A multi-track carrying mechanism for complex environments

Abstract

The invention relates to a multi-track carrying and traveling mechanism for use in complex environments, comprising: a carrier frame; two sets of track assemblies symmetrically arranged at the bottom of both sides of the carrier frame, the track assembly comprising at least two track sections arranged in sequence along the travel direction of the traveling mechanism; multiple chassis assemblies arranged at the bottom of the carrier frame; multiple swing arm assemblies arranged at the bottom of the carrier frame; the swing arm assemblies comprising multiple first arms and second arms hinged to each other, the first arms hinged to the track section, and the second arms hinged to the carrier frame; multiple buffer spring assemblies, the ends of which are rotatably connected to the carrier frame and the track section respectively; in the track assembly, a chassis assembly is connected between two adjacent track sections, and the two adjacent track sections are symmetrically arranged relative to the chassis assembly; a swing arm assembly is connected to one side of the track section; and a swing arm assembly is connected to one side of the track section. The present application improves climbing ability and obstacle-crossing force, and avoids rollover.

Description

Technical Field

[0001] The invention relates to the technical field of crawler robots, and in particular to a multi-track loading and running mechanism for use in complex environments. Background Art

[0002] As a type of ground mobile robot, tracked locomotion is characterized by its strong maneuverability and suitability for navigating complex and volatile terrain. Therefore, tracked locomotion is frequently used in mobile equipment for battlefield operations, firefighting in mountainous urban areas, and disaster relief operations in mountainous areas. Furthermore, in specialized applications, particularly in complex environments like forest firefighting and mountain disaster relief, tracked locomotion offers significant advantages over wheeled and legged mobile robot platforms in terms of carrying capacity, obstacle surmounting capabilities, and terrain adaptability. Published literature indicates that tracked robots capable of material transport include Japan's Rainbow 5 robot developed in 1986; the CHARLI-2 firefighting robot developed by Virginia Tech in 2012, which can push and pull fire hoses and climb stairs; and a first-generation firefighting robot developed by the Shanghai Fire Protection Research Institute in my country, which is capable of walking, climbing slopes, and overcoming obstacles. Published literature indicates that these robots all utilize a traditional dual-track vehicle structure, with the main track beam fixed to the vehicle body.

[0003] However, the above-mentioned crawler-type walking robots all have the following problems: limited ability to adapt to the environment, especially in complex road conditions, their climbing ability in harsh environments is insufficient (for example, climbing stairs), and they are prone to rollover.

[0004] Therefore, it is necessary to design a mobile platform with a crawler walking mechanism that can be used in complex terrain and has a strong carrying capacity, so that it can be used to meet the urgent needs of transporting rescue equipment and rescue supplies in forest fire fighting, mountain disaster relief and battlefield rescue. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the invention is to overcome the problem in the prior art of overturning due to insufficient climbing ability in complex road conditions (for example, climbing stairs).

[0006] In order to solve the above technical problems, the invention provides a multi-track carrying and traveling mechanism for use in complex environments, comprising:

[0007] Carrier rack;

[0008] Two sets of crawler assemblies are symmetrically arranged at the bottom of both sides of the carrier frame, and the crawler assembly includes at least two crawler parts arranged in sequence along the travel direction of the walking mechanism;

[0009] A plurality of chassis assemblies are arranged at the bottom of the carrier frame;

[0010] A plurality of swing arm assemblies are arranged at the bottom of the carrier frame; the swing arm assemblies include a plurality of first arm rods and second arm rods hinged to each other, the first arm rods are hinged to the crawler portion, and the second arm rods are hinged to the carrier frame;

[0011] Multiple buffer spring assemblies, with both ends rotatably connected to the carrier frame and the crawler track portion respectively;

[0012] Among them, in the track assembly, a chassis assembly is connected between two adjacent track parts, and the two adjacent track parts are symmetrically arranged relative to the chassis assembly; one side of the track part is connected to a swing arm assembly; one side of the track part is connected to a swing arm assembly.

[0013] In one embodiment of the invention, the crawler section includes a crawler main beam, a driving wheel, a limiting wheel, a first load-bearing wheel, a support wheel and a crawler;

[0014] The crawler track is sequentially wound around the driving wheel, the limiting wheel, the first load-bearing wheel and the supporting wheel; the driving wheel is connected to the crawler main beam; the limiting wheel is rotatably connected to the crawler main beam; the first load-bearing wheel is hinged with the first load-bearing arm, and the other end of the first load-bearing arm is hinged to the crawler main beam; the supporting wheel is rotatably connected to the crawler main beam.

[0015] In one embodiment of the invention, the crawler section further comprises a tensioning mechanism, the tensioning mechanism comprising a tensioning wheel, a ram, a tensioning rod and a tensioning arm;

[0016] The push rod, the tensioning rod and the tensioning arm are hinged at one end; the other end of the push rod is hinged to the tensioning wheel, and the other end of the tensioning arm is hinged to the main beam of the crawler track; the other end of the tensioning rod is hinged to the first road wheel; the tensioning wheel is arranged above the first road wheel, and the tensioning wheel is rollingly connected to the inner wall of the crawler track; the tensioning rod is a telescopic rod.

[0017] In one embodiment of the invention, the crawler section further comprises a second load-bearing wheel and a second load-bearing arm, the second load-bearing wheel being located between the first load-bearing wheel and the support wheel;

[0018] Both ends of the second load-bearing arm are hinged to the second load-bearing wheel and the crawler main beam respectively.

[0019] In one embodiment of the invention, the track portion further comprises a first load-bearing buffering and damping element and / or a second load-bearing buffering and damping element;

[0020] Among them, one end of the first load-bearing buffer damping element is hinged to the first load-bearing wheel, and the other end is hinged to the track main beam; one end of the second load-bearing buffer damping element is hinged to the second load-bearing wheel, and the other end is hinged to the track main beam.

[0021] In one embodiment of the invention, the chassis assembly includes a triangular bottom frame and an upper frame. Among the three corners of the bottom frame, the two corners at the bottom are respectively hinged to the two adjacent crawler parts, and the corner at the top is connected to the upper frame.

[0022] In one embodiment of the invention, the present application further comprises a leaf spring assembly connected between the base frame assembly and the carrier frame;

[0023] The leaf spring assembly includes at least one leaf spring, which is an arc-shaped structure with both ends raised upward. The bottom of the middle position of the leaf spring is connected to the base frame assembly, and the two ends of the leaf spring are hinged to the carrier frame; limit plates are provided on both sides of the leaf spring.

