A split-movement tracked chassis

Abstract

The application discloses a split-movable caterpillar chassis, and relates to the technical field of agricultural and forestry mechanical equipment, which comprises a vehicle body, two caterpillar walking mechanisms symmetrically arranged on the two sides of the vehicle body, a caterpillar wheel system frame connected with the vehicle body for each caterpillar walking mechanism, and two caterpillar wheel system frames which are symmetrical; the advancing direction is the first direction; the caterpillar walking mechanism is arranged on the caterpillar wheel system frame; a limiting supporting plate, a fixed rod and a movable rod are fixedly arranged on the caterpillar wheel system frame; the limiting supporting plate and the movable rod are respectively located on the front and back sides of the fixed rod in the first direction; the fixed rod is rotationally connected with the vehicle body around the first axis, and the first axis is perpendicular to the first direction; an arc-shaped guide groove is arranged on the vehicle body, and the end of the movable rod away from the caterpillar wheel system frame is arranged in the arc-shaped guide groove; and the end of the limiting supporting plate away from the caterpillar wheel system frame can limit the rotation of the front end of the vehicle body around the first axis to the side close to the ground in the first direction. The caterpillar chassis has good road surface adaptability and obstacle-crossing capability, and can ensure stable movement in various terrains.

Description

Technical Field

[0001] This invention relates to the field of agricultural and forestry machinery and equipment technology, and in particular to a tracked chassis that can be moved in separate parts. Background Technology

[0002] Hilly and mountainous terrain is one of the world's basic landforms. Agricultural development in hilly and mountainous areas has a crucial impact on national agricultural security and is directly related to farmers' poverty alleviation and prosperity. Therefore, developing agricultural mechanization in hilly and mountainous areas is of great significance. Developing agricultural machinery suitable for mountain operations, with good safety and economy, has become an urgent task. The locomotive mechanism of this agricultural equipment is the most important part for ensuring smooth operation in mountainous areas. Currently, tractors still dominate the power and locomotive systems for agricultural machinery in my country's hilly and mountainous regions, while self-propelled agricultural machinery is still in its infancy.

[0003] Traditional field agricultural machinery struggles to operate in complex terrain, sometimes even failing to function. Currently, most power machinery used in mountainous areas is modified from ordinary tractors or field machinery, which cannot fully meet the demands for good mobility and stability in the complex working environment of hilly and mountainous terrain. Compared to wheeled vehicles, tracked vehicles offer significant advantages in agricultural production and road stability. However, traditional tracked chassis, where both tracks rise and fall together in the vertical direction, are prone to slippage or even deflection when traversing terrain with one side higher than the other, resulting in extremely poor stability and failing to meet the operational requirements of the superstructure. Therefore, it is essential to develop a detachable tracked chassis for use in hilly and mountainous agriculture. Summary of the Invention

[0004] The purpose of this invention is to provide a tracked chassis that can be moved in two separate parts to solve the problems existing in the prior art. It has good road adaptability and obstacle crossing ability, and ensures stable travel in various terrains.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a detachable tracked chassis, comprising a vehicle body and two tracked traveling mechanisms symmetrically arranged on both sides of the vehicle body. Each tracked traveling mechanism is connected to the vehicle body via a track wheel frame, and the two track wheel frames are symmetrically arranged. The forward direction of the vehicle body is a first direction. The tracked traveling mechanisms are mounted on the track wheel frames, and a limit plate, a fixed rod, and a movable rod are fixedly mounted on the track wheel frames. The limit plate and the movable rod are located on the front and rear sides of the fixed rod in the first direction, respectively. The fixed rod is rotatably connected to the vehicle body around a first axis, which is perpendicular to the first direction. The vehicle body is provided with an arc-shaped guide groove, and the end of the movable rod away from the track wheel frame passes through the arc-shaped guide groove. The end of the limit plate away from the track wheel frame can restrict the rotation of the vehicle body at its front end in the first direction around the first axis towards the side closer to the ground.

[0007] Preferably, the vehicle body has a holding slot, and the end of the fixed rod away from the track wheel frame and the end of the movable rod away from the track wheel frame both extend into the holding slot. The end of the fixed rod located in the holding slot is fixedly connected to one end of a connecting rod, and the other end of the connecting rod is fixedly connected to the end of the movable rod located in the holding slot.

