Splayed transmission mechanism of crawler-type moped and crawler movement method
By designing the eight-shaped transmission mechanism of the tracked moped, the synchronous operation and delay components are used to solve the stability and efficiency problems of traditional tracked mopeds when climbing irregular stairs at high and low levels, achieving safer and more efficient stair climbing performance.
Patent Information
- Application Number
- CN202411531397.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-30
- Publication Date
- 2024-12-20
AI Technical Summary
When climbing irregular stairs, steps and raised roads, the body of the traditional tracked moped is easily lifted, swung forward and backward, or tilted, making it difficult to adapt to steps of different lengths, and the track bumps fall unevenly when climbing the stairs. On the steps, it leads to safety risks and inefficiency.
Design a crawler-type transmission mechanism, including two independent track structures and drive mechanisms, realize synchronous operation through chains or synchronous wheels, and use delay components and electric push rod adjustment mechanism to ensure that the track bumps can be attached at the same time. On the steps, avoid slippage and improve climbing stability through built-in adjustment mechanism.
It effectively avoids slippage during climbing, improves step adaptability and climbing efficiency, ensures user safety, and the built-in adjustment mechanism saves space, avoids external erosion, and makes the operation more stable.
Smart Images
Figure CN119157705A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of track-type power-assisted vehicles, and in particular to an eight-shaped transmission mechanism of a track-type power-assisted vehicle and a track movement method. Background Art
[0002] Current tracked wheelchairs, power-assisted vehicles and other tracked transfer tools all have the following three disadvantages:
[0003] 1. Stairs are difficult to adapt to. When climbing irregular stairs, steps and raised roads, the center of the vehicle body will be lifted up, and the vehicle body will sway back and forth or fall over due to uneven force, causing personal injury.
[0004] 2. It is difficult to apply force to the front and rear crawlers at the same time. The power of the traditional crawler motion mechanism is connected by one or more crawlers, which are uniformly powered by a motor. During the stair climbing movement, one, two or more crawlers will move forward or backward synchronously, which makes it difficult to adapt to stairs of different lengths. As a result, some of the bumps on one crawler can be placed on the steps, while some bumps cannot be placed on the steps, thus affecting the efficiency of climbing stairs;
[0005] 3. It is difficult to climb stairs safely. When the climbing mechanism is climbing, the bumps of the crawler track do not fall on the steps at the same time, causing a single stressed crawler track bump to slip off the steps. The strong inertia will also affect the grip of other bumps on the steps, causing the crawler track to slide down from a high place on the stairs, causing personal safety. Summary of the invention
[0006] In view of the above problems, the present invention provides an "eight"-shaped transmission mechanism and a crawler movement method for a track-type power-assisted vehicle. The mechanism consists of two crawler structures and a driving mechanism, and the connected parts are distributed in an "eight" shape. When climbing irregular stairs, steps and raised roads, the mechanism can avoid and adapt well, avoid slipping when climbing stairs, and is safer.
[0007] To solve the above problems, the technical solution adopted by the present invention is:
[0008] An eight-shaped transmission mechanism of a crawler-type power-assisted vehicle comprises a vehicle frame, a pair of transmission frames are fixedly mounted on both sides of the vehicle frame, a steering wheel and a driving wheel are respectively mounted on the bottoms of the front and rear ends of the pair of transmission frames, a pair of tail plates are rotatably connected at both ends of the transmission frames, a front crawler structure and a rear crawler structure are respectively mounted on the front and rear tail plates, a driving mechanism capable of synchronously driving the front crawler structure and the rear crawler structure to operate is mounted in the middle of the transmission frame, and an adjusting mechanism capable of driving the front crawler structure and the rear crawler structure to change the elevation angle is mounted on both the front and rear ends of the vehicle frame;
[0009] The driving mechanism comprises a motor, a driving wheel, a driven wheel, a pair of sprocket wheels and a chain, wherein the motor is fixedly mounted on the inner side of the transmission frame, the motor shaft of the motor is fixedly connected to the axis of the driving wheel, the driven wheel is rotatably connected to the transmission frame through the driven wheel shaft, the pair of sprocket wheels are respectively fixedly mounted on the ends of the motor shaft and the driven wheel shaft, the chain is sleeved on the pair of sprocket wheels and meshes with the sprocket wheels;
[0010] The front crawler structure and the rear crawler structure both include an idler wheel, a tail wheel and a crawler track, wherein the idler wheel and the tail wheel are rotatably connected between the inner and outer ends of a pair of tail plates, respectively, the front crawler track is sleeved and meshed on the driving wheel, the corresponding idler wheel and the tail wheel, and the rear crawler track is sleeved and meshed on the driven wheel, the corresponding idler wheel and the tail wheel, and a plurality of crawler track bumps are arranged at intervals on the crawler track;
[0011] A delay component is installed on the driven wheel and the driven wheel shaft, and the delay component is used to delay the starting time of the driven wheel.
