward or backward without affecting the remaining wheels, and the remaining wheels can still achieve the predetermined travel route of the wheeled chassis at a predetermined speed. This function and effect are particularly suitable for special vehicles that need to maintain horizontal driving, such as a small vehicle designed for route survey, a small vehicle chassis for accident survey for fire fighting, or other similar special vehicles. The scope of application is still relatively wide, and specific applications are waiting for more researchers to develop.

[0060] The second structural type: the driving mechanism is fixedly mounted on the frame 28, and a plurality of wheels are mounted on the frame 28. The wheel is fixedly mounted on the annular gear drum 2 of the driving mechanism, or the wheel is connected to the annular gear drum 2 of the driving mechanism through a transmission mechanism, and one of the wheels is connected to the driving mechanism through a steering structure by a steering wheel 40, and the wheel is defined as a steering wheel 37. In this case, the steering wheel 37 is also a wheel, and is named and defined as the steering wheel 37 only for the purpose of description. The wheel, the steering wheel 37 and the frame 28 form a complete wheeled chassis.

[0061] like Figure 8 As shown, the steering structure includes a steering drive mechanism and a steering transmission mechanism. The steering transmission mechanism includes a transmission shaft 39, a steering driving gear 34, a steering driven gear 38, a bogie 36 and a steering shaft 35; an annular bevel gear 25 is provided on the outer ring of the annular gear drum 2 of the driving mechanism corresponding to the steering wheel 37. Figure 8 As shown, the annular bevel gear 25 can be arranged at the end of the annular gear drum 2, or at the outer side wall of the annular gear drum 2, and can be set as needed. The steering shaft 35 is rotatably connected to the frame 28, and the steering active gear 34 is coaxially fixed with the steering shaft 35 and meshes with the annular bevel gear 25; the bogie 36 is coaxially arranged with the steering shaft 35, and the bogie 36 is rotatably connected to the frame 28; the wheel is connected to the bogie 36 in a direction perpendicular to the axis of the steering shaft 35; the end of the steering shaft 35 away from the annular gear drum 2 drives the steering wheel 37 to rotate through the gear transmission mechanism. In this case, the specific structure of this gear transmission mechanism is given, as shown in Figure 8, the wheel is installed on the bogie 36, and the steering shaft 35 drives the steering wheel 37 to rotate through the gear transmission mechanism. The structure of the gear transmission mechanism is very common in the mechanical field, so the specification of this case will no longer be repeated in a variety of ways, and the detailed structure has also been listed in the aforementioned specification.

[0062] like Figure 8 As shown, the steering drive mechanism includes a rotating rod 33, which is rotatably connected to the frame 28. The axis of the rotating rod 33 is arranged parallel to the axis of the steering shaft 35. One end of the rotating rod 33 is connected to the bogie 36 through a transmission mechanism. For example, in this case, a pulley is fixedly mounted on the rotating rod 33, and the pulley on the rotating rod 33 is connected to the bogie 36 through a belt, thereby enabling the rotating rod 33 to drive the bogie 36 to rotate. For ease of operation, a steering wheel 40 can be installed at the end of the rotating rod 33 away from the bogie 36. The rotating rod 33 is driven by the steering wheel 40, and the rotating rod 33 drives the bogie 36 through the transmission mechanism, so that the bogie 36 can be used to drive the steering wheel 37 to complete a 360° rotation parallel to the ground in a direction perpendicular to the ground, which is similar to the steering function of the front wheels of a car in the prior art, except that the steering wheel 37 in this case can complete a 360° rotation. Because the steering mechanism in this case is generally not used in ordinary cars, it is mostly used in harvesters or other special operation vehicles, as well as special fields such as robots, so the functions that need to be realized are more powerful than those of ordinary cars.