[0008] Preferably, the tracked walking mechanism includes a drive mechanism, a drive wheel, a guide wheel, a track, and a plurality of load-bearing wheels; along the first direction, each load-bearing wheel is located between the drive wheel and the guide wheel; the drive wheel, the guide wheel, and each load-bearing wheel are all rotatably connected to the track wheel frame, and the rotation axes of the drive wheel, the guide wheel, and each load-bearing wheel are all parallel to the first axis; the track wraps around the outside of the drive wheel, each load-bearing wheel, and the guide wheel; the output shaft of the drive mechanism is fixedly connected to the drive wheel.

[0009] Preferably, each of the load-bearing wheels is connected to the track wheel frame via a load-bearing wheel bracket. The load-bearing wheel bracket is provided with a rotating part, a first connecting part, and a second connecting part. The rotating part is rotatably mounted on the track wheel frame about a second axis, and the load-bearing wheel is rotatably mounted on the first connecting part about a third axis. Each load-bearing wheel presses against the inner side of the track's ground-contact portion. The second connecting part is fixedly connected to one end of an elastic element, and the other end of the elastic element is fixedly connected to the track wheel frame. The elastic element is used to pull the second connecting part so that the first connecting part drives the load-bearing wheel to maintain elastic contact with the track around the second axis.

[0010] Preferably, a limiting block is fixedly provided on the track wheel frame to limit the rotation range of the first connecting part.

[0011] Preferably, it also includes a controller, which is communicatively connected to both of the tracked walking mechanisms.

[0012] Preferably, each of the tracked walking mechanisms is provided with a track system angle sensor for collecting the terrain angle on the corresponding side, and each track system angle sensor is communicatively connected to the controller.

[0013] Preferably, the vehicle body is also equipped with a vehicle body attitude sensor, which is communicatively connected to the controller.

[0014] Preferably, the system also includes a storage battery, which is fixedly mounted on the vehicle body and electrically connected to the controller.

[0015] Preferably, it also includes a remote control module, which is communicatively connected to the controller.

[0016] The present invention achieves the following technical effects compared to the prior art:

[0017] The present invention provides a detachable tracked chassis. The track wheel train is rotatably connected to the vehicle body via a fixed rod. A limiting plate is provided at the front end to restrict the rotation of the front end of the vehicle body towards the ground. A movable rod is set in an arc-shaped guide groove to allow the front end of the vehicle body to rotate around the fixed rod within a certain range. When moving on flat ground, the track running mechanisms on both sides and the vehicle body move as a whole. When moving to ground with different heights on the left and right sides along the direction of travel (i.e., one track running mechanism is on higher ground and the other is on lower ground), the track running mechanism on the higher ground side performs a climbing motion, driving the track wheel train and the limiting plate fixed to the track wheel train to climb as well. As the limiting plate supports and drives the vehicle body on that side to climb synchronously, the limiting plate on the other side gradually separates from the vehicle body, that is, the vehicle body on that side moves towards the limiting plate on that side. The vehicle body rotates relative to the fixed rod on the separated side when the support plate restricts the movement in the opposite direction. At this time, the moving rod makes adaptive position adjustments in the corresponding arc-shaped guide groove. That is, the tracked running mechanism on that side is still in close contact with the ground. At this time, the tracked running mechanism and the vehicle body on the climbing side are regarded as a whole and jointly carry out high-altitude climbing movement, while the tracked running mechanism on the other side is regarded as an independent individual and carries out normal movement. From a kinematic point of view, it changes from a whole synchronous movement to two independent individual movements. After passing through the ground with different heights on both sides, the tracked running mechanisms and the vehicle body on both sides return to a whole synchronous movement. It breaks the traditional whole-movement chassis and forms a split-movement design. It has good road adaptability and obstacle crossing ability and can ensure stable movement in various terrains.

[0018] Furthermore, the linkage design ensures a stable connection between the fixed and moving rods and the vehicle body, preventing them from detaching from the vehicle body connection and ensuring operational safety.

[0019] Furthermore, the tracked walking mechanism uses a drive mechanism to drive the drive wheel to rotate, and ensures the stable rotation of the track under the rotation of each load-bearing wheel and the guide wheel. Its structure is simple, stable and reliable.

[0020] Furthermore, the use of elastic elements ensures that the load-bearing rollers are always in elastic contact with the inner side of the track, thus providing vibration damping. When the track encounters obstacles such as small bumps or stones, the obstacles will compress the corresponding load-bearing rollers on the inner side of the track, causing them to lift as the load-bearing roller bracket rotates around the second axis. At this time, the elastic element is stretched and deformed. After the track passes over the obstacle, the elastic force of the elastic element itself pulls the second connecting part of the load-bearing roller bracket, causing the first connecting part to rotate in the opposite direction around the second axis and return to its original state. The elastic element provides a certain tension for the entire track, enabling the track to run stably and smoothly.