[0012] Preferably, a seat is mounted on the top of the frame via a seat bracket, and a foot pedal is fixedly mounted on the front end of the frame.
[0013] Preferably, the adjustment mechanism includes an electric push rod rotatably connected to the front and rear ends of the frame, the telescopic end of the electric push rod is rotatably connected to a longitudinal balance bar, both ends of the balance bar are equipped with tailgate connectors, and the tail end connectors at both ends are respectively fixedly connected to the inner ends of the tailgates on both sides.
[0014] Preferably, arc-shaped openings adapted to the tail plate connecting piece are provided at the inner bottoms of both ends of the transmission frame.
[0015] Preferably, the delay assembly includes a steel key bar and a pair of rubber key bars, the side wall of the driven wheel shaft is provided with a key slot for longitudinal insertion of the steel key bar, the inner wall of the inner hole of the driven wheel is provided with an arc groove corresponding to the steel key bar, the pair of rubber key bars are respectively filled and inserted on both sides of the arc groove, and the opposite sides of the pair of rubber key bars both abut against the steel key bar.
[0016] Preferably, the width of the arc groove is three times the width of the steel key strip, and the width of a pair of rubber key strips is consistent with the width of the steel key strip.
[0017] Preferably, the diameter of the idler wheel is larger than the diameter of the tail wheel, and the front track structure and the rear track structure are distributed in an eight-shaped shape.
[0018] The present invention also provides a crawler movement method for a crawler-type power-assisted vehicle, comprising the following steps:
[0019] S1. When the motor drives the motor shaft to rotate, it drives the driving wheel and the front crawler structure to operate synchronously. Through the chain and sprocket transmission, the driven wheel shaft drives the driven wheel to rotate synchronously;
[0020] S2. When the driven wheel shaft is running, its steel key strip will apply pressure to the rubber key strip on one side, thereby delaying the start time of the driven wheel. When the track bump on the driving wheel is just on the step, and the track bump on the driven wheel has not yet been on the step, the driving wheel track will rotate and slip because the track bump on the driven wheel cannot exert force, and the next track bump on the track bump on the driving wheel will be on the step again. At this time, due to the continuous rotation of the driven wheel shaft, its steel key strip has pressed the rubber key strip to the limit, so that the driven wheel and the track bump on the driven wheel start to move, and the track bump on the driven wheel runs to the step, thereby cooperating with the track bump on the driving wheel to climb the step together;
[0021] S3. When climbing stairs, the electric push rods of the front crawler structure and the rear crawler structure are respectively controlled to retract and pull back the balance bar connected thereto, and the tail plate connecting pieces connected to both sides of the balance bar are pulled back to the rear side of the tail plate, so that the tail plate is turned over, and the other end of the tail plate in the opposite direction falls down flat, so that the front crawler structure and the rear crawler structure form a plane, so that the climber can climb the stairs smoothly;
[0022] S4. When the track-assisted vehicle is about to reach the ground, the electric push rods controlling the front track structure and the rear track structure are extended and push out the balance bar connected thereto, and the tail plate connecting parts connected to the two sides of the balance bar are pushed out of the rear side of the tail plate to flip the tail plate, and the other end of the tail plate in the opposite direction is lifted upward, so that the front track structure and the rear track structure are in a lifted state, so that the vehicle body can smoothly enter the ground.