[0063] The implementation principles of the two structural types of wheeled chassis disclosed in the present invention are as follows: Both structural types of wheeled chassis realize their respective functions based on the driving mechanism in this case, and the wheels can slip when encountering obstacles through the driving mechanism, which will not affect the additional power mechanism, and any two wheels will not interfere with each other, and the wheels will not affect the frame 28. The driving mechanism is used to slip to eliminate the external resistance suffered by the wheels, so as to realize the use functions in various application scenarios. Especially for the second structural type of wheeled chassis, a steering structure is added to the wheeled chassis, and the steering structure can realize that a single steering wheel 37 can complete 360° rotation as needed, and multiple steering mechanisms can also be combined to realize multiple steering wheels 37 to complete steering functions at various angles. The steering function is also realized based on the driving mechanism: when an external torque is transmitted to the bogie 36 through the rotating rod 33 and the transmission mechanism, the bogie 36 acts on the steering wheel 37. When the steering wheel 37 completes the steering function, it will act inversely on the steering shaft 35 through the gear transmission mechanism. When the steering shaft 35 acts inversely on the annular gear drum 2, the annular gear drum 2 slips, thereby eliminating the influence and reaction torque of the steering wheel 37 on the driving mechanism, thereby enabling the steering wheel 37 to complete any acceleration or deceleration, so that the steering wheel 37 can complete a 360° rotation and a 360° traction frame 28 to move forward, thereby exerting more functions in a variety of usage environments.

[0064] Based on the description of the above specification, the driving mechanism in this solution has very powerful functions, can be used in a variety of fields, and can play different roles in a variety of fields, while bringing a variety of different technical effects, can also be applied to various physical objects, and even in the military field, which is further improved according to the needs of the public. Of course, the various crawler chassis and various wheeled chassis described in the specification are still very cleverly designed except for the driving mechanism, and the functions are also very powerful, especially the application scope of the crawler chassis is currently the most extensive, for this, the applicant will also make a variety of specific products for market promotion in the next step, aiming to break through the various obstacles of the current mechanical transmission design. For electrical considerations, the transmission of mechanical structure is more reliable and widely applicable than the electric control, and can face complex environments under harsh conditions and cope with various unconventional conditions. Many advantages, so the application field of this application is mostly special environments, especially when the electric control system is greatly affected by ambient temperature and other aspects, the use of the driving mechanism in this case to replace the same function of the electric control system can make the designed equipment more reliable and durable.

[0065] In this case, an attachment type crawler and an attachment type mechanism thereof are also provided, and the attachment type crawler is improved on the basis of the existing crawler 16. Fig. 9 and Fig.10As shown, the attachment crawler includes a crawler 16 body, and a rolling connection portion 161 with a T-shaped cross section protrudes from the crawler 16 body on the side away from the ground. The rolling connection portion 161 is larger at the top and smaller at the bottom. Fig. 9 In the embodiment, a tooth groove is provided in the middle of the rolling joint 161, and the tooth groove is used to realize the meshing of the crawler 16 with the driving wheel 17, the climbing wheel 15 or the supporting wheel 19. The attachment mechanism includes an attachment frame 41, at least one horizontal wheel set and at least two vertical wheel sets arranged in sequence along the length direction of the crawler 16, and the two vertical wheel sets are located between the two horizontal wheel sets. Fig. 9 As shown, the horizontal wheel group includes at least two limiting wheels 42 symmetrically arranged on the left and right sides of the rolling portion 161, the wheel surface of the limiting wheel 42 is horizontally rolled with the outer wall of the rolling portion 161, and the limiting wheel 42 is rotatably connected to the attachment frame 41; Fig. 9 As shown, the vertical wheel set includes at least two lifting wheels 43 symmetrically arranged on the left and right sides of the rolling connection part 161, and the wheel surface of the lifting wheel 43 rolls and abuts against the upper part of the rolling connection part 161, and the lifting wheel 43 is also rotatably connected to the attachment frame 41. In this case, when the attachment frame 41 moves upward, the attachment track is pulled upward by the attachment frame 41. Compared with the existing ordinary track 16, the attachment mechanism can be always connected with the attachment track in a rolling manner, and the attachment track can be prevented from being separated from the attachment mechanism at any time. For the use of the attachment track and the attachment mechanism, in this case, the attachment mechanism can be fixed to the elastic component connected to the supporting roller 19, and the main purpose is to ensure that the supporting roller 19 will not be separated from the track 16 during the process of the supporting roller 19 rising or falling. If the attachment mechanism is connected to the climbing wheel 15, it can also be achieved that the track 16 will not be separated from the climbing wheel 15 when the climbing wheel 15 climbs up and down. The reliability of the connection between the climbing wheel 15, the supporting wheel 19 or the driven wheel 18 and the crawler track 16 in this case is further improved.