[0021] Furthermore, the setting of the limit block can limit the maximum position of the load-bearing wheel abutting the track, prevent the load-bearing wheel bracket from rotating excessively, and the setting of the limit block can work together with the elastic element to make the elastic element drive the load-bearing wheel to achieve the best tension support for the track.

[0022] Furthermore, the controller settings enable automated movement of the tracked walking mechanism, achieving automated and intelligent control, improving operational accuracy, and increasing ease of operation.

[0023] Furthermore, the track system angle sensors can collect terrain angle data on the corresponding side and transmit it to the controller. The controller then adjusts the operation of the track walking mechanisms on both sides based on the received data to ensure stable and safe movement. For example, assuming the left side is a slope and the right side is a flat road, the left track system angle sensor first monitors its angle data in real time and transmits it to the controller via electrical signals. If the angle has not reached the set limit for tipping over, the controller controls the track walking mechanisms on both sides to continue moving forward at the current speed. If the set limit for tipping over is reached, the controller controls the speed of the left track walking mechanism via electrical signals to increase the speed and prevent tipping. During this process, the controller continuously collects data from the left track system angle sensor. If the data is still greater than the limit for tipping over, the speed is maintained; otherwise, the original speed is restored.

[0024] Furthermore, the vehicle posture sensor can further assist the controller in controlling the operating speed of the tracked walking mechanisms on both sides. The vehicle posture sensor can provide real-time feedback on the vehicle's posture data in space during movement. When the vehicle passes through a transverse or longitudinal slope, the electrical signals collected by the vehicle posture sensor in real time are transmitted to the controller. The controller determines whether the vehicle has reached the limit tilt angle under the set conditions. If not, the vehicle continues to move forward at the current speed. If the limit tilt angle is reached, the controller controls the movement speed of the tracked walking mechanisms on both sides to reduce the occurrence of tilting. During this process, the vehicle posture data is continuously collected and judged in real time. If the value is greater than or equal to the limit, the vehicle continues to operate at the adjusted speed; otherwise, the controller adjusts the vehicle to the original speed.

[0025] Furthermore, the battery is configured to maintain its required power consumption, thereby enabling it to continue operating.

[0026] Furthermore, the remote control module enables remote control of the controller, improving its operability and adapting to different road conditions. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A schematic diagram of the overall structure of the detachable tracked chassis provided by the present invention;

[0029] Figure 2 Another structural schematic diagram of the detachable tracked chassis provided by the present invention;

[0030] Figure 3 A top view of the detachable tracked chassis provided by the present invention;

[0031] Figure 4 This is a schematic diagram of the connection structure between the tracked walking mechanism and the track wheel frame provided by the present invention;

[0032] Figure 5 This is a schematic diagram showing the arrangement of the components on the track wheel train frame provided by the present invention;

[0033] Figure 6 Another perspective structural schematic diagram of the arrangement of various components on the track wheel frame provided by the present invention;

[0034] Figure 7This is a schematic diagram of the track wheel system provided by the present invention;

[0035] Figure 8 This is a schematic diagram of the connection structure between the load-bearing wheel and the load-bearing wheel bracket provided by the present invention;

[0036] Figure 9 This is a schematic diagram of the controller and battery provided by the present invention;

[0037] Figure 10 A schematic diagram of the posture of the single-sided track walking mechanism of the detachable tracked chassis provided by the present invention after rotation;

[0038] Figure 11 This is a schematic diagram illustrating the communication connections between the controller and its components provided by the present invention.

[0039] Figure 12 A schematic diagram illustrating the communication connection control strategy between the controller and the track system angle sensor provided by this invention;

[0040] Figure 13 A schematic diagram illustrating the communication connection control strategy between the controller and the vehicle body attitude sensor provided by this invention;

[0041] Figure 14 This is a schematic diagram of the drive system for the detachable tracked chassis provided by the present invention.

[0042] In the diagram: 100 - a tracked chassis that can be detached and moved;

[0043] 10-Car body; 11-Arc-shaped guide groove; 12-Container groove;

[0044] 20-Crawler travel mechanism; 21-Motor; 22-Reducer; 23-Drive wheel; 24-Idler wheel; 25-Load-bearing wheel; 26-Crawler track; 27-Motor box;

[0045] 30- Track wheel train; 31- Limiting plate; 32- Fixed rod; 33- Moving rod; 34- Connecting rod; 35- Limiting block; 36- Protruding connecting block; 37- Triangular hole;

[0046] 40 - Load-bearing wheel bracket; 41 - Rotating part; 42 - First connecting part; 43 - Second connecting part; 44 - Elastic element;

[0047] 50-Controller;

[0048] 60- Track system angle sensor;

[0049] 70 - Vehicle body attitude sensor;

[0050] 80-Storage battery. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] The purpose of this invention is to provide a tracked chassis that can be moved in two separate parts to solve the problems existing in the prior art. It has good road adaptability and obstacle crossing ability, and ensures stable travel in various terrains.