[0023] The beneficial effects of the present invention are:
[0024] 1. Stair adaptability. The crawler-type stair climbing mechanism in the present invention is divided into two parts, the front and rear parts, which are respectively composed of two independent and identical crawler structures, and are linked by a chain or a synchronous wheel mechanism to make them run synchronously. The connected parts of the two crawler transmission mechanisms are distributed in an "eight" shape, which can well avoid and adapt to irregular stairs, steps and raised roads when climbing high and low.
[0025] 2. The front and rear tracks are powered by a motor, and the track bumps can grab the steps separately, thereby improving the efficiency of climbing stairs.
[0026] 3. Safe stair climbing and anti-slipping. Since the bumps of the front and rear tracks of the climbing mechanism can fall on the steps at the same time when climbing, it can ensure that the bumps will not slip off the steps, ensuring the personal safety of the user.
[0027] 4. The adjustment mechanism of the crawler angle adjustment control of the present invention adopts a built-in design, which saves external space. Due to its good sealing performance, it avoids erosion by rain or dust, thereby making the structure more stable during operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 A perspective view of the present invention;
[0029] Figure 2 It is a climbing state diagram of the present invention;
[0030] Figure 3 for Figure 2 Schematic diagram from top view;
[0031] Figure 4 A cross-sectional schematic diagram of the transmission frame proposed by the present invention;
[0032] Figure 5 It is an overall schematic diagram of the present invention;
[0033] Figure 6 It is a schematic diagram of the main structure of the present invention;
[0034] Figure 7 A top view of the present invention;
[0035] Figure 8 This is a schematic diagram of the front and rear crawler structures proposed by the present invention;
[0036] Fig. 9 This is a schematic diagram of the delay component structure proposed by the present invention;
[0037] Fig.10 This is a schematic diagram of the delayed state change of the driven wheel proposed by the present invention.
[0038] In the figure: 1 seat, 2 foot pedal, 3 seat bracket, 4 front crawler structure, 5 rear crawler structure, 6 electric push rod, 7 balance bar, 8 tail plate connecting piece, 9 tail plate, 10 motor, 11 driving wheel, 12 driven wheel, 13 idler wheel, 14 tail wheel, 15 crawler track, 16 motor shaft, 17 driven wheel shaft, 18 steel key strip, 19 rubber key strip, 20 sprocket, 21 chain, 22, 23 transmission frame, 24 frame, 25 steering wheel, 26 driving wheel, 27 arc mouth. DETAILED DESCRIPTION
[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.
[0040] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.
[0041] Reference Figure 1-10 A figure-eight transmission mechanism of a tracked power-assisted vehicle comprises a frame 24, a pair of transmission frames 23 are fixedly mounted on both sides of the frame 24, a steering wheel 25 and a driving wheel 26 are respectively mounted on the bottom of the front and rear ends of the pair of transmission frames 23, a seat 1 is mounted on the top of the frame 24 through a seat bracket 3, a pedal 2 is fixedly mounted on the front end of the frame 24, the whole is driven by a pair of driving wheels 26, and a pair of steering wheels 25 can realize steering.
[0042] A pair of tail plates 9 are also rotatably connected at both ends of the transmission frame 23, and a front track structure 4 and a rear track structure 5 are respectively installed on the front and rear tail plates 9. A driving mechanism that can synchronously drive the front track structure 4 and the rear track structure 5 to operate is installed in the middle of the transmission frame 23, and an adjustment mechanism that can drive the front track structure 4 and the rear track structure 5 to change the elevation angle is installed at the front and rear ends of the frame 24.