Claims

1. A driving mechanism, characterized in that: The invention comprises a one-way bearing (8), a supporting shaft (11), a ring-toothed roller (2), a left end cover (5) and a right end cover (10); the left and right ends of the ring-toothed roller (2) are open, the left end cover (5) seals the left end of the ring-toothed roller (2), and the right end cover (10) seals the right end of the ring-toothed roller (2); the inner wall of the ring-toothed roller (2) is processed along the circumference to form a gear ring; the left end cover (5) is coaxially connected to the ring-toothed roller (2); the right end cover (10) is coaxially connected to the ring-toothed roller (2) via a bearing; along the axial direction of the supporting shaft (11) from left to right, the left end cover (5) is connected to the ring-toothed roller (2) coaxially; the right end cover (10) is connected to the ring-toothed roller (2) coaxially ...; along the axial direction of the supporting shaft (11) from left to right, the left end cover (5) is connected to the ring-toothed roller (2) coaxially; On the right, a driving bevel gear (7), a transmission bevel gear (9) and a driven bevel gear (6) are sequentially arranged; the driving bevel gear (7) and the driven bevel gear (6) are both rotatably connected to the support shaft (11); the inner ring of the one-way bearing (8) is coaxially fixedly connected to the driving bevel gear (7); the transmission bevel gear (9) is arranged along the plane of the left end cover (5) and is rotatably connected to the left end cover (5), and two transmission bevel gears (9) are arranged on the left end cover (5); the driving bevel gear (7) and the transmission bevel gear (9) are sequentially meshed with the driven bevel gear (6); A transmission structure, a planetary transmission shaft (14) and a planetary gear (13) are arranged inside the hollow cavity of the annular gear drum (2); The left end of the planetary transmission shaft (14) is connected to the left end cover (5), and the right end of the planetary transmission shaft (14) is connected to the right end cover (10); The planetary gear (13) is sleeved on the planetary transmission shaft (14); the planetary gear (13) is meshed with the toothed ring on the inner wall of the annular gear drum (2); the driven bevel gear (6) drives the planetary gear (13) to rotate through the transmission structure; and the outside of the annular gear drum (2) is coaxially provided with any one or a combination of a sprocket ring, a belt groove or a toothed ring.

2. A driving mechanism according to claim 1, characterized in that: The transmission structure comprises a pulley and a belt (12), wherein the pulley is fixedly connected to the driven bevel gear (6); a belt groove is formed on the planetary transmission shaft (14), and the belt (12) connects the pulley and the belt groove; the planetary transmission shaft (14) is rotationally connected to both the left end cover (5) and the right end cover (10), and the planetary gear (13) is key-connected to the planetary transmission shaft (14).

3. A driving mechanism according to claim 1, characterized in that: The transmission structure comprises a sprocket and a chain, wherein the sprocket is fixedly connected to the driven bevel gear (6); a sprocket ring is formed on the planetary transmission shaft (14), and the chain connects the sprocket and the sprocket ring on the planetary transmission shaft (14); the planetary transmission shaft (14) is rotationally connected to both the left end cover (5) and the right end cover (10), and the planetary gear (13) is key-connected to the planetary transmission shaft (14).

4. A driving mechanism according to claim 1, characterized in that: The transmission structure comprises a pulley and a belt (12), wherein the pulley is integrally formed with a driven bevel gear (6); the planetary gear (13) is provided with a belt groove along the circumferential direction, and the belt (12) connects the pulley and the belt groove; and the planetary gear (13) is rotationally connected to a planetary transmission shaft (14).

5. A driving mechanism according to claim 1, characterized in that: The transmission structure comprises a sprocket and a chain, wherein the sprocket is integrally formed with a driven bevel gear (6); the planetary gear (13) is provided with a sprocket ring along the circumference, and the chain connects the sprocket and the sprocket ring on the planetary gear (13); and the planetary gear (13) is rotationally connected to a planetary transmission shaft (14).

