A chain sprocket wheel system and a design method of chassis thereof

Abstract

The application provides a chain type rotating wheel system and a chassis design method thereof. The system comprises two caterpillar tracks installed on driving wheels, load wheels and tension wheels. Each caterpillar track is sequentially connected by a plurality of chain type plate units through double pin units. The chain type plate unit comprises a chain type plate, at least one front rotating wheel assembly and at least one rear rotating wheel assembly installed on the bottom surface of the chain type plate. The front end of the chain type plate is provided with a first pin shaft hole, and the rear end is provided with a second pin shaft hole. The first pin shaft hole is parallel to the second pin shaft hole. The front rotating wheel assembly comprises two or more than two coaxially connected first rollers. The rear rotating wheel assembly comprises two or more than two coaxially connected second rollers. The chain type rotating wheel system has the advantages of flexible, stable and long service life. The chain type rotating wheel system and the vehicle chassis are practical. The working efficiency and steering efficiency of the vehicle are determined, so that the design parameters can be adjusted to maximize the benefits and produce significant economic benefits.

Description

TECHNICAL FIELD

[0001] The present application relates to a tracked vehicle device, in particular to a chain type rotating wheel system and a chassis design method thereof. BACKGROUND

[0002] The current existing omnidirectional tracked and high efficiency steering tracked patent literatures are based on principles and structures, without quantitative design indicators or actual design specific structure quantitative indicators, and the vehicle operation is not stable, and the practical application is limited.

[0003] For example, the omnidirectional tracked disclosed in the patent literature with the application number 201210347201.X is mainly composed of six parts, including a driving wheel, a tracked plate, a roller, a weight wheel, a tow belt wheel and an induction wheel. The center axis of the roller and the center axis of the driving wheel form a certain offset angle, and the offset angle ranges from (-90°, 0°) or (0°, 90°), and the preferred angle is 45°.

[0004] For another example, the tracked omnidirectional mobile platform disclosed in the patent literature with the application number 201210347188.8 is usually composed of four omnidirectional tracked and the tracked layout is a longitudinal symmetric structure. As shown in the attached drawing 7 of the specification, the small rectangular frame in the drawing represents the omnidirectional tracked, and the series of oblique lines in the frame represent the axis direction of the series of ground rollers on the tracked, and the four dotted lines represent the axis direction of the driving wheel. Due to the special structure of the omnidirectional tracked, the tracked on the platform needs to adopt two kinds of installation methods, so the roller offset angle on the platform has two kinds, and the angle is usually 45°. The roller offset angles of the A and C tracked are the same, and the roller offset angles of the B and D tracked are just opposite.

[0005] However, the above two patent literatures do not have the roller angle design, and only mention that 45° is the usual setting angle. There is no design relationship between the roller and the shaft, and there is no design relationship between the tracked and the vehicle body, and the operation is not stable in practice.

[0006] For example, the patent document with application number 201410655662.2 discloses a high-efficiency steering track and its platform. The high-efficiency steering track includes a track body, which is connected by a plurality of track plates. Installation supports are arranged on the outer sides of the track plates, and rollers are fixedly arranged on the installation supports. Meshing shafts are arranged between the track plates. The meshing shafts are meshed with matching driving wheels and guide wheels arranged between the track plates. Load wheels are arranged on the inner sides of the ground-engaging ends of the track plates. The load wheels are arranged on the inner sides of the relative inner sides. The high-efficiency steering track platform includes a platform body, and high-efficiency steering tracks are symmetrically arranged on the two sides of the platform body. The track plates are provided with two rollers with different bias angles, so that the track platform can control the motion trajectory during steering, and the motion control mechanism and the transmission mechanism are simplified. Thus, the flexibility and maneuverability of the track platform during steering are improved, the service life of the track is prolonged, and the track platform can be smoothly steered. However, the design relationship between the rollers and the shafts is not disclosed, and the design relationship between the track and the vehicle body is not disclosed. The track plates are raised during walking, and the track cannot be practically applied.