[0043] Specifically, the driving mechanism includes a motor 10, a driving wheel 11, a driven wheel 12, a pair of sprockets 20 and a chain 21. The motor 10 is fixedly installed on the inner side of a transmission frame 23. The motor shaft 16 of the motor 10 is fixedly connected to the axis of the driving wheel 11. The driven wheel 12 is rotatably connected to the transmission frame 23 through a driven wheel shaft 17. A pair of sprockets 20 are respectively fixedly installed at the ends of the motor shaft 16 and the driven wheel shaft 17. The chain 21 is sleeved on a pair of sprockets 20 and meshes with the sprockets 20. When the motor 10 drives the motor shaft 16 to rotate, it drives the driving wheel 11 and the front crawler structure 4 to operate synchronously. Through the chain 21 and the sprocket 20, the driven wheel shaft 17 synchronously drives the driven wheel 12 to rotate.
[0044] Specifically, the front crawler structure 4 and the rear crawler structure 5 both include an idler wheel 13, a tail wheel 14 and a crawler track 15. The idler wheel 13 and the tail wheel 14 are rotatably connected between the inner and outer ends of a pair of tail plates 9, respectively. The front crawler track 15 is sleeved and meshed on the driving wheel 11, the corresponding idler wheel 13 and the tail wheel 14. The rear crawler track 15 is sleeved and meshed on the driven wheel 12, the corresponding idler wheel 13 and the tail wheel 14. A plurality of crawler track protrusions 22 are arranged on the crawler track 15 at intervals. The diameter of the idler wheel 13 is larger than the diameter of the tail wheel 14. The front crawler structure 4 and the rear crawler structure 5 are distributed in an eight-shaped shape. When the driving wheel 11 and the driven wheel 12 rotate synchronously, the front and rear crawlers 15 are driven to rotate synchronously.
[0045] A delay assembly is installed on the driven wheel 12 and the driven wheel shaft 17. The delay assembly is used to delay the start time of the driven wheel 12. The delay assembly includes a steel key strip 18 and a pair of rubber key strips 19. The side wall of the driven wheel shaft 17 is provided with a key groove for the steel key strip 18 to be longitudinally inserted. The inner wall of the inner hole of the driven wheel 12 is provided with an arc groove corresponding to the steel key strip 18. The pair of rubber key strips 19 are respectively filled and inserted on both sides of the arc groove. The opposite sides of the pair of rubber key strips 19 both abut against the steel key strips. The width of the arc groove is three times the width of the steel key strip 18, and the width of a pair of rubber key strips 19 is consistent with the width of the steel key strip 18. Due to the continuous rotation of the driven wheel shaft 17, the steel key strip 18 has pressed the rubber key strip 19 to the limit, so that the driven wheel 12 and the track lugs 22 on the driven wheel 12 start to move, and the track lugs 22 on the driven wheel 12 run onto the steps, thereby cooperating with the track lugs 22 on the driving wheel 11 to climb the stairs together.
[0046] Furthermore, the adjustment mechanism includes an electric push rod 6 rotatably connected to the front and rear ends of the frame 24, the telescopic end of the electric push rod 6 is rotatably connected to the longitudinal balance bar 7, and tail plate connecting parts 8 are installed at both ends of the balance bar 7. The tail end connecting parts 8 at both ends are respectively fixedly connected to the inner ends of the tail plates 9 on both sides, and the inner bottoms of both ends of the transmission frame 23 are provided with arc-shaped openings 27 adapted to the tail plate connecting parts 8. When climbing stairs, the electric push rods 6 that respectively control the front track structure 4 and the rear track structure 5 to retract and pull back the balance bar 7 connected thereto, and the tail plate connecting parts 8 connected on both sides of the balance bar 7 will pull back the rear side of the tail plate 9 to flip the tail plate 9, and the other end of the tail plate 9 in the opposite direction will fall down, so that the front track structure 4 and the rear track structure 5 form a plane, which can climb the steps smoothly.