[0024] In one embodiment of the invention, the buffer spring assembly includes a spring cylinder cover, a spring cylinder, a buffer spring and a piston cylinder; one end of the spring cylinder is sleeved on the piston cylinder, the other end of the spring cylinder and the free end of the piston cylinder are connected to the spring cylinder cover, and a buffer spring is provided between the spring cylinder cover of the spring cylinder and the spring cylinder cover of the piston cylinder.

[0025] In one embodiment of the invention, the swing arm assembly includes a long arm rod and a rocker arm, one end of the long arm rod and the rocker arm are hinged, and the other end of the long arm rod is hinged to the crawler main beam; the other end of the rocker arm is hinged to the carrier frame.

[0026] The above technical solution of the invention has the following advantages over the prior art:

[0027] The present invention discloses a multi-track carrying and walking mechanism for use in complex environments, which is provided with two track assemblies, each track assembly including at least two track sections, and a carrier frame connected to the top of the multiple track sections via a buffer spring assembly and a swing arm assembly, so that each track section can be driven and moved independently (i.e., independently controlled), and each track section rotates around its own rotation center (hereinafter referred to as the main axis), thereby enabling the flexible transformation of the posture of the walking mechanism to adapt to the walking needs of complex terrain, thereby improving the climbing ability. In addition, the two adjacent track sections in the same track assembly are connected by a chassis assembly, so that when crossing an obstacle, the two track sections located in the front of the present application first contact the obstacle and are lifted up, while the carrier frame located on top of the two track sections will not be lifted up under the action of the buffer spring assembly and the swing arm assembly, but will maintain balance with the track section located at the rear, thereby avoiding rollover when crossing an obstacle. It can be seen that the present application improves the climbing ability and obstacle crossing force, and avoids rollover. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to make the content of the invention more clearly understood, the invention is further described in detail below based on specific embodiments of the invention and in conjunction with the accompanying drawings, wherein

[0029] Figure 1 This is a schematic structural diagram of a multi-track carrying and traveling mechanism for use in complex environments in a preferred embodiment of the present invention;

[0030] Figure 2 yes Figure 1 A schematic diagram of the structure of a multi-track carrying and traveling mechanism for use in complex environments without a carrying frame is shown;

[0031] Figure 3 yes Figure 1 The figure shows a schematic structural diagram of a crawler part in a multi-track load-carrying and traveling mechanism for use in complex environments;

[0032] Figure 4 yes Figure 1 The figure shows a schematic diagram of the connection between the underframe assembly and the leaf spring assembly in a multi-tracked traveling mechanism for use in complex environments;

[0033] Figure 5 yes Figure 2 The figure shows a schematic structural diagram of a leaf spring assembly in a multi-track load-carrying travel mechanism for use in complex environments;

[0034] Figure 6 yes Figure 1 The figure shows a schematic structural diagram of a swing arm assembly in a multi-tracked carrying and traveling mechanism for use in complex environments;

[0035] Figure 7 yes Figure 6 A cross-sectional view taken along the AA direction of a multi-track carrying and traveling mechanism for use in complex environments is shown;

[0036] Figure 8 yes Figure 1 The figure shows a schematic structural diagram of a buffer spring assembly in a multi-track load-carrying travel mechanism for use in complex environments;

[0037] Figure 9 yes Figure 1 The figure shows a schematic diagram of the structure of a carrier frame in a multi-track carrying and traveling mechanism for use in complex environments;

[0038] Figure 10 yes Figure 1 A schematic diagram of a multi-track carrying and traveling mechanism for use in complex environments in a follow-up tensioning state is shown;

[0039] Figure 11 yes Figure 1 A schematic diagram of a multi-tracked carrying and traveling mechanism for use in complex environments is shown in a fixed and tensioned state;

[0040] Figure 12 yes Figure 1 The illustrated embodiment shows a multi-track carrying mechanism for use in complex environments, wherein the carrying frame is connected to the track suspension;

[0041] Figure 13 yes Figure 1 A schematic diagram of a multi-track load-carrying travel mechanism for use in complex environments showing a crawler portion in a maximum lift position;

[0042] Figure 14 yes Figure 1A schematic diagram of a multi-track load-carrying and traveling mechanism for use in complex environments showing a track portion at a maximum downward position;

[0043] Figure 15 for Figure 1 A schematic diagram of a multi-tracked traveling mechanism for use in complex environments during a step-climbing operation is shown;

[0044] Figure 16 for Figure 1 A schematic diagram of a multi-tracked walking mechanism for use in complex environments reaching a walking surface state when climbing stairs is shown;

[0045] Figure 17 for Figure 1 A schematic diagram of a multi-tracked carrying and traveling mechanism for use in complex environments is shown in FIG. 1 , when the mechanism is operating in a step-down condition;

[0046] Figure 18 for Figure 1 A schematic diagram of a multi-tracked walking mechanism for use in complex environments reaching a walking surface state when descending a step;

[0047] Figure 19 for Figure 1 A schematic diagram of a multi-tracked traveling mechanism for climbing steep steps or slopes in complex environments is shown;

[0048] Figure 20 for Figure 1 A schematic diagram of a multi-tracked carrying and traveling mechanism for climbing complex road conditions in a complex environment is shown;

[0049] Explanation of the reference numerals in the specification: 1. Track assembly; 2. Underframe assembly; 3. Leaf spring assembly; 4. Swing arm assembly; 5. Buffer spring assembly; 6. Carrying frame; 7. Driving wheel; 8. Driving wheel mounting plate; 9. Limiting wheel; 10. First load-bearing wheel; 11. First load-bearing buffer damping element; 12. Second load-bearing wheel; 13. Second load-bearing buffer damping element; 14. Support wheel; 15. Main shaft; 16. Second load-bearing arm; 17. Tensioning arm; 18. Tensioning rod; 19. Adjusting nut; 20. Push rod; 21. Tensioning wheel; 22. Support pin; 23. Electrical system mounting frame; 24. Swing arm connecting seat; 25. Track main beam; 26. First load-bearing arm; 27. Connecting ear shaft; 28. Buffer group ear shaft; 29. ​​Bottom frame; 30. Screw plug; 31 , end plug; 32, upper mounting frame; 33, buffer limiter; 34, leaf spring lifting ear; 35, swing arm ear shaft; 36, ear shaft seat; 37, long arm rod; 38, swing arm; 39, connecting ear seat; 40, crossbeam; 41, piston cylinder; 42, anti-bending rib; 43, buffer spring; 44, spring cylinder; 45, spring cylinder cover; 46, limit block; 47, joint bearing; 48, support sleeve; 49, fastening nut; 50, shear pin; 51, leaf spring; 52, limit plate; 53, support shaft; 54, leaf spring seat; 55, fastening plate; 56, anti-bending rod; 57, leaf spring pressure plate; 100, track part; 100a, first front track part; 100b, second front track part; 100c, first rear track part; 100d, second rear track part. DETAILED DESCRIPTION

[0050] The invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the invention and implement it. However, the embodiments are not intended to limit the invention.