6. A crawler chassis, comprising a driving mechanism and a crawler traveling system, characterized in that: The driving mechanism is a driving mechanism as claimed in any one of claims 1 to 5; the crawler-type walking system comprises a frame (28) and at least one belt-type walking mechanism; the belt-type walking mechanism comprises a crawler (16), a driving wheel (17), a driven wheel (18), a plurality of supporting rollers (19) and at least one climbing wheel (15); the supporting rollers (19) are rotatably connected to the middle part of the frame (28), wherein at least one supporting roller (19) is connected to the frame (28) via an elastic component; the supporting rollers (19) are connected to the frame (28) via an elastic component. The supporting roller (19) connected to the vehicle frame (28) is away from the vehicle frame (28) and is pressed against the crawler track (16); the climbing wheel (15) and the driven wheel (18) are respectively installed on the front and rear sides of the vehicle frame (28); the driving wheel (17) is installed on the vehicle frame (28), and the driving wheel (17) is located between the climbing wheel (15) and the driven wheel (18); the driving wheel (17), the driven wheel (18), the climbing wheel (15), all the supporting rollers (19) and the crawler track (16) are combined to form a belt-type walking mechanism; The driving wheel (17) is connected to the crawler (16) through a clamping component; the driving wheel (17) is connected to the crawler (16) through a clamping component, and the clamping component causes the crawler (16) to always adhere to the driving wheel (17); a crawler tensioning mechanism is also provided between the climbing wheel (15) and the driving wheel (17), and a margin is left in the part of the crawler (16) between the driving wheel (17) and the climbing wheel (15), and the crawler tensioning mechanism causes the driving wheel (17) to be able to complete the normal driving of the climbing wheel (15) through the crawler (16); the climbing wheel (15) is connected to the frame (28) through a driving mechanism, and the number of the frame (28) and the number of the climbing wheels (15) correspond one to one; The climbing wheel (15) is connected to the vehicle frame (28) and the driving mechanism via a bracket (29); one end of the bracket (29) is rotatably connected or hinged to the support shaft of the driving mechanism, and the other end of the bracket (29) is rotatably connected to the climbing wheel (15); The driving mechanism is fixedly connected to the vehicle frame (28) via a supporting shaft (11); the annular gear roller and the climbing wheel (15) of the driving mechanism are driven via a transmission mechanism, and the annular gear roller drives the climbing wheel (15) to perform synchronous rotary motion.

7. A crawler chassis according to claim 6, characterized in that: The elastic component is a shock absorbing system of a hydraulic telescopic rod (20) and an external spring (21), wherein one end of the hydraulic telescopic rod (20) in the shock absorbing system is rotationally connected to a vehicle frame (28), and the other end is rotationally connected to a supporting wheel (19), and the hydraulic telescopic rod (20) is slidingly connected to the vehicle frame (28), and the spring (21) is sleeved on the outside of the hydraulic telescopic rod (20) or installed inside the hydraulic telescopic rod (20).

8. The crawler chassis according to claim 6, characterized in that: The elastic component is a shock absorbing system using a pull rod (24) and an external spring (21), one end of the pull rod (24) is rotatably connected to the supporting wheel (19), and the other end of the pull rod (24) is hinged to the frame (28), and one or a combination of a tension spring, a compression spring or a vehicle shock absorber is arranged between the middle part of the pull rod (24) and the frame (28), so as to cause the supporting wheel (19) to have a certain contraction deformation.

9. The crawler chassis according to claim 6, characterized in that: The track tensioning mechanism comprises a pair of wheel groups and the elastic component; the pair of wheel groups comprises a wheel frame (27) and at least two rolling wheels (26); all the rolling wheels (26) are rotatably connected to the wheel frame (27), and all the rolling wheels (26) are arranged side by side; a channel for the track (16) to pass through is formed between the wheel surfaces of at least two rolling wheels (26), the track (16) passes through the channel, and the wheel surfaces of the rolling wheels (26) combined to form the channel are all rollingly connected or meshed with the track (16).

10. The crawler chassis according to claim 6, characterized in that: The installation structures of the driven wheel (18) and the climbing wheel (15) are completely the same; the driven wheel (18) is connected to the frame (28) and the driving mechanism via a bracket (29); a balancing car (31) is installed on the frame (28); the fulcrum for connecting the balancing car (31) and the frame (28) is located at the driving mechanism.

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