[0053] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] Example 1

[0055] This embodiment provides a tracked chassis 100 that can be detached and moved, primarily but not limited to applications in the agricultural and forestry industries, such as... Figures 1 to 14 As shown, the vehicle includes a vehicle body 10 and two tracked walking mechanisms 20 symmetrically arranged on both sides of the vehicle body 10. Each tracked walking mechanism 20 is connected to the vehicle body 10 through a track wheel frame 30, and the two track wheel frames 30 are symmetrically arranged. The forward direction of the vehicle body 10 is a first direction. The tracked walking mechanism 20 is mounted on the track wheel frame 30. A limit plate 31, a fixed rod 32, and a movable rod 33 are fixedly mounted on the track wheel frame 30. The limit plate 31 and the movable rod 33 are located on the front and rear sides of the fixed rod 32 in the first direction, respectively. The fixed rod 32 is rotatably connected to the vehicle body 10 around a first axis, which is perpendicular to the first direction. The vehicle body 10 is provided with an arc-shaped guide groove 11, and the end of the movable rod 33 away from the track wheel frame 30 passes through the arc-shaped guide groove 11. The end of the limit plate 31 away from the track wheel frame 30 can restrict the rotation of the front end of the vehicle body 10 in the first direction around the first axis towards the side closer to the ground.

[0056] The track wheel train 30 is rotatably connected to the vehicle body 10 via a fixed rod 32. A limiting plate 31 is provided at the front end to restrict the rotation of the front end of the vehicle body 10 towards the ground. The movable rod 33 is set in the arc-shaped guide groove 11 to allow the front end of the vehicle body 10 to rotate around the fixed rod 32 within a certain range. When moving on flat ground, the track running mechanisms 20 on both sides and the vehicle body 10 move as a whole. When it moves to a ground where the left and right sides are at different heights along the direction of travel (i.e., one track running mechanism 20 is at a higher elevation and the other is at a lower elevation), the track running mechanism 20 on the higher elevation side climbs, causing the track wheel train 30 and the limiting plate 31 fixed on the track wheel train 30 to climb as well. Since the limiting plate 31 supports and drives the vehicle body 10 on that side to climb synchronously, the limiting plate 31 on the other side gradually separates from the vehicle body 10, that is, the vehicle body 10 on that side moves towards the ground. The side limiting plate 31 restricts the movement in the opposite direction. At this time, the vehicle body 10 rotates relative to the fixed rod 32 on the separated side, while the moving rod 33 makes adaptive position adjustments in the corresponding arc-shaped guide groove 11. That is, the tracked walking mechanism 20 on this side is still in a state of close contact with the ground. At this time, the tracked walking mechanism 20 and the vehicle body 10 on the climbing side are regarded as a whole and jointly carry out high-altitude climbing movement, while the tracked walking mechanism 20 on the other side is regarded as an independent individual and carries out normal movement. From a kinematic point of view, at this time, it changes from a whole synchronous movement to two independent individuals moving separately. After passing through the ground with different heights on both sides, the tracked walking mechanisms 20 and the vehicle body 10 on both sides return to a whole synchronous movement. It breaks the traditional whole-movement chassis and forms a split-movement design. It has good road adaptability and obstacle crossing ability and can ensure stable movement in various terrains.

[0057] Specifically, when a traditional chassis traverses complex terrain as a whole, one track 26 may become suspended in the air, leading to a rollover. The detachable tracked chassis 100, through its split-structure design, allows each track 26 to work separately according to different terrain conditions when traversing complex hilly and mountainous terrain. This splits the chassis into two movable modules, providing better passability and significantly increasing stability. It also ensures the speed of passage when moving through complex terrain.

[0058] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 , Figure 3 , Figure 5 , Figure 6 and Figure 10As shown, the vehicle body 10 has a holding slot 12. The ends of the fixed rod 32 and the movable rod 33, both located away from the track wheel frame 30, extend into the holding slot 12. The end of the fixed rod 32 located in the holding slot 12 is fixedly connected to one end of a connecting rod 34, and the other end of the connecting rod 34 is fixedly connected to the end of the movable rod 33 located in the holding slot 12. The connecting rod 34 ensures a stable connection between the fixed rod 32 and the movable rod 33 and the vehicle body 10, preventing them from detaching from the connection end and ensuring operational safety.