[0051] For the convenience of description, the following embodiments are illustrated by taking the example that each track assembly includes two track parts. For the convenience of the following description, the track parts in the two groups of track assemblies are respectively referred to as the first front track part, the second front track part, the first rear track part and the second rear track part, wherein the first front track part and the first rear track part are the same track assembly, and the second front track part and the second rear track part are the same track assembly.

[0052] Reference Figures 1 to 15 As shown, the invention provides a multi-track carrying and traveling mechanism for use in complex environments, comprising:

[0053] Carrier 6;

[0054] Two sets of crawler assemblies 1 are symmetrically arranged at the bottom of both sides of the carrier frame 6. The crawler assembly 1 includes at least two crawler parts 100 arranged in sequence along the traveling direction of the walking mechanism;

[0055] A plurality of chassis assemblies 2 are arranged at the bottom of the carrier frame 6;

[0056] A plurality of swing arm assemblies 4 are provided at the bottom of the carrier frame 6; the swing arm assemblies 4 include a plurality of first arms and second arms hinged to each other, the first arms being hinged to the crawler portion 100, and the second arms being hinged to the carrier frame 6;

[0057] Multiple buffer spring assemblies 5, both ends of which are rotatably connected to the carrier frame 6 and the crawler part 100;

[0058] Among them, in the track assembly 1, a chassis assembly 2 is connected between two adjacent track sections 100, and the two adjacent track sections 100 are symmetrically arranged relative to the chassis assembly 2; one side of the track section 100 is connected to a swing arm assembly 4; one side of the track section 100 is connected to a swing arm assembly 4.

[0059] In some comparative embodiments, each crawler assembly 1 includes a crawler portion 100. When the crawler portion 100 goes over an obstacle, the carrier frame 6 located on top of the crawler portion 100 will tilt synchronously with the crawler portion 100, causing the entire walking mechanism to overturn.

[0060] Specifically, this embodiment provides two crawler assemblies 1, each crawler assembly 1 including at least two crawler sections 100. A carrier frame 6 is connected to the top of the plurality of crawler sections 100 via a buffer spring assembly 5 and a swing arm assembly 4. Each crawler section 100 can be driven independently (i.e., independently controlled), and each crawler section 100 rotates about its own rotation center (hereinafter referred to as the main shaft 15), thereby enabling the flexible change of the posture of the walking mechanism to adapt to the walking requirements of complex terrain, thereby improving the climbing ability. Furthermore, two adjacent crawler sections 100 in the same crawler assembly 1 are connected by a chassis assembly 2. Thus, when navigating an obstacle, the two crawler sections 100 located in the front of the present application first contact the obstacle and are lifted up, while the carrier frame 6 located on top of the two crawler sections 100 does not lift up under the action of the buffer spring assembly 5 and the swing arm assembly 4, but instead maintains balance with the crawler section 100 located at the rear, thereby avoiding overturning when navigating an obstacle. It can be seen that the present application improves climbing ability and obstacle-crossing ability, and avoids rollover.

[0061] The chassis assembly 2 and the buffer spring assembly 5 of the present application constitute a vehicle body support and buffer mechanism; and the travel limit of the track part 100 during the swinging process is realized through the swing arm assembly 4, thereby realizing the track walking system of each group of independent suspension shock absorption systems.

[0062] The various functional mechanisms of the application work together to form a four-track independent suspension walking mechanism, which can meet the performance requirements of large-angle obstacle crossing and high-efficiency shock absorption in the material transportation state of the tracked robot.

[0063] The present invention is suitable for a carrying and traveling mechanism used in outdoor obstacle crossing, stair climbing, urban rescue, and mountain disaster relief.

[0064] This embodiment is applied to freight transportation and loaded obstacle crossing under complex road conditions.

[0065] Furthermore, the crawler section 100 includes a crawler main beam 25, a driving wheel 7, a limiting wheel 9, a first load-bearing wheel 10, a support wheel 14 and a crawler;

[0066] The track is sequentially wound around the drive wheel 7, the limiting wheel 9, the first load-bearing wheel 10, and the support wheel 14; the drive wheel 7 is connected to the track main beam 25; the limiting wheel 9 is rotatably connected to the track main beam 25; the first load-bearing arm 26 is hinged to the first load-bearing arm 26, the other end of which is hinged to the track main beam 25; and the support wheel 14 is rotatably connected to the track main beam 25. Drive wheel mounting plates 8 are provided at both ends of the drive wheel 7. The drive wheel mounting plates 8 are connected to the track main beam 25 via screws. By adjusting the gaskets of the track main beam 25, the assembly center distance of the drive wheel 7 can be adjusted to match the track pitch line length. The drive wheel 7 is an integrated drive wheel 7, which uses an integrated motor and reducer to drive the drive wheel 7; that is, the drive wheel 7 is an integrated design module of an integrated motor, reducer, and drive gear. There are two track main beams 25, which are respectively located on the inner and outer sides of the track portion 100. The two track main beams 25 are connected by support pins 22 and screws to form a rigid skeleton of the track portion 100. The number and position of the support pins 22 are distributed around the track main beams 25 according to the space requirements of the mechanism. The shaft of the limiting wheel 9 is connected to the track main beam 25 by screws and shear pins 50, and the limiting wheel 9 rotates relative to the shaft, thereby realizing the self-rotation of the limiting wheel 9. The track is a rubber track. The support wheel 14 is passed through the main shaft 15, and the support wheel 14 rotates on the main shaft 15. The main shaft 15 is fixedly connected to the track main beam 25. The support wheel 14 is the basic wheel for tensioning and supporting the track portion 100. The support wheel 14 can also prevent the track from falling off, thereby realizing the function of limiting and tensioning the track.

[0067] It should be noted that the first road wheel 10 is hinged to the crawler main beam 25 through the first load-bearing arm 26, so that it rises or falls according to the force during the movement of this application, thereby playing a role of bearing and buffering for the crawler part 100.