[0047] The present invention also provides a crawler movement method for a crawler-type power-assisted vehicle, comprising the following steps:
[0048] S1, when the motor 10 drives the motor shaft 16 to rotate, the driving wheel 11 and the front crawler structure 4 are driven to operate synchronously, and the driven wheel shaft 17 drives the driven wheel 12 to rotate synchronously through the chain 21 and the sprocket 20;
[0049] S2. When the driven wheel shaft 17 rotates, its steel key strip 18 will apply pressure to the rubber key strip 19 on one side, thereby delaying the start time of the driven wheel 12. When the track lug 22 on the driving wheel 11 is just on the step, and the track lug 22 of the driven wheel 12 has not yet been on the step, the track 15 of the driving wheel 11 will rotate and slip because the track lug 22 on the driven wheel 12 cannot exert force, and the next track lug 22 on the track lug 22 on the driving wheel 11 will be on the step again. At this time, due to the continuous rotation of the driven wheel shaft 17, its steel key strip 18 has pressed the rubber key strip 19 to the limit, so that the driven wheel 12 and the track lug 22 on the driven wheel 12 start to move, and the track lug 22 on the driven wheel 12 runs to the step, thereby cooperating with the track lug 22 on the driving wheel 11 to climb the step together;
[0050] S3, when climbing stairs, the electric push rods 6 of the front crawler structure 4 and the rear crawler structure 5 are respectively controlled to retract and pull back the balance bar 7 connected thereto, and the tail plate connecting pieces 8 connected to both sides of the balance bar 7 will pull back the rear side of the tail plate 9, so that the tail plate 9 is turned over, and the other end of the tail plate 9 in the opposite direction falls down, so that the front crawler structure 4 and the rear crawler structure 5 form a plane, so that the climber can climb the stairs smoothly;
[0051] S4. When the track-assisted vehicle is about to reach the ground, the electric push rods 6 of the front track structure 4 and the rear track structure 5 are respectively controlled to extend and push out the balance bar 7 connected thereto, and the tail plate connecting parts 8 connected on both sides of the balance bar 7 will be pushed out of the rear side of the tail plate, so that the tail plate 9 is turned over, and the other end of the tail plate 9 in the opposite direction is lifted upward, so that the front track structure 4 and the rear track structure 5 are in a lifted state, so that the vehicle body can smoothly enter the ground.
[0052] Working principle: The track structure is divided into two parts: a front track structure 4 and a rear track structure 5. The middle part of the track is raised upward and presents an "eight" shape, which can well avoid humpback bridges, raised roads and uneven steps to achieve barrier-free driving.
[0053] The inner circular hole of the driven wheel 12 is provided with a space three times the size of the rubber key strips 18, i.e., an arc-shaped groove, which can accommodate three key strips at the same time, i.e., a steel key strip 18 in the middle and rubber key strips 19 on both sides. When the track lug 22 on the front crawler structure 4 is placed on the step and the track lug 22 on the rear crawler structure 5 is not placed on the step, the track lug 22 of the front crawler structure 4 will slip and idle to the next track lug 22 due to the lack of thrust from the rear crawler structure 5. 2. At the same time, because the driven wheel shaft 17 of the rear crawler structure 5 rotates under the joint action of the motor shaft 16, the sprocket 20 and the chain 21, the steel key strip 18 of the driven wheel shaft 17 will press the rubber key strip 19 on one side, thereby forcing the driven wheel 12 and the crawler 15 on the driven wheel 12 to rotate, and the driven wheel 12 and the crawler lug 22 on the driven wheel 12 will be placed on the step, thereby running synchronously with the crawler lug 22 on the front crawler structure 4, so as to achieve climbing the stairs.