[0007] For another example, the patent document with application number 201910747416.2 discloses a multi-support multi-roller track member and a track. The track member includes a track plate, and rollers are installed on the track plate. The track plate includes a plate body, a support member is arranged on the plate body, and track pins are arranged on the two sides of the plate body. The support member includes two roller supports and a roller support seat arranged coaxially and separated in sequence. Two rollers are installed on the support member through roller bolts. The threaded end of the roller bolt is screwed with a locking nut after penetrating the through hole of the two roller supports, and the head of the roller bolt is arranged on the positioning groove of the roller support seat. The roller can rotate on the screw rod of the roller bolt. The roller forms a bias angle relative to the track pin. One roller is arranged between the two roller supports, and the other roller is arranged between the roller support and the roller support seat. The track member has the advantages of compact structure, long service life, low noise and vibration, strong adaptability to various road surfaces, and the like. However, the content of the roller passing the center line is disclosed, and a formula is given. Although the running stability is improved, the single shaft can only reduce noise and vibration, and the problem cannot be fundamentally solved. The design relationship between the track and the vehicle body is not disclosed, and the track has defects in application and is limited in use.

[0008] In summary, it is urgent to design a chain-type rotating wheel system and a chassis design method that can improve the stability of the platform, improve the reliability and service life of the chain-type rotating wheel, highlight the practical application design, form a reliable market buying point, and achieve economic benefits. SUMMARY

[0009] To solve the above technical problems, the application provides a chain type rotating wheel system and a design method of a chassis of the chain type rotating wheel system, and the chain type rotating wheel and the chassis of the vehicle can be realized, the working efficiency and the steering efficiency of the vehicle are determined, and the design parameters can be adjusted to maximize the benefits, thereby generating significant economic benefits. The chain type rotating wheel system is a kind of special walking mechanism, which cannot be considered as a track or a wheel, and is a kind of special walking mechanism. It can flexibly and easily steer on the paved road with small resistance radius, and will not cause scratches and damage to the road surface like traditional tracked vehicles, and has good off-road capability and water driving performance, and has stable running performance, and is convenient for scale practical application.

[0010] Specifically, the technical scheme comprises the following:

[0011] In one aspect, the application provides a chain type rotating wheel system, comprising two tracks installed on driving wheels, load wheels and tensioning wheels, each track is sequentially connected by a plurality of chain type plate units through double pin units, the chain type plate unit comprises a chain type plate, at least one front rotating wheel assembly and at least one rear rotating wheel assembly installed on the bottom surface of the chain type plate, the front end of the chain type plate is provided with a first pin shaft hole, and the rear end is provided with a second pin shaft hole, the first pin shaft hole is parallel to the second pin shaft hole, the front rotating wheel assembly comprises two or more than two coaxially connected first rollers, the edge of the first roller located on the outside exceeds the axis of the first pin shaft hole, and does not exceed the edge of the front end of the chain type plate; the rear rotating wheel assembly comprises two or more than two coaxially connected second rollers, the edge of the second roller located on the outside exceeds the axis of the second pin shaft hole, and does not exceed the edge of the rear end of the chain type plate; wherein the axis direction of the first roller and the second roller is at an angle α with the transverse direction of the track, and α is between 0-180°, and is not equal to 0° and 180°.

[0012] In some embodiments, the diameter D of the pin shaft hole and the distance P between the outer edge of the roller and the center axis of the pin shaft hole satisfy the following relationship: P≤D / 2

[0013] In some embodiments, the front rotating wheel assembly comprises two first supports, a first axle installed on the two first supports, and at least two first rollers installed on the first axle, wherein at least one first roller is located outside the two first supports, and at least one first roller is located between the two first supports.

[0014] In some embodiments, the rear rotating wheel assembly comprises two second supports, a second axle installed on the two second supports, and at least two second rollers installed on the second axle, wherein at least one second roller is located outside the two second supports, and at least one second roller is located between the two second supports.

[0015] In some embodiments, the front rotating wheel assembly and the rear rotating wheel assembly are staggered in the lateral direction of the track; the front rotating wheel assembly is located at the middle of the first pin hole, and the rear rotating wheel assembly is located near both ends of the second pin hole.