[0068] In some comparative embodiments, when climbing steps, since the loose sections of the two groups of track assemblies at the front of the vehicle body are located below the drive wheel 7, the sharp points of the sharp obstacles (such as the edge of the steps) cause the loose edges of the tracks of the first front track portion 100a and the first front track portion 100b to be concave, resulting in insufficient lifting force and excessive track pitch line tension, causing obstacle surmounting failure or even track breakage; using the limiting wheel 9 for support, the concave part of the loose track section can be limited when the vehicle body moves forward to overcome obstacles, and the concave part of the loose track section of the rear track group can be limited when the vehicle body moves backward to overcome obstacles, thereby ensuring reliable obstacle crossing under the traction force of the track pitch line is small.

[0069] It should be noted that when climbing stairs, in the first front crawler part 100a and the first front crawler part 100b of the present application, the upward slope surface of the crawler at each limiting wheel 9 first contacts the step, because the loose edge of the crawler is located at the bottom during the forward movement of the crawler; in this way, when the vehicle body overcomes an obstacle, a force perpendicular to the normal surface of the crawler is generated when the sharp-angled step of the crawler contacts the slope surface of the crawler, and this force will cause the crawler to have a tendency to concave inward; at this time, the limiting wheel 9 contacts the crawler, thereby limiting the crawler from continuing to concave, and the crawler generates traction under the action of the driving wheel 7. At this time, the step contact force and the crawler traction force constitute a combined force, and cause the front crawler group to produce an upward lifting effect, and the first front crawler part 100a and the first front crawler part 100b lift up the compression buffer spring assembly 5 to avoid impact load on the vehicle body and the load.

[0070] Specifically, the track main beam 25, the driving wheel 7, the first load-bearing wheel 10, the support wheel 14 and the track of this embodiment constitute the buffering and walking module unit of the track; in this embodiment, a limiting wheel 9 is set between the driving wheel 7 and the first load-bearing wheel 10, so that the limiting wheel 9 plays an inducing role in the support and climbing angle of the rubber track (when the front track portion 100 is driven, the climbing section is the loose side of the track, such as climbing stairs. Due to the action of the sharp point of the obstacle, the track is retracted, resulting in excessive tension in the track, which further leads to the track's inability to overcome obstacles or even the failure of the track to break due to tensile overload. When the induction effect is set in this embodiment, when the present application climbs the stairs, the sharp point of the obstacle contacts the limiting wheel 9, thereby preventing the track from retracting).

[0071] See also Figure 10 , further, the crawler section 100 further includes a tensioning mechanism, which includes a tensioning wheel 21, a push rod 20, a tensioning rod 18 and a tensioning arm 17;

[0072] The push rod 20, tensioning rod 18, and tensioning arm 17 are hinged at one end. The other end of the push rod 20 is hinged to the tensioning wheel 21, and the other end of the tensioning arm 17 is hinged to the track main beam 25. The other end of the tensioning rod 18 is hinged to the first road wheel 10, for example, the tensioning rod 18 is hinged to the shaft of the first road wheel 10. The tensioning wheel 21 is arranged above the first road wheel 10 and is rollingly connected to the inner wall of the track. The tensioning rod 18 is a telescopic rod. This tensioning mechanism is called a follower tensioning mechanism.

[0073] It should be noted that when one end of the tensioning rod 18 is connected to the shaft of the first load-bearing wheel 10, the tensioning rod 18, the upper push rod 20, the tensioning wheel 21, and the tensioning arm 17 form a four-bar follower rod assembly mechanism together with the first load-bearing arm 26 of the first load-bearing wheel 10. When the first load-bearing wheel 10 is impacted by reverse road conditions, the first load-bearing buffer damping element 11 (described below) is compressed. The compression of the first load-bearing buffer damping element 11 drives the tensioning rod 18 upward, thereby driving the tensioning arm 17 and the upper push rod 20, causing the tensioning wheel 21 to move upward along the groove of the track main beam 25 (described below), compensating for the slack of the track caused by the compression of the first load-bearing buffer damping element 11. When the vehicle is running at a high speed on undulating roads, when there is a large impact deformation of the buffer due to the impact of load gravity acceleration, it can effectively avoid belt derailment. When the first road wheel 10 is impacted by the road condition, the front load buffer damping element is compressed, causing the buffer damping element to compress, driving the tensioning rod 18 to push up, driving the tensioning arm 17 and the upper push rod 20, and causing the tensioning wheel 21 to move up along the guide groove of the track main beam 25, compensating for the slack of the track caused by the compression of the front buffer damper. On undulating roads, when the vehicle runs at a higher speed, there is a large impact deformation of the buffer due to the impact of the load gravity acceleration, which can effectively avoid the belt off failure.

[0074] Specifically, the tensioning mechanism of this embodiment includes a tensioning wheel 21, a top rod 20, a tensioning rod 18 and a tensioning arm 17. One end of the top rod 20, the tensioning rod 18 and the tensioning arm 17 are hinged; the tensioning wheel 21 is hinged to the top rod 20, and the length of the tensioning rod 18 can be adjusted, so that the tensioning and relaxing effects of the track can be achieved on the tensioning wheel 21 by adjusting the length of the telescopic rod; in addition, the other end of the tensioning rod 18 is hinged to the first road wheel 10, so that when the first road wheel 10 is subjected to impact buffering and compressing the track, it drives the tensioning wheel 21 to rise and tension the track. When the first road wheel 10 tensions the track, it drives the tensioning wheel 21 to descend and relax the track, thereby achieving the effect of maintaining a constant envelope pitch line length when the present application is walking.

[0075] In some possible implementations, a tensioning nut is provided on the tensioning rod 18 , and the tensioning nut has a left-handed and right-handed composite thread, so that the length of the tensioning rod 18 can be adjusted by rotating the adjustment nut 19 .

[0076] In some possible implementations, a groove is provided on the inner wall of the crawler track, and the tensioning wheel 21 is located in the groove.

[0077] Specifically, this embodiment provides a slot that matches the tensioning wheel 21 , so that the slot can limit the movement of the tensioning wheel 21 in a vertical plane.

[0078] See also Figure 11 In some other embodiments, the crawler section 100 further includes a tensioning mechanism, which includes a tensioning wheel 21, a push rod 20, a tensioning rod 18, and a tensioning arm 17;

[0079] The push rod 20, tension rod 18, and one end of the tension arm 17 are hinged together. The other end of the push rod 20 is hinged to the tension wheel 21. The other ends of the tension rod 18 and tension arm 17 are each hinged to the track main beam 25. The tension wheel 21 is located above the first road wheel 10 and is rollingly connected to the inner wall of the track. The tension rod 18 is a telescopic rod. This tensioning mechanism is called a fixed tensioning mechanism.