[0059] Specifically, the vehicle body 10 is provided with a bearing seat hole, inside which an angular contact cylindrical bearing is embedded, and the fixed rod 32 is fixedly connected to the inner ring of the angular contact cylindrical bearing.

[0060] Specifically, the included angle corresponding to the arc-shaped guide groove 11 is 120°, and the arc-shaped guide groove 11 is coated with lubricating oil.

[0061] Specifically, the lubricating oil coated in the arc-shaped guide groove 11 can be provided in a cavity on the moving rod 33, which contains lubricating oil or grease. A small discharge hole communicating with the cavity is provided at the contact point between the moving rod 33 and the arc-shaped guide groove 11. As the moving rod 33 moves within the arc-shaped guide groove 11, the lubricating oil or grease gradually seeps out from the discharge hole, thus providing lubrication at the contact point between the moving rod 33 and the arc-shaped guide groove 11. Besides the above method of reducing wear between the moving rod 33 and the arc-shaped guide groove 11, other existing structural designs capable of reducing wear between two relatively moving parts can also be used.

[0062] Specifically, by adjusting the position of the limit plate 31 on the track wheel frame 30, the rotation range of the moving rod 33 in the arc-shaped guide groove 11 can be adjusted, that is, the different pitch attitudes of the vehicle body 10 can be adjusted, thereby controlling the center of gravity position of the vehicle body 10 or the vehicle body 10 after other equipment is installed.

[0063] Among the optional solutions in this embodiment, the more preferred one is as follows: Figures 1-10As shown, the tracked walking mechanism 20 includes a drive mechanism, a drive wheel 23, an idler wheel 24, a track 26, and multiple load-bearing wheels 25. Along a first direction, each load-bearing wheel 25 is located between the drive wheel 23 and the idler wheel 24. The drive wheel 23, idler wheel 24, and each load-bearing wheel 25 are rotatably connected to the track wheel frame 30, and the rotation axes of the drive wheel 23, idler wheel 24, and load-bearing wheels 25 are all parallel to the first axis. The track 26 wraps around the outside of the drive wheel 23, each load-bearing wheel 25, and the idler wheel 24. The output shaft of the drive mechanism is fixedly connected to the drive wheel 23, and the output shaft of the drive mechanism drives the drive wheel 23 to rotate around its own axis. The tracked walking mechanism 20 uses a drive mechanism to drive the drive wheel 23 to rotate, and the rotation of each load-bearing wheel 25 and the idler wheel 24 ensures the stable rotation of the track 26. Its structure is simple, stable, and reliable.

[0064] Specifically, each load-bearing wheel 25 is evenly distributed in a straight line along the first direction. The number of load-bearing wheels 25 can be increased or decreased according to the overall size of the separable tracked chassis 100 and its load-bearing capacity, so as to further ensure that the load capacity of the separable tracked chassis 100 can meet the requirements for supporting stable movement.

[0065] Specifically, the drive mechanism includes a motor 21, a reducer 22, and a motor housing 27. The motor housing 27 is located between the track wheel frame 30 and the corresponding side of the vehicle body 10. The motor housing 27 is fixed on the track wheel frame 30. The motor 21 and the reducer 22 are fixedly installed inside the motor housing 27. The output shaft of the motor 21 is fixedly connected to the input shaft of the reducer 22. The output shaft of the reducer 22 is fixedly connected to the drive wheel 23. The output shaft of the reducer 22 drives the drive wheel 23 to rotate. The output shaft of the drive mechanism is the output shaft of the reducer 22.

[0066] Specifically, track 26 can be a rubber track or a rigid track, thus better meeting the needs of use in various terrains.