[0054] During normal travel or stair climbing, the track structure will frequently change its elevation angle according to the need for climbing. For example, when climbing stairs, the electric push rods 6 that respectively control the front track structure 4 and the rear track structure 5 will be retracted and pulled back to pull back the balancing bar 7 connected thereto, and the tail plate connecting pieces 8 connected on both sides of the balancing bar 7 will be pulled back to the rear side of the tail plate, so that the tail plate 9 will flip over, and the other side of the tail plate 9 in the opposite direction will fall down, so that the front track structure 4 and the rear track structure 5 form a plane, which can climb the steps smoothly: when the track-assisted vehicle is about to reach the ground, the electric push rods 6 that respectively control the front track structure 4 and the rear track structure 5 will extend and push out the balancing bar 7 connected thereto, and the tail plate connecting pieces 8 connected on both sides of the balancing bar 7 will push out the rear side of the tail plate 9, so that the tail plate 9 will flip over, and the other side of the tail plate 9 in the opposite direction will be raised upward, so that the front track structure 4 and the rear track structure 5 will be in a raised state, so that the vehicle body can smoothly enter the ground.
[0055] The adjustment mechanism of the track angle adjustment control adopts a built-in design, which saves external space. Due to its good sealing performance, it avoids erosion by rain or dust, thereby making the structure more stable during operation.
[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims
1. A figure eight transmission mechanism of a tracked power-assisted vehicle, comprising a frame (24), It is characterized in that A pair of transmission frames (23) are fixedly mounted on both sides of the vehicle frame (24); a steering wheel (25) and a driving wheel (26) are respectively mounted on the bottoms of the front and rear ends of the pair of transmission frames (23); a pair of tail plates (9) are rotatably connected to the two ends of the transmission frames (23); a front crawler structure (4) and a rear crawler structure (5) are respectively mounted on the front and rear tail plates (9); a driving mechanism capable of synchronously driving the front crawler structure (4) and the rear crawler structure (5) to operate is mounted in the middle of the transmission frame (23); and an adjusting mechanism capable of driving the front crawler structure (4) and the rear crawler structure (5) to change the elevation angle is mounted on both the front and rear ends of the vehicle frame (24); The driving mechanism comprises a motor (10), a driving wheel (11), a driven wheel (12), a pair of sprocket wheels (20) and a chain (21); the motor (10) is fixedly mounted on the inner side of a transmission frame (23); a motor shaft (16) of the motor (10) is fixedly connected to the axis of the driving wheel (11); the driven wheel (12) is rotatably connected to the transmission frame (23) via a driven wheel shaft (17); the pair of sprocket wheels (20) are fixedly mounted on the ends of the motor shaft (16) and the driven wheel shaft (17), respectively; and the chain (21) is sleeved on the pair of sprocket wheels (20) and meshed with the sprocket wheels (20); The front crawler structure (4) and the rear crawler structure (5) both include an idler wheel (13), a tail wheel (14) and a crawler track (15); the idler wheel (13) and the tail wheel (14) are rotatably connected between the inner and outer ends of a pair of tail plates (9), respectively; the front crawler track (15) is sleeved and meshed on the driving wheel (11), the corresponding idler wheel (13) and the tail wheel (14); the rear crawler track (15) is sleeved and meshed on the driven wheel (12), the corresponding idler wheel (13) and the tail wheel (14); and a plurality of crawler track bumps (22) are arranged at intervals on the crawler track (15); A delay component is installed on the driven wheel (12) and the driven wheel shaft (17), and the delay component is used to delay the start time of the driven wheel (12).
2. The figure eight transmission mechanism of a tracked power-assisted vehicle according to claim 1, It is characterized in that A seat (1) is installed on the top of the frame (24) via a seat bracket (3), and a foot pedal (2) is fixedly installed on the front end of the frame (24).
3. The figure eight transmission mechanism of a tracked power-assisted vehicle according to claim 1, It is characterized in that The adjustment mechanism comprises an electric push rod (6) rotatably connected to the front and rear ends of the frame (24); the telescopic end of the electric push rod (6) is rotatably connected to a longitudinal balance bar (7); both ends of the balance bar (7) are equipped with tail plate connecting pieces (8); the tail end connecting pieces (8) at both ends are respectively fixedly connected to the inner ends of the tail plates (9) on both sides.