[0080] It should be noted that when the tensioning rod 18 is connected to the track main beam 25, the other end of the tensioning rod 18, the tensioning rod 18, the upper push rod 20, and the tensioning wheel 21 form a planar triangular pull rod mechanism; at this time, when the length of the tensioning rod 18 is adjusted (for example, by tightening the tensioning nut), the tensioning wheel 21 can only move up and down in the vertical plane under the action of the limit grooves on the left and right sides of the track main beam 25, thereby tensioning the track and further preventing the track from derailing. If the track needs to generate greater tension in gravel or soft soil or muddy conditions, this method can be used to adjust the length of the tensioning rod 18 so that the track group can maintain good tension and cushioning during travel.

[0081] Specifically, the tensioning mechanism of this embodiment includes a tensioning wheel 21, a push rod 20, a tensioning rod 18 and a tensioning arm 17. One end of the push rod 20, the tensioning rod 18 and the tensioning arm 17 are hinged; the tensioning wheel 21 is hinged to the push rod 20, and the length of the tensioning rod 18 can be adjusted, so that the tensioning wheel 21 can be raised and lowered by adjusting the length of the telescopic rod, thereby achieving the tensioning and relaxation of the track.

[0082] In some possible implementations, a tensioning nut is provided on the tensioning rod 18 , and the tensioning nut has a left-handed and right-handed composite thread, so that the length of the tensioning rod 18 can be adjusted by rotating the adjustment nut 19 .

[0083] In some possible implementations, a groove is provided on the inner wall of the crawler track, and the tensioning wheel 21 is located in the groove.

[0084] Specifically, this embodiment provides a slot that matches the tensioning wheel 21 , so that the slot can limit the movement of the tensioning wheel 21 in a vertical plane.

[0085] It should be noted that the present application features a composite tensioning mechanism that provides both fixed and follower tensioning. The tensioning mechanism of the crawler track portion 100 of the present application has a composite function: when the tensioning rod 18 is connected to the crawler main beam 25, it forms a fixed tensioning structure; when the tensioning rod is connected to the first road wheel 10, it forms a follower tensioning mechanism. This allows for rapid switching of tensioning modes according to varying operating conditions.

[0086] Furthermore, the crawler section 100 further includes a second load-bearing wheel 12 and a second load-bearing arm 16 , wherein the second load-bearing wheel 12 is located between the first load-bearing wheel 10 and the support wheel 14 ;

[0087] Both ends of the second load-bearing arm 16 are hinged to the second load-bearing wheel 12 and the crawler main beam 25 respectively.

[0088] Specifically, this embodiment is provided with a second load-bearing wheel 12, which is hinged to the crawler main beam 25 through a second load-bearing arm 16. Therefore, during the travel of the present application, the second load-bearing wheel 12 rises or falls according to the force applied, thereby playing a role in bearing and buffering the crawler part 100. The second load-bearing wheel 12 and the first load-bearing wheel 10 constitute the wheel system for bearing and buffering the crawler part 100.

[0089] Furthermore, the crawler section 100 further includes a first load-bearing buffering and damping element 11 and / or a second load-bearing buffering and damping element 13;

[0090] Among them, one end of the first load-bearing buffer damping element 11 is hinged to the first load-bearing wheel 10, and the other end is hinged to the track main beam 25; one end of the second load-bearing buffer damping element 13 is hinged to the second load-bearing wheel 12, and the other end is hinged to the track main beam 25.

[0091] Specifically, the present embodiment is provided with a first load-bearing buffer damping element 11 and a second load-bearing buffer damping element 13 , and the first load-bearing buffer damping element 11 and the second load-bearing buffer damping element 13 respectively provide support force and road surface buffering effect to the track portion 100 .

[0092] It should be noted that each crawler section 100 of the application is a modular structure and can be disassembled and assembled separately. If a crawler section 100 fails, the screw plug 30 on the side of the chassis assembly 2 can be disassembled to quickly complete the crawler and module replacement, greatly improving maintenance and repairability.

[0093] Furthermore, the undercarriage assembly 2 includes a triangular bottom frame 29 and an upper mounting frame 32. Of the three corners of the bottom frame 29, the two bottom corners are hingedly connected to the support wheels 14 of two adjacent track sections 100, and the top corner is connected to the upper mounting frame 32. The bottom frame 29 is connected to the upper mounting plate via top screws, which serves as the mounting frame for the track sections 100. There are two bottom frames 29, which are connected as a whole via the upper mounting frame 32 and are respectively positioned on either side of the support wheel 14. Articulated trunnion holes are provided at the two bottom corners of the bottom frame 29. These trunnion holes are hingedly connected to the main shaft 15 of the support wheel 14 via bearings, and screw plugs 30 are used to constrain the main shaft 15 to the inside of the bottom frame 29.

[0094] Specifically, this embodiment is provided with a triangular bottom frame 29 and an upper frame 32. The bottom frame 29 is hinged to the support wheels 14 of the two adjacent crawler sections 100, and the upper frame 32 is connected to the top of the bottom frame 29. In this way, the bottom frame assembly 2 firmly and reliably connects the two adjacent crawler sections 100 in the same crawler assembly 1, and the two adjacent crawler sections 100 can also have an independent swing mechanism.

[0095] In some possible embodiments, a cross beam 40 is connected between the chassis assemblies 2 at corresponding positions in the two sets of track assemblies 1. For example, a cross beam 40 is connected between the bottom frames 29 located on the inner sides of the two chassis assemblies 2 at corresponding positions.

[0096] Specifically, in this embodiment, a crossbeam 40 is provided to connect the two sets of crawler track assemblies 1 together.

[0097] In some possible embodiments, anti-bending ribs 42 are provided at both ends of the crossbeam 40 , and the anti-bending ribs 42 are connected to the bottom frame 29 by screws.

[0098] Specifically, the embodiment is provided with anti-bending ribs 42, so that the effect of lateral eccentric load bending moment can be resisted during the movement of the two sets of crawler track assemblies 1.

[0099] In some possible embodiments, the base frame assembly 2 also includes a fastening plate 55 and a plurality of anti-bending rods 56, the bottom frame 29 includes a horizontally arranged straight edge and two oblique edges, the fastening plate 55 is connected and arranged between the two oblique edges, and the plurality of anti-bending rods 56 are arranged on the fastening plate 55 connection.

[0100] Specifically, the present embodiment provides a fastening plate 55 and an anti-bending tie rod 56 to further increase the strength of the chassis assembly 2 .

[0101] It should be noted that the lateral bending moment of the present application is carried by the crossbeam 40 , and at the same time, the anti-bending structure of the anti-bending rod 56 is used to further improve the bearing capacity of the lateral bending moment.