[0016] In some embodiments, the front rotating wheel assembly is a set located at the center of the front end of the chain plate, and the first roller of the front rotating wheel assembly is arranged laterally along the track; the rear rotating wheel assembly is two sets, and the two sets of rear rotating wheel assemblies are arranged symmetrically.

[0017] In some embodiments, the first pin hole of the chain plate is connected to the second pin hole of the front chain plate by a double pin unit; the second pin hole of the chain plate is connected to the first pin hole of the rear chain plate by another double pin unit.

[0018] In some embodiments, the dual-pin unit includes two pins and two end assemblies, one pin passing through a first pin hole of a chain plate and the other pin passing through a second pin hole of another chain plate, and then the two pins are connected at their respective ends by end assemblies.

[0019] In some embodiments, the shaft end assembly includes two chain links and two bushings located between the two chain links, each chain link having two through holes through which a pin passes, and the bushings fitting onto the pin.

[0020] On the other hand, the present invention provides a chassis design method based on a chain-driven rotating wheel system, comprising:

[0021] Step 1: Determine the number and layout of the first and second rollers;

[0022] Step 2: Initialize the lateral angle α between each of the first and second rollers and the track, and calculate the vehicle steering efficiency K based on angle α. The steering efficiency K is the weighted lateral resistance value of each roller. The longitudinal resistance weights superimposed on each roller The ratio; input the angles to calculate the steering efficiency. If the value is within the expected range, the angle α of each roller is determined to be feasible; if the value is not within the expected range, the angle α of each roller is determined to be infeasible, and some of the angles α are adjusted until the value is within the expected range.

[0023] Step three, according to the steering efficiency K and the vehicle correction coefficient T, the vehicle comprehensive steering efficiency E is calculated, E=KT; wherein the vehicle correction coefficient is related to the ground length L of the track and the width B between the tracks, L≤2B; L and B are initialized, and the comprehensive steering efficiency E is calculated, whether the comprehensive steering efficiency E is in the expected range, if not in the expected range, the initial value of L and B is adjusted until in the expected range;

[0024] Before the step three, it also includes determining the power and load of the vehicle; and initializing L and B according to the power and load of the vehicle.

[0025] Based on the above technical solution, the chain type rotating wheel system provided by the application can make the chain type rotating wheel run smoothly, stably and have long service life. Specifically, compared with the problem of vibration caused by the single pin structure used for stable line passing design, the double pin structure is used to connect the chain type plates in the application, and there is an additional degree of freedom between the adjacent two chain type plates, so that the line passing end has rotated an angle when grounding, the excess length of the line passing roller grounding is eliminated and is less than the normal length of the ground, so that the vibration caused by overcoming the length during running is eliminated, so that the chain type rotating wheel system can run smoothly and stably and have long service life. Further, since each roller located on the outer side is pressed on the pin shaft hole, but does not exceed the edge of the entire chain type plate, the pressing force of the roller of each chain type plate unit does not affect the running of the adjacent chain type plate unit, so that each chain type plate unit can independently run. Since the roller is pressed on the pin shaft hole, the pressure of the roller is transmitted to the two pin shaft holes of the chain type plate, so that the chain type plate unit runs stably as a whole.

[0026] In addition, the existing design is only theoretical and does not have quantitative design principles, and the structure cannot be well applied in practice. The chassis design method based on the chain type rotating wheel system provided by the application can realize the practicality of the chain type rotating wheel and the vehicle chassis, and the working efficiency and steering efficiency of the vehicle are determined, so that the design parameters can be adjusted to maximize the benefits, produce significant economic benefits, improve the stable performance of the platform operation, improve the reliability and service life of the chain type rotating wheel system, and highlight the practical application design. BRIEF DESCRIPTION OF DRAWINGS

[0027] The drawings described herein are used to provide further understanding of the application, and form a part of the application. The schematic embodiments of the application and the description thereof are used to explain the application, and do not constitute an improper limitation on the application. In the drawings:

[0028] Figure 1 The structure schematic view of the chain type plate unit described in the embodiments of the application.