4. The figure eight transmission mechanism of a tracked power-assisted vehicle according to claim 3, It is characterized in that The inner bottoms of both ends of the transmission frame (23) are provided with arc-shaped openings (27) adapted to the tail plate connecting piece (8).
5. The figure eight transmission mechanism of a tracked power-assisted vehicle according to claim 1, It is characterized in that The delay assembly comprises a steel key strip (18) and a pair of rubber key strips (19); the side wall of the driven wheel shaft (17) is provided with a key groove for longitudinally inserting the steel key strip (18); the inner wall of the inner hole of the driven wheel (12) is provided with an arc groove corresponding to the steel key strip (18); the pair of rubber key strips (19) are respectively filled and inserted into the two sides of the arc groove, and the opposite sides of the pair of rubber key strips (19) both abut against the steel key strip (18).
6. The figure eight transmission mechanism of a tracked power-assisted vehicle according to claim 5, It is characterized in that The width of the arc groove is three times the width of the steel key strip (18), and the width of the pair of rubber key strips (19) is consistent with the width of the steel key strip (18).
7. The figure eight transmission mechanism of a tracked power-assisted vehicle according to claim 1, It is characterized in that The diameter of the idler wheel (13) is greater than the diameter of the tail wheel (14), and the front crawler structure (4) and the rear crawler structure (5) are distributed in an eight-shaped pattern.
8. A crawler motion method of an eight-shaped transmission mechanism of a crawler-type power-assisted vehicle based on any one of claims 1 to 7, It is characterized in that The following steps are involved: S1, when the motor (10) drives the motor shaft (16) to rotate, the driving wheel (11) and the front crawler structure (4) are driven to rotate synchronously, and the driven wheel shaft (17) drives the driven wheel (12) to rotate synchronously through the chain (21) and the sprocket (20); S2. When the driven wheel shaft (17) is running, its steel key strip (18) will apply pressure to the rubber key strip (19) on one side, thereby delaying the start time of the driven wheel (12). When the crawler bump (22) on the driving wheel (11) is just on the step, and the crawler bump (22) of the driven wheel (12) has not yet been on the step, the crawler (15) of the driving wheel (11) will rotate and slip because the crawler bump (22) on the driven wheel (12) cannot exert force, and the driving wheel (11) The next crawler lug (22) on the crawler lug (22) on the upper track will be placed on the step again. At this time, due to the continuous rotation of the driven wheel shaft (17), its steel key strip (18) has pressed the rubber key strip (19) to the limit, so that the driven wheel (12) and the crawler lug (22) on the driven wheel (12) start to move, and the crawler lug (22) on the driven wheel (12) runs to the step, thereby cooperating with the crawler lug (22) on the driving wheel (11) to climb the stairs together; S3, when climbing stairs, the electric push rods (6) of the front crawler structure (4) and the rear crawler structure (5) are respectively controlled to retract and pull back the balance bar (7) connected thereto, and the tail plate connecting piece (8) connected to both sides of the balance bar (7) will pull back the rear side of the tail plate (9), so that the tail plate (9) is turned over, and the other end of the tail plate (9) in the opposite direction falls downward, so that the front crawler structure (4) and the rear crawler structure (5) form a plane, so that the person can climb the stairs smoothly; S4. When the track-assisted vehicle is about to reach the ground, the electric push rods (6) of the front track structure (4) and the rear track structure (5) are respectively controlled to extend and push out the balance bar (7) connected thereto, and the tail plate connecting parts (8) connected to the two sides of the balance bar (7) are pushed out of the rear side of the tail plate, so that the tail plate (9) is turned over, and the other end of the tail plate (9) in the opposite direction is lifted upward, so that the front track structure (4) and the rear track structure (5) are in a lifted state, so that the vehicle body can smoothly enter the ground.