[0102] Furthermore, the present application also includes a leaf spring assembly 3 connected between the base frame assembly 2 and the carrier frame 6. The leaf spring assembly 3 includes at least one leaf spring 51, which is an arc-shaped structure with both ends tilted upward. The bottom of the leaf spring 51 in the middle is connected to the base frame assembly 2, and the two ends of the leaf spring 51 are hinged to the carrier frame 6. Limit plates 52 are provided on both sides of the leaf spring 51. Support sleeves 48 are provided at both ends of the leaf spring 51. There are two leaf springs 51, and a support shaft 53 is connected between the support sleeves 48 at both ends of the two leaf springs 51. The leaf spring assembly 3 also includes a leaf spring lifting lug 34, which is connected to the middle of the support shaft 53. One end of the leaf spring lifting lug 34 is hinged to the support shaft 53, and the other end of the leaf spring lifting lug 34 is hinged to the carrier frame 6. The support shaft 53 is the component that transmits the vehicle body load of the leaf spring assembly 3, and its left and right sides are limited by nuts and washers. The leaf spring eye 34 is a connecting member between the vehicle body and the leaf spring assembly 3 , and provides expansion space for the leaf spring 51 after buffering deformation.

[0103] Specifically, this embodiment employs a leaf spring assembly 3 connected between the underframe assembly 2 and the carrier frame 6. This assembly includes at least one leaf spring 51, which transmits traction to the carrier frame 6. This means that the leaf spring 51 acts as a buffer between the underframe assembly 2 and the vehicle body. Furthermore, this embodiment incorporates limit plates 52 on either side of the leaf spring 51, which restrict left and right torsion. Consequently, after installation on the underframe assembly 2, the leaf spring 51 only transmits vertical buffering support and longitudinal traction to the vehicle body.

[0104] In some possible embodiments, the leaf spring assembly 3 further includes a leaf spring seat 54, a leaf spring pressure plate 57 and a shear pin 50; the bottom of the leaf spring seat 54 is connected to the upper mounting plate of the base frame assembly 2 by screws, the top of the leaf spring seat 54 is an arc-shaped surface, which matches the lower arc-shaped surface of the leaf spring 51, and a shear groove is provided in the middle of the leaf spring seat 54, which is cooperated and connected with the shear pin 50; the leaf spring pressure plate 57 is arranged at the top of the leaf spring 51, and the leaf spring pressure plate 57 is connected to the leaf spring seat 54 by screws.

[0105] Specifically, this embodiment is provided with a spring seat, a leaf spring pressure plate 57 and a shear pin 50 , and the leaf spring 51 is clamped by the leaf spring pressure plate 57 and the leaf spring seat 54 .

[0106] In some possible embodiments, the leaf spring assembly 3 further includes a buffer stopper 33, which is connected to the top of the leaf spring pressure plate 57. The leaf spring 51 is connected to the fastening nut 49 via an internal shear pin 50 to form a buffer leaf spring 51 module.

[0107] Specifically, the buffer limiter 33 provides a buffer stroke limit for the leaf spring 51 , protecting the leaf spring 51 from damage by impact while avoiding the rigid impact of the leaf spring 51 after buffering breakdown.

[0108] Furthermore, the buffer spring assembly 5 includes a spring cylinder cover 45, a spring cylinder 44, a buffer spring 43 and a piston cylinder 41; one end of the spring cylinder 44 is sleeved on the piston cylinder 41, and the other end of the spring cylinder 44 and the free end of the piston cylinder 41 are connected to the spring cylinder cover 45, the spring cylinder cover 45 is connected to the spring cylinder 44 and the piston cylinder 41 by screws, and a buffer spring 43 is provided between the spring cylinder cover 45 of the spring cylinder 44 and the spring cylinder cover 45 of the piston cylinder 41.

[0109] Specifically, the piston cylinder 41, spring cylinder 44, and buffer spring 43 provided in this embodiment constitute a buffering component, thereby providing support for the carrier frame 6 and providing a posture buffering force between the carrier frame 6 and each track section 100. Furthermore, the buffer spring assembly 5 serves as a structure that performs both posture change and buffering for the track section 100.

[0110] In some possible embodiments, the inner wall of one end of the spring cylinder 44 connected to the piston cylinder 41 is provided with an end plug 31 at the connection position between the spring cylinder 44 and the piston cylinder 41, and the interior of the end plug 31 and the piston cylinder 41 are both provided with support anti-friction rings.

[0111] Specifically, this embodiment includes an end plug 31, which provides guidance and ultimate length limiting for the piston cylinder 41. Furthermore, support anti-friction rings are provided inside the end plug 31 and on the piston cylinder 41, forming a sliding friction pair. The anti-friction rings are dual-supported, enabling the buffer spring assembly 5 to withstand lateral bending moments.

[0112] In some possible embodiments, both ends of the buffer spring assembly 5 are rotatably connected to the carrier frame 6 and the track portion 100 respectively through joint bearings 47 .

[0113] Furthermore, the swing arm assembly 4 includes a long arm 37 and a rocker arm 38. One end of the long arm 37 and the rocker arm 38 are hingedly connected, and the other end of the long arm 37 is hingedly connected to the track main beam 25. The other end of the rocker arm 38 is hingedly connected to the carrier frame 6. The other end of the long arm 37 is screwed to a trunnion seat 36. The trunnion seat 36 and the swing arm trunnion 35 are connected by bearings to form an articulated pair. The swing arm trunnion 35 is fixedly connected to the track main beam 25 by screws. The long arm 37 and the rocker arm 38 are also connected by bearings to form an articulated pair. The other end of the rocker arm 38 is connected to a connecting lug seat 39. The rocker arm 38 and the connecting lug seat 39 are connected by bearings to form an articulated pair. The connecting lug seat 39 is fixedly connected to the carrier frame 6 by screws.

[0114] Specifically, this embodiment is provided with a long arm rod 37 and a rocker arm 38, which constitute a connection form of a rocker arm between the track portion 100 and the carrier frame 6, thereby providing posture limiting and lateral limiting effect on the track end when the track overcomes obstacles.

[0115] It should be noted that the swing arm assembly 4 of the present application provides posture limiting for each track section 100. At the same time, the swing arm assembly 4 is articulated using a dual-bearing support structure, which can withstand lateral bending moments. The two ends of the swing arm assembly 4 are respectively connected to the track section 100 and the carrier frame 6, which can effectively control the posture of the track section 100 and withstand lateral deformation when the end of the track section 100 is subjected to lateral loads. In addition, the posture limiting of the present application uses the swing arm assembly 4 to move with the track section 100, and the limit position of the swing arm 38 is limited by the limit block 46. Furthermore, the limit adjustment of the limit posture angle can be achieved by adjusting the stroke of the limit block 46.