[0067] Among the optional solutions in this embodiment, the more preferred one is as follows: Figures 1 to 8As shown, each load-bearing wheel 25 is connected to the track wheel frame 30 via a load-bearing wheel bracket 40. The load-bearing wheel bracket 40 is provided with a rotating part 41, a first connecting part 42, and a second connecting part 43. The rotating part 41 is rotatably mounted on the track wheel frame 30 around a second axis, and the load-bearing wheel 25 is rotatably mounted on the first connecting part 42 around a third axis. Each load-bearing wheel 25 is pressed against the inner side of the ground-contacting part of the track 26. The second connecting part 43 is fixedly connected to one end of an elastic element 44, and the other end of the elastic element 44 is fixedly connected to the track wheel frame 30. The elastic element 44 is used to pull the second connecting part 43 so that the first connecting part 42 drives the load-bearing wheel 25 to maintain elastic contact with the track 26 around the second axis. The elastic element 44 keeps the load-bearing wheel 25 in constant elastic contact with the inside of the track 26, thus giving the load-bearing wheel 25 a vibration damping function. When the track 26 encounters obstacles such as small bumps or stones, the obstacle will squeeze the corresponding load-bearing wheel 25 on the inside of the track 26, causing it to lift up as the load-bearing wheel bracket 40 rotates around the second axis. At this time, the elastic element 44 is stretched and deformed. After the track 26 passes the obstacle, the elastic force of the elastic element 44 itself pulls the second connecting part 43 of the load-bearing wheel bracket 40, causing the first connecting part 42 to rotate in the opposite direction around the second axis and return to its initial length. The elastic element 44 provides a certain tension for the entire track 26, enabling the track 26 to run stably and smoothly, reducing its bumps when traveling on continuously uneven roads, and enhancing its carrying capacity.

[0068] Specifically, a rotating shaft is fixedly installed on the track wheel frame 30, and the rotating part 41 of the load-bearing wheel bracket 40 is rotatably mounted on the rotating shaft via a ball bearing.

[0069] Specifically, the elastic element 44 is a shock-absorbing spring.

[0070] Specifically, the track wheel frame 30 is also provided with a raised connecting block 36, which has a connecting hole for attaching one end of the shock-absorbing spring.

[0071] Specifically, the load-bearing wheel bracket 40 is provided with a rotating shaft for the rotational connection of the load-bearing wheel 25.

[0072] Among the optional solutions in this embodiment, the more preferred one is as follows: Figures 5-7 As shown, a limiting block 35 is fixedly installed on the track wheel frame 30 to limit the rotation range of the first connecting part 42. The limiting block 35 can limit the maximum position of the load-bearing wheel 25 abutting the track 26, preventing the load-bearing wheel bracket 40 from rotating excessively. In addition, the limiting block 35 can work together with the elastic element 44 to ensure that the elastic element 44 drives the load-bearing wheel 25 to achieve the best tension support for the track 26.

[0073] Specifically, the limiting block 35 can limit the angle between the line connecting the first connecting part 42 to the rotating part 41 of the load-bearing wheel bracket 40 and the vertical direction to 45°.

[0074] Specifically, the track wheel frame 30 also has triangular holes 37 for material saving.

[0075] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 3 As shown, the detachable tracked chassis 100 also includes a controller 50, which is communicatively connected to both tracked walking mechanisms 20. The controller 50 enables the automated movement of the tracked walking mechanisms 20, achieving automated and intelligent control, improving operational accuracy, and increasing ease of operation.

[0076] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 3 and Figure 12 As shown, each tracked walking mechanism 20 is equipped with a track system angle sensor 60 for collecting the terrain angle on the corresponding side. Each track system angle sensor 60 is communicatively connected to the controller 50. The track system angle sensor 60 can collect terrain angle data on the corresponding side and transmit it to the controller 50. The controller 50 regulates the operation of the tracked walking mechanisms 20 on both sides based on the received data to ensure their stable and safe movement. For example, taking a slope on the left and a flat road on the right as an example, the left track system angle sensor 60 first monitors its angle data in real time and transmits it to the controller 50 via electrical signals. When it does not reach the set limit overturning angle, the controller 50 controls the track walking mechanisms 20 on both sides to continue moving forward at the current speed. If the set limit overturning angle is reached, the controller 50 controls the traveling speed of the left track walking mechanism 20 via electrical signals to prevent overturning by increasing the traveling speed. During this process, the data from the left track system angle sensor 60 is continuously collected. If the data is still greater than or equal to the limit overturning angle, the controller 50 continues to adjust the speed of the corresponding track walking mechanism 20; otherwise, it returns to the original speed.

[0077] Specifically, the track system angle sensors 60 are installed at the center of the corresponding track walking mechanism 20.

[0078] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 3 and Figure 13As shown, a vehicle body attitude sensor 70 is also installed on the vehicle body 10, and the vehicle body attitude sensor 70 is communicatively connected to the controller 50. The installation of the vehicle body attitude sensor 70 can further assist the controller 50 in controlling the running speed of the tracked walking mechanisms 20 on both sides. The vehicle body attitude sensor 70 can provide real-time feedback on the attitude data of the vehicle body 10 in space during movement. When the vehicle body 10 passes through a transverse slope or a longitudinal slope, the electrical signal collected in real time by the vehicle body attitude sensor 70 is transmitted to the controller 50. The controller 50 determines whether the vehicle body 10 has reached the limit tilt angle under the set conditions. If it has not reached the limit tilt angle, the vehicle body 10 continues to move forward at the current speed. If the vehicle body 10 reaches the limit tilt angle, the controller 50 controls the movement speed of the tracked walking mechanisms 20 on both sides to reduce the occurrence of tilting. During this process, the vehicle body attitude data is continuously collected and judged in real time. If the tilt angle is still greater than or equal to the limit tilt angle, the controller 50 continues to adjust the speed of the tracked walking mechanisms 20 on both sides. Otherwise, the controller 50 adjusts the vehicle body 10 to the original speed.