[0029] Figure 2Structure diagram of chain plate unit and double pin unit according to embodiments of the present application.

[0030] Figure 3 Structure diagram of double pin unit according to embodiments of the present application.

[0031] Figure 4 Structure diagram of chain plate unit according to embodiments of the present application.

[0032] Figure 5 Structure diagram of chain plate unit according to embodiments of the present application.

[0033] In the figure: 1 - driving wheel; 2 - load wheel; 3 - tensioning wheel; 4 - track; 41 - chain plate unit; 411 - chain plate; 4111 - first pin shaft hole; 4112 - second pin shaft hole; 412 - front rotating wheel assembly; 4121 - first roller; 4122 - first support; 4123 - first wheel shaft; 413 - rear rotating wheel assembly; 4131 - second roller; 4132 - second support; 4133 - second wheel shaft; 42 - double pin unit; 421 - pin shaft; 422 - shaft end assembly; 4221 - chain piece; 4222 - shaft sleeve. DETAILED DESCRIPTION

[0034] The present application is described in detail below. In the following passages, different aspects of embodiments are defined in more detail. Each aspect so defined can be combined with any other aspect or aspects unless clearly indicated to the contrary. In particular, any feature indicated as being preferred or advantageous can be combined with any other feature or features indicated as being preferred or advantageous.

[0035] The terms "first", "second", and the like in the present application are used only to distinguish different components with the same name, and do not indicate precedence or priority.

[0036] In addition, when an element is referred to as being "on" another element, it can be directly on the other element or indirectly on the other element with one or more intervening elements. Also, when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element with one or more intervening elements. Hereinafter, like reference numerals will be used to refer to like elements throughout the specification.

[0037] The description of the orientation or position relationship indicated by "upper", "lower", "top", "bottom", "front", "back", "inner" and "outer" in the present application is only for the convenience of describing the present application, and does not indicate or imply that the device must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application.

[0038] As shown in Figures 1-5 The embodiment of the present application provides a chain type rotating wheel system, which comprises two tracks 4 installed on a driving wheel 1, a load wheel 2 and a tension wheel 3, each track 4 is sequentially connected by a plurality of chain type plate units 41 through double pin units 42, the chain type plate unit 41 comprises a chain type plate 411, at least one front rotating wheel assembly 412 and at least one rear rotating wheel assembly 413 installed on the bottom surface of the chain type plate 411, the front end of the chain type plate 411 is provided with a first pin shaft hole 4111, and the rear end is provided with a second pin shaft hole 4112, the first pin shaft hole 4111 is parallel to the second pin shaft hole 4112, the front rotating wheel assembly 412 comprises two or more than two coaxially connected first rollers 4121, the edge of the first roller 4121 located on the outer side exceeds the axis of the first pin shaft hole 4111 and does not exceed the edge of the front end of the chain type plate 411, the rear rotating wheel assembly 413 comprises two or more than two coaxially connected second rollers 4131, the edge of the second roller 4131 located on the outer side exceeds the axis of the second pin shaft hole 4112 and does not exceed the edge of the rear end of the chain type plate 411, wherein the axis direction of the first roller 4121 and the second roller 4131 is at an angle α with the transverse direction of the track 4, and α is between 0-180° and not equal to 0° and 180°.

[0039] Wherein, the diameter of the pin shaft hole is defined as D, the distance between the outer edge of the roller and the center axis of the pin shaft hole is P, and the diameter D of the pin shaft hole and the distance P between the outer edge of the roller and the center axis of the pin shaft hole satisfy the following relationship: P≤D / 2.

[0040] Compared with the problem of vibration caused by the single pin structure used for the design of stable wire passing, the double pin structure is used to connect the chain type plate 411 in the embodiment, and there is an additional degree of freedom between the adjacent two chain type plates 411, as shown in Figure 3 So that the wire passing end has rotated an angle when grounding, the length of the wire passing roller which is redundant when grounding is eliminated and is less than the normal length of the ground, so that the vibration caused by overcoming this length during operation does not occur, so that the chain type rotating wheel system can run smoothly and stably and has a long service life.