[0116] Furthermore, a limit block 46 is provided at the bottom of the carrier frame 6 , and when the crawler portion 100 is at the maximum lifting position, the rocker arm 38 contacts the limit block 46 .

[0117] Specifically, the setting of the limit block 46 in this embodiment can limit the upward limit position of the crawler part 100.

[0118] In some possible embodiments, the limit block 46 is made of a buffer material such as rubber.

[0119] Specifically, the collision impact caused by contact with the rigid structure can be effectively avoided.

[0120] In some possible embodiments, the carrier frame 6 is a steel frame structure. The bottom of the carrier frame 6 is provided with a connecting trunnion 27 connected to the leaf spring assembly 3, a buffer assembly trunnion 28 connected to the buffer assembly, a swing arm connection seat 24 connected to the swing arm, and an electrical system mounting bracket 23 for installing the electrical system. The carrier frame 6 may also be provided with a cargo hold connection interface to meet different transportation requirements.

[0121] In some possible embodiments, the buffer spring assembly 5 is disposed on the outside of the track portion 100 , and the swing arm assembly 4 is disposed on the inside of the track portion 100 .

[0122] See also Figure 19 This application is for a multi-track, independently suspended walking mechanism capable of mechanically navigating rugged terrain or complex terrain, exhibiting high maneuverability, strong obstacle-crossing capabilities, a large load capacity, and excellent shock absorption. This application is suitable for use in mountainous areas, transporting supplies, overcoming obstacles in the field, disaster relief in mountainous areas, and battlefield rescue operations. It is particularly well-suited for overcoming obstacles on steps, such as in mountainous scenic areas and city plazas. This application is suitable for climbing and traversing stairs with a slope of 45° or less.

[0123] It should be noted that each track portion 100 of the present application is provided with an independent drive unit, and the load-bearing wheel system (the first load-bearing wheel 10, the second load-bearing wheel 12) inside the track portion 100 constitutes a separate module internal shock absorption system through the rocker arm 38 mechanism (the first load-bearing arm 26, the second load-bearing arm 16) and the buffer damping element (the first load-bearing buffer damping element 11 and the second load-bearing buffer damping element 13).

[0124] It should be noted that the crawler group of the present application is provided with a first load-bearing wheel 10, a second load-bearing wheel 12, a first load-bearing arm 26, a second load-bearing arm 16, a first load-bearing buffer damping element 11 and a second load-bearing buffer damping element 13 to form a load-bearing and buffer wheel system, all of which are connected to the crawler main beam 25. In this way, during the obstacle crossing or walking process of the present application, on the one hand, the first load-bearing wheel 10 and the second load-bearing buffer damping element 11 and the second load-bearing buffer damping element 13 provide road support load through deformation; on the other hand, when subjected to local impact, the first load-bearing buffer damping element 11 and the second load-bearing buffer damping element 13 produce deformation to absorb the impact load, thereby playing a buffering role for the crawler group.

[0125] It should be noted that the crawler section 100 of the present application is internally equipped with a buffer damping element, a leaf spring assembly 3, and a buffer spring assembly 5, which combine to form an independently suspended structure for the walking unit, thereby providing a buffering effect during walking. This shows that the present application utilizes an independent suspension structure with multiple buffering forms, wherein the buffer damping element is a primary buffer, effectively reducing the impact response of the carrier frame 6 to road conditions. The leaf spring assembly 3 and buffer spring assembly 5 form a secondary buffer, effectively reducing posture shocks and making the entire system's walking process smoother.

[0126] The hinge point in this application adopts a bearing support structure, which effectively reduces the transmission energy consumption of the mechanism and improves the power drive efficiency.

[0127] Here's how this application works:

[0128] 1. The working principle of the up and down steps of this application:

[0129] See also Figure 15For example, if the load's center of mass is too far forward, when the traveling mechanism ascends a step, the first front crawler section 100a and the first front crawler section 100b must generate their maximum upward travel. At this point, the rocker arm of the first front crawler section 100a and the first front crawler section 100b reaches its maximum bending state, and the rocker arm 38 contacts the travel-limiting stopper 46 provided on the carrier frame 6, effectively preventing the vehicle from becoming unable to move due to excessive upward movement of the rocker arm 38 and contact with the carrier frame 6. As the drive wheel 7 continues to drive, the traveling mechanism continues to advance. Under the action of the leaf spring assembly 3, the buffer spring assembly 5, and the stopper 46 of the first front crawler section 100a and the first front crawler section 100b, the vehicle body is lifted against the force of gravity. As the vehicle body lift angle increases, the component of gravity perpendicular to the step gradient gradually decreases, and the force of the buffer spring assembly 5 exceeds this component. At this point, the spring barrel 44 extends, and the vehicle body reaches a state of force equilibrium on the slope. Under the action of the driving wheels 7 of the first front crawler portion 100a, the first front crawler portion 100b, the first front crawler portion 100c, and the second front crawler portion 100d, the first front crawler portion 100a and the first front crawler portion 100b completely enter the step slope plane. Under the connection and traction of the underframe assembly 2, the carrying frame 6 drives the rear crawler group to lift up and smoothly enter the step slope.

[0130] See also Figure 16 After the first front crawler section 100a, the first front crawler section 100b, the first front crawler section 100c, and the second front crawler section 100d all enter the step slope, the ground contact sections of the four crawler sections 100 together form a walking surface. When the step span is large, each step corner excites the crawler travel. When the walking mechanism passes the step corner, the supporting load squeezes the first and second road wheels 10 and 12 through the crawler, further compressing the corresponding load buffers (the first load buffer damping element 11 and the second load buffer damping element 13). The load buffers absorb the excitation energy of the step and reduce the running impact of the vehicle body. When the support wheel 14 is subjected to the excitation impact, it is transmitted to the carrier frame 6 through the chassis assembly 2 and the leaf spring assembly 3. In this way, the impact energy is consumed by the deformation of the leaf spring 51 of the leaf spring assembly 3 and the contact friction of the spring plate, thereby playing a buffering role for the carrier frame 6.

[0131] 2. The working principle of this application's up and down steps:

[0132] See also Figure 17When going down a step, the first front crawler section 100a and the first front crawler section 100b first pass through the upper plane of the step. Under the action of the buffer spring assembly 5, the buffer spring assembly 5 quickly extends to the limit state. For example, if the slope of the downhill step is too large, the buffer spring assembly 5 is extended to the maximum stroke under the limiting action of the end plug 31. When the center of mass of the load passes through the upper plane of the step, the bottom surface of the first front crawler section 100a and the first front crawler section 100b first contacts the downhill surface. Since the buffer spring assembly 5 has been extended to the maximum stroke state, its contact buffer load is very small. When the center of mass of the load enters the downhill surface, the front buffer spring assembly 5 begins to compress from the maximum extension state until it completely offsets the load impact of the center of mass of the vehicle body at the beginning of the downhill. Since the buffer stroke is the largest, the average impact force during the downhill process is the smallest, which can effectively reduce the downhill impact of the vehicle body.