[0079] Specifically, the vehicle body attitude sensor 70 is located at the center of gravity of the entire vehicle body. When other equipment is installed on the vehicle body 10, its center of gravity refers to the center of gravity of the detachable tracked chassis 100 and other equipment as a whole. When no equipment is installed on the vehicle body 10, it is the center of gravity of the detachable tracked chassis 100 as a whole.

[0080] Specifically, the detachable tracked chassis 100 of this embodiment can also be used as a traction device, such as towing small transport vehicles.

[0081] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 3 and Figure 9 and Figure 14 As shown, the detachable tracked chassis 100 also includes a battery 80, which is fixedly mounted on the vehicle body 10 and electrically connected to the controller 50. The battery 80 is configured to maintain its required power consumption, thereby enabling it to continue moving and operating.

[0082] Specifically, the battery 80 and the controller 50 are fixedly installed in the storage slot 12 of the vehicle body 10.

[0083] Specifically, the battery 80 is used to meet the power needs of all electrical equipment on the detachable tracked chassis 100. For example, the battery 80 supplies the power required by the controller 50, and the battery 80 can also supply the motors 21 of the two tracked walking mechanisms 20 to start. The motors 21 can rotate forward or backward.

[0084] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 11As shown, the detachable tracked chassis 100 also includes a remote control module, which is communicatively connected to the controller 50. The remote control module enables remote control of the controller 50, improving its operability and adapting to different road conditions.

[0085] Specifically, the remote control module includes, but is not limited to, an infrared module, a Bluetooth module, and a Beidou module. The infrared module can perform infrared control, the Bluetooth module can be controlled via a mobile phone connection, and the Beidou module provides real-time positioning and remote control functions.

[0086] Specifically, the motor 21 of the tracked walking mechanism 20 is also equipped with a motor control module. The controller 50 is connected to each motor control module. The controller 50 acts as the control core, making judgments and processing various signals. It is equipped with a pre-designed iterative algorithm program. Each motor control module is used to control the forward and reverse rotation and speed change of the corresponding track 26.

[0087] The actual size of the detachable tracked chassis 100 provided in this embodiment can be scaled up or down proportionally according to different operating environments in the agricultural and forestry scenarios in which it is applied. Its design features a small turning radius and light turning torque. In different operating environments, the tracks 26 can also be set as rigid tracks or rubber tracks 26 according to the usage conditions, which greatly improves the use of multiple scenarios.

[0088] Its specific working process is described below:

[0089] 1. When the detachable tracked chassis 100 needs to move forward, backward, and turn, the forward and reverse rotation of the motor 21 of the track walking mechanism 20 drives the reducer 22, which in turn drives the drive wheel 23 to rotate clockwise or counterclockwise to achieve forward and backward movement. Left and right right-angle turns can be achieved by controlling the same-direction differential speed of the two side tracks 26 through the battery 80 and the controller 50; center turns can be achieved by controlling the opposite-direction differential speed of the two side tracks 26.

[0090] 2. When the separable tracked chassis 100 is moving on flat ground, it does not move separately; the entire separable tracked chassis 100 is considered to move as a whole. During movement on flat ground, when encountering small clods of earth or rocks (simple obstacle avoidance objects), the track section 26 moves upward, causing the load-bearing wheel 25 to lift and rotate, thus stretching the shock-absorbing spring. When the load-bearing wheel 25 passes over the obstacle, the shock-absorbing spring returns to its original position, causing the load-bearing wheel bracket 40 to return to the position of the limit block 35 designed on the track wheel frame 30. The shock-absorbing spring provides a certain tension to the entire track 26, enabling the separable tracked chassis 100 to continue to operate smoothly in this state.