[0041] Further, as shown in Figure 1As shown, since each outer roller is pressed on the pin hole, but does not exceed the edge of the entire chain plate, the pressing force of the roller of each chain plate unit does not affect the operation of the adjacent chain plate unit, so that each chain plate unit can operate independently; since the roller is pressed on the pin hole, the roller bearing transmits the pressure to the two pin holes of the chain plate, which is stable and does not produce vibration, solves the problem of vibration caused by the single pin shaft for stability, and makes the chain plate unit run smoothly.

[0042] Optionally, in one embodiment, the front rotating wheel assembly 412 comprises two first supports 4122, a first wheel shaft 4123 mounted on the two first supports 4122, and at least two first rollers 4121 mounted on the first wheel shaft 4123, wherein at least one first roller 4121 is located outside the two first supports 4122, and at least one first roller 4121 is located between the two first supports 4122.

[0043] Optionally, in one embodiment, the rear rotating wheel assembly 413 comprises two second supports 4132, a second wheel shaft 4133 mounted on the two second supports 4132, and at least two second rollers 4131 mounted on the second wheel shaft 4133, wherein at least one second roller 4131 is located outside the two second supports 4132, and at least one second roller 4131 is located between the two second supports 4132.

[0044] The present application designs the roller as a coaxial double-roller structure, one roller is between the two supports, and the other roller is outside the two supports, the roller outside the support is used to support on the pin hole, so that the structure is more reasonable, and the support is not directly connected to the pin hole, thereby reducing the installation space of the rotating wheel assembly.

[0045] Optionally, in one embodiment, the front rotating wheel assembly 412 and the rear rotating wheel assembly 413 are arranged in a staggered manner in the transverse direction of the track 4, which is a more reasonable layout structure, and the stress of the vehicle during forward movement is more balanced.

[0046] Optionally, in one embodiment, the front rotating wheel assembly 412 is located at the middle position of the first pin hole 4111, and the rear rotating wheel assembly 413 is located close to the two ends of the second pin hole 4112, so as to realize the layout mode as shown. Figure 2 The layout structure is more reasonable, the stress of the vehicle during forward movement is more balanced, and the grip is improved.

[0047] Optionally, in one embodiment, the front rotating wheel assembly 412 is a group of assemblies arranged in the middle of the front end of the chain plate 411, and the first roller 4121 of the front rotating wheel assembly 412 is arranged along the lateral direction of the track 4.

[0048] Optionally, in one embodiment, the rear rotating wheel assembly 413 is a group of assemblies arranged symmetrically and forming an isosceles triangle structure with the front rotating wheel assembly 412.

[0049] Optionally, in one embodiment, the first pin hole 4111 of the chain plate 411 is connected to the second pin hole 4112 of the chain plate 411 at the front end by a double pin unit 42, and the second pin hole 4112 of the chain plate 411 is connected to the first pin hole 4111 of the chain plate 411 at the rear end by another double pin unit 42.

[0050] Optionally, in one embodiment, the double pin unit 42 includes two pins and two shaft end assemblies 422, one pin passes through the first pin hole 4111 of one chain plate 411, and the other pin passes through the second pin hole 4112 of another chain plate 411, and then the two pins are connected by the shaft end assemblies 422 at both ends.

[0051] Optionally, in one embodiment, the shaft end assembly 422 includes two chain links 4221 and two shaft sleeves 4222 between the two chain links 4221, each chain link 4221 is provided with two through holes for the pins to pass through, and the shaft sleeves 4222 are sleeved on the pins.