[0133] See also Figure 18 After entering the step slope, the specific working principle is the same as when going up the steps, so I will not go into details here.

[0134] 3. When encountering a complex obstacle (for example, a raised obstacle on one side of the vehicle and a concave obstacle on the other side), the working principle of this application is as follows:

[0135] See also Figure 20 Since each track section 100 rotates around its own main axis 15, when the first front track section 100b encounters a rising convex obstacle and the first front track section 100a encounters a descending concave obstacle, the first front track section 100b contacts the obstacle during its movement. Under the action of the supporting force, the first front track section 100b lifts up and compresses the buffer spring assembly 5 of the first front track section 100b, so that the first front track section 100b always maintains contact with the obstacle; because the obstacle the first front track section 100a contacts is a concave obstacle, its contact force is reduced. Under the action of the buffer spring assembly 5 of the first front track section 100a opening, the first front track section 100a swings down and contacts the concave support surface. In this way, the entire vehicle body re-enters a new support balance state, avoiding the situation where part of the track is not in contact with the ground due to the reduction of support points caused by different obstacles, effectively reducing the rollover angle, and improving the vehicle body's adaptability to complex road conditions. It can be seen that the present application can adapt to complex obstacles.

[0136] It can be seen that each track section 100 of the present invention adopts an independent suspension, independent drive and independent posture adaptation structure. Each track section 100 has independent posture adaptation and buffering capabilities, which can be used for walking wheel posture adaptation under various obstacles.

[0137] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications derived therefrom remain within the scope of protection of the invention.

Claims

1. A multi-track carrying and traveling mechanism for use in complex environments, characterized by: include: Carrier rack; Two sets of crawler assemblies are symmetrically arranged at the bottom of both sides of the carrier frame, and the crawler assembly includes at least two crawler parts arranged in sequence along the travel direction of the walking mechanism; a plurality of chassis components, arranged at the bottom of the carrier frame; A plurality of swing arm assemblies are arranged at the bottom of the carrier frame; the swing arm assemblies include a plurality of first arm rods and second arm rods hinged to each other, the first arm rods are hinged to the crawler portion, and the second arm rods are hinged to the carrier frame; a plurality of buffer spring assemblies, wherein two ends of the buffer spring assemblies are rotatably connected to the carrier frame and the crawler track portion respectively; Wherein, in the crawler assembly, a chassis assembly is connected between two adjacent crawler parts, and the two adjacent crawler parts are symmetrically arranged relative to the chassis assembly; one side of the crawler part is connected to a swing arm assembly; The chassis assembly includes a triangular bottom frame and an upper frame. Among the three corners of the bottom frame, the two corners at the bottom are respectively hinged to the two adjacent crawler parts, and the corner at the top is connected to the upper frame. It also includes a leaf spring assembly connected between the base frame assembly and the carrier frame; the leaf spring assembly includes at least one leaf spring, the leaf spring is an arc-shaped structure with both ends tilted upward, the bottom of the middle position of the leaf spring is connected to the base frame assembly, and the two ends of the leaf spring are hinged to the carrier frame; limit plates are provided on both sides of the leaf spring.

2. The multi-track carrying and traveling mechanism for complex environments according to claim 1, characterized in that: The crawler part includes a crawler main beam, a driving wheel, a limiting wheel, a first load-bearing wheel, a supporting wheel and a crawler; The crawler track is sequentially wound around the driving wheel, the limiting wheel, the first load-bearing wheel and the supporting wheel; the driving wheel is connected to the crawler main beam; the limiting wheel is rotatably connected to the crawler main beam; the first load-bearing wheel is hinged with a first load-bearing arm, and the other end of the first load-bearing arm is hinged to the crawler main beam; the supporting wheel is rotatably connected to the crawler main beam.

3. The multi-track carrying and traveling mechanism for use in complex environments according to claim 2, characterized in that: The crawler section further includes a tensioning mechanism, which includes a tensioning wheel, a push rod, a tensioning rod and a tensioning arm; The push rod, tensioning rod and tensioning arm are hinged at one end; the other end of the push rod is hinged to the tensioning wheel, and the other end of the tensioning arm is hinged to the track main beam; the other end of the tensioning rod is hinged to the first road wheel; the tensioning wheel is arranged above the first road wheel, and the tensioning wheel is rollingly connected to the inner wall of the track; the tensioning rod is a telescopic rod.

4. The multi-track carrying and traveling mechanism for complex environments according to claim 2 or 3, characterized in that: The crawler section further includes a second load-bearing wheel and a second load-bearing arm, wherein the second load-bearing wheel is located between the first load-bearing wheel and the support wheel; Both ends of the second load-bearing arm are hinged to the second load-bearing wheel and the crawler main beam respectively.

5. The multi-track carrying and traveling mechanism for use in complex environments according to claim 4, characterized in that: The crawler section further includes a first load-bearing buffer damping element and / or a second load-bearing buffer damping element; Among them, one end of the first load-bearing buffer damping element is hinged to the first load-bearing wheel, and the other end is hinged to the track main beam; one end of the second load-bearing buffer damping element is hinged to the second load-bearing wheel, and the other end is hinged to the track main beam.

6. The multi-track carrying and traveling mechanism for use in complex environments according to claim 1, characterized in that: The buffer spring assembly includes a spring cylinder cover, a spring cylinder, a buffer spring and a piston cylinder; one end of the spring cylinder is sleeved on the piston cylinder, the other end of the spring cylinder and the free end of the piston cylinder are connected to the spring cylinder cover, and a buffer spring is provided between the spring cylinder cover of the spring cylinder and the spring cylinder cover of the piston cylinder.

7. The multi-track carrying and traveling mechanism for use in complex environments according to claim 1, characterized in that: The swing arm assembly includes a long arm rod and a rocker arm. One end of the long arm rod and the rocker arm are hinged, and the other end of the long arm rod is hinged to the crawler main beam; the other end of the rocker arm is hinged to the carrier frame.

8. The multi-track carrying and traveling mechanism for use in complex environments according to claim 7, characterized in that: A limit block is provided at the bottom of the carrier frame, and when the crawler part is at the maximum lifting position, the swing arm contacts the limit block.

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