[0091] 3. When the detachable tracked chassis 100 moves to ground where the left and right sides are at different heights (i.e., one track 26 is on higher ground and the other track 26 is on lower ground), initially, the two motors 21 operate normally on flat ground, treating the detachable tracked chassis 100 as a single unit for forward movement. Upon reaching this terrain, the track 26 on the higher ground side begins to climb, causing the corresponding track wheel frame 30 to drive the limiting plate 31 to climb as well, further driving the corresponding side of the vehicle body 10 to climb. At this point, the climbing of the vehicle body 10 causes it to gradually separate from the limiting plate 31 on the other side. The track wheel frame 30 on the relatively separated side of the body 10 rotates around the axis of the fixed rod 32 connected to it, and the corresponding moving rod 33 updates its position in the arc-shaped guide groove 11 on the corresponding side of the body 10. At this time, the track walking mechanism 20 on the climbing side and the body 10 are regarded as a whole and jointly carry out high-altitude climbing movement, while the track walking mechanism 20 on the other side is regarded as an independent individual and continues to move while attached to the ground. From a kinematic point of view, the tracked chassis 100 that can move separately changes from a whole synchronous movement to two independent individuals moving separately. After passing through the section and returning to flat ground, they become a whole again and move synchronously.

[0092] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A tracked chassis capable of detachable movement, characterized in that: It includes a vehicle body and two tracked running mechanisms symmetrically arranged on both sides of the vehicle body. Each tracked running mechanism is connected to the vehicle body through a track wheel frame, and the two track wheel frames are symmetrically arranged. The forward direction of the vehicle body is the first direction; The track walking mechanism is mounted on the track wheel frame, and a limit plate, a fixed rod, and a movable rod are fixedly mounted on the track wheel frame. The limit plate and the movable rod are located on the front and rear sides of the fixed rod in the first direction, respectively. The fixed rod is rotatably connected to the vehicle body around a first axis, which is perpendicular to the first direction; the vehicle body is provided with an arc-shaped guide groove, and the end of the moving rod away from the track wheel frame passes through the arc-shaped guide groove; the end of the limiting plate away from the track wheel frame can restrict the rotation of the vehicle body at the front end in the first direction around the first axis towards the side closer to the ground. The vehicle body has a storage slot. The end of the fixed rod away from the track wheel frame and the end of the movable rod away from the track wheel frame both extend into the storage slot. The end of the fixed rod located in the storage slot is fixedly connected to one end of a connecting rod, and the other end of the connecting rod is fixedly connected to the end of the movable rod located in the storage slot.

2. The tracked chassis capable of detachable movement according to claim 1, characterized in that: The tracked walking mechanism includes a drive mechanism, drive wheels, idler wheels, tracks, and multiple load-bearing wheels; Along the first direction, each of the load-bearing wheels is located between the drive wheel and the guide wheel; the drive wheel, the guide wheel and each of the load-bearing wheels are all rotatably connected to the track wheel frame, and the rotation axes of the drive wheel, the guide wheel and each of the load-bearing wheels are all parallel to the first axis; the track wraps around the outside of the drive wheel, each of the load-bearing wheels and the guide wheel; the output shaft of the drive mechanism is fixedly connected to the drive wheel.

3. The detachable tracked chassis according to claim 2, characterized in that: Each of the aforementioned load-bearing wheels is connected to the track wheel frame via a load-bearing wheel bracket. The load-bearing wheel bracket is provided with a rotating part, a first connecting part, and a second connecting part. The rotating part is rotatably mounted on the track wheel frame about a second axis, and the load-bearing wheel is rotatably mounted on the first connecting part about a third axis. Each load-bearing wheel presses against the inner side of the track's ground-contact portion. The second connecting part is fixedly connected to one end of an elastic element, and the other end of the elastic element is fixedly connected to the track wheel frame. The elastic element is used to pull the second connecting part so that the first connecting part drives the load-bearing wheel to maintain elastic contact with the track around the second axis.

4. The detachable tracked chassis according to claim 3, characterized in that: A limiting block is fixedly installed on the track wheel frame to restrict the rotation range of the first connecting part.

5. The detachable tracked chassis according to claim 1, characterized in that: It also includes a controller, which is communicatively connected to both of the tracked walking mechanisms.

6. The detachable tracked chassis according to claim 5, characterized in that: Each of the tracked walking mechanisms is equipped with a track system angle sensor for collecting the terrain angle on the corresponding side, and each track system angle sensor is communicatively connected to the controller.

7. The detachable tracked chassis according to claim 6, characterized in that: The vehicle body is also equipped with a vehicle body attitude sensor, which is communicatively connected to the controller.

8. The detachable tracked chassis according to claim 5, characterized in that: It also includes a storage battery, which is fixedly mounted on the vehicle body and electrically connected to the controller.

9. The detachable tracked chassis according to claim 5, characterized in that: It also includes a remote control module, which is communicatively connected to the controller.

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