[0052] In addition, the application also provides a chassis design method based on the chain rotating wheel system, which comprises:

[0053] Step one, determining the number and layout of the first rollers 4121 and the second rollers 4131;

[0054] Step two, initializing the angle a between the first rollers 4121, the second rollers 4131 and the lateral direction of the track 4, and calculating the steering efficiency K according to the angle a, the steering efficiency K being the ratio of the lateral resistance weight value of the superposition of the rollers and the longitudinal resistance weight value of the superposition of the rollers ; inputting the angle to calculate the value of the steering efficiency , if the value is within the expected range, the angle a of the rollers is feasible, if the value is not within the expected range, the angle a of the rollers is not feasible, and some of the angles a are adjusted until the value is within the expected range;

[0055] Step three, according to the steering efficiency K and the vehicle correction coefficient T, the vehicle comprehensive steering efficiency E is calculated, E = KT; wherein the vehicle correction coefficient is related to the ground length L of the track 4 and the width B between the tracks 4, L≤2B; L and B are initialized, and the comprehensive steering efficiency E is calculated, whether the comprehensive steering efficiency E is in the expected range, if not in the expected range, the initial value of L and B is adjusted until it is in the expected range.

[0056] The first roller 2 and the second roller 4 in the application, a total of 6, wherein the alpha angle of the second roller is symmetrical 68° and 112°, the alpha angle of the first roller is 90°, so that the calculation formula of the steering efficiency That is,

[0057]

[0058] The steering resistance when the roller on the original chain rotary wheel cannot rotate (locked state, normal track running state) is 1, and the steering resistance of the roller when the roller rotates is 0.26, which is less than 30% of the original. The smaller the K value, the smaller the steering resistance, and vice versa. If α = 90°, the steering resistance is 0, and the driving force is 1.

[0059] The correction design of the length-width ratio of the vehicle to the steering efficiency. The length-width ratio of the vehicle is defined as T = L / 2B. If the vehicle roller is locked (normal track running state), if differential steering is possible, theoretically L≤2B (the actual experience value is L≤1.8B), and actually T = L / 2B≤1.

[0060] Taking the above as an example, if T = L / 2B = 0.86, the comprehensive steering efficiency is E = 0.86×0.26 = 0.22, that is, the wider the vehicle, the easier it is to steer.

[0061] The existing design is only theoretical, without quantitative design principles, and the structure cannot be well applied in practice. The chassis design method based on the chain rotary wheel system provided by the application can realize the practicality of the chain rotary wheel and the vehicle chassis, and the working efficiency and steering efficiency of the vehicle are determined, so that the design parameters can be adjusted to maximize the benefit and produce significant economic benefits.

[0062] Before the step three, it also includes determining the power and load of the vehicle; and initializing L and B according to the power and load of the vehicle.

[0063] The chain rotary wheel system and the chassis design method provided by the application can make the chain rotary wheel run smoothly, stably and have a long service life; the practicality of the chain rotary wheel and the vehicle chassis can be realized, the working efficiency and steering efficiency of the vehicle are determined, so that the design parameters can be adjusted to maximize the benefit and produce significant economic benefits.

[0064] The technical features of the above-described embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features are described, but it is understood that the scope of the present specification includes all possible combinations.

[0065] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that, for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A chain and sprocket system characterized by, The track (4) is installed on the driving wheel (1), the load wheel (2) and the tension wheel (3), each track (4) is sequentially connected by a plurality of chain plate units (41) through double pin units (42), the chain plate unit (41) comprises a chain plate (411), at least one front rotating wheel assembly (412) and at least one rear rotating wheel assembly (413) installed on the bottom surface of the chain plate (411), the front end of the chain plate (411) is provided with a first pin shaft hole (4111), the rear end is provided with a second pin shaft hole (4112), the first pin shaft hole (4111) is parallel to the second pin shaft hole (4112), the front rotating wheel assembly (412) comprises two or more than two coaxially connected first rollers (4121), the edge of the first roller (4121) located on the outer side exceeds the axis of the first pin shaft hole (4111) and does not exceed the edge of the front end of the chain plate (411); the rear rotating wheel assembly (413) comprises two or more than two coaxially connected second rollers (4131), the edge of the second roller (4131) located on the outer side exceeds the axis of the second pin shaft hole (4112) and does not exceed the edge of the rear end of the chain plate (411); wherein the axis direction of the first roller (4121) and the second roller (4131) forms an angle α with the transverse direction of the track (4), α is between 0-180°, and is not equal to 0°, 180°. The front rotating wheel assembly (412) and the rear rotating wheel assembly (413) are arranged in the transverse direction of the track (4); the front rotating wheel assembly (412) is located at the middle position of the first pin shaft hole (4111), and the rear rotating wheel assembly (413) is located at the position close to the two ends of the second pin shaft hole (4112). The front rotating wheel assembly (412) is a group and is located at the middle of the front end of the chain plate (411), and the first roller (4121) of the front rotating wheel assembly (412) is arranged along the transverse direction of the track (4); the rear rotating wheel assembly (413) is two groups, and the two groups of rear rotating wheel assemblies (413) are symmetrically arranged.

2. The chain and rotating wheel system of claim 1, wherein, The diameter D of the pin shaft hole and the distance P between the outer edge of the roller and the center axis of the pin shaft hole satisfy the following relationship: P≤D / 2.

3. The chain and rotating wheel system of claim 1, wherein, The front rotating wheel assembly (412) comprises two first supports (4122), a first axle (4123) installed on the two first supports (4122) and at least two first rollers (4121) installed on the first axle (4123), wherein at least one first roller (4121) is located on the outer side of the two first supports (4122) and at least one first roller (4121) is located between the two first supports (4122).

4. The chain and rotating wheel system of claim 1, wherein, The rear rotating wheel assembly (413) comprises two second supports (4132), a second axle (4133) installed on the two second supports (4132), and at least two second rollers (4131) installed on the second axle (4133), wherein at least one second roller (4131) is located outside the two second supports (4132), and at least one second roller is located between the two second supports (4132).

5. The chain and rotating wheel system of claim 1, wherein, The first pin shaft hole (4111) of the chain plate (411) is connected with the second pin shaft hole (4112) of the chain plate (411) at the front end through a double-pin unit (42); the second pin shaft hole (4112) of the chain plate (411) is connected with the first pin shaft hole (4111) of the chain plate (411) at the rear end through another double-pin unit (42).

6. The chain and rotating wheel system of claim 1, wherein, The double-pin unit (42) comprises two pin shafts (421) and two shaft end assemblies (422), wherein one pin shaft (421) passes through the first pin shaft hole (4111) of one chain plate (411), and the other pin shaft (421) passes through the second pin shaft hole (4112) of the other chain plate (411), and then the two pin shafts (421) are connected through the shaft end assemblies (422) at both ends, respectively.

7. The chain and rotating wheel system of claim 6, wherein, The shaft end assembly (422) comprises two chain pieces (4221) and two shaft sleeves (4222) located between the two chain pieces (4221), each chain piece (4221) is provided with two through holes for the pin shaft (421) to pass through, and the shaft sleeve (4222) is sleeved on the pin shaft (421).

8. A method of designing a chassis based on the chain-rotating wheel system according to any one of claims 1 to 7, characterized in that, Comprising: Step one, determining the number and layout of the first roller and the second roller; Step 2: Initialize the lateral angle α between each of the first and second rollers and the track, and calculate the vehicle steering efficiency K based on angle α. The steering efficiency K is the weighted lateral resistance value of each roller. The longitudinal resistance weights superimposed on each roller The ratio; input the angles to calculate the steering efficiency. If the value is within the expected range, the angle α of each roller is determined to be feasible; if the value is not within the expected range, the angle α of each roller is determined to be infeasible, and some of the angles α are adjusted until the value is within the expected range. Step three, calculating the comprehensive steering efficiency E of the vehicle according to the steering efficiency K and the vehicle correction coefficient T, E=KT; Wherein the vehicle correction coefficient is related to the ground length L of the track and the width B between the tracks, L≤2B; L and B are initialized, and the comprehensive steering efficiency E is calculated, whether the comprehensive steering efficiency E is in the expected range is judged, if not in the expected range, the initial value of L and B is adjusted until in the expected range; Before the step three, it also includes determining the power and load of the vehicle; and initializing L and B according to the power and load of the vehicle. Before the step three, it also includes determining the power and load of the vehicle; and initializing L and B according to the power and load of the vehicle.

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