Overstep type crawler capable of passively and automatically adjusting ground contact area

Abstract

The invention discloses a step-crossing type tracked vehicle capable of passively and automatically adjusting the ground contact area, and relates to the technical field of transportation equipment, crawler wheel structures with vertical elastic abdicating performance are symmetrically arranged on the two sides of a frame assembly in pairs, and the step-crossing type tracked vehicle further comprises a transverse elastic abdicating structure and a guide wheel structure; the fixed end of the transverse elastic receding structure is fixedly installed on the frame assembly, and the output end of the transverse elastic receding structure provides receding linear sliding parallel to the advancing direction of the crawler wheel structure for the interior of the crawler wheel structure. According to the crawler wheel structure, part of the driving wheel structures are connected with the frame assembly through the transverse elastic receding structures, the crawler wheels in the driving wheel structures are connected with the crawler wheel supports through the vertical elastic receding structures, and transverse and vertical elastic receding performance is provided for all the crawler wheels; the form of the crawler can be passively and adaptively adjusted according to the terrain in the driving process of the crawler, the contact area between the crawler and the supporting face is kept as large as possible, and then the trafficability and adaptability of the crawler to the special terrain are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of transport equipment, and in particular to a crawler vehicle used in special environments such as step operations. Background Art

[0002] A tracked vehicle is a specially designed vehicle that uses tracks instead of traditional tires to contact the ground to achieve vehicle drive and support. Compared with tires, tracks have a larger contact area with the ground, which helps to disperse the support weight to reduce the risk of the vehicle sinking or getting stuck. Tracked vehicles therefore have excellent traction performance and adaptability in specific environments such as mud, snow, sand and other soft and irregular terrain conditions; in addition, tracked vehicles have greater grip and better driving stability on extreme terrains such as steep slopes and side inclinations. Therefore, tracked vehicles are widely used in military, construction, mining and polar exploration. Tracked vehicles may be equipped with a computer-assisted suspension system to adjust the tension of the tracks and the suspension rigidity of the vehicle in real time to adapt to different terrain conditions. In addition, hybrid and electric tracked vehicles are also being researched and developed to improve efficiency and reduce dependence on fossil fuels.

[0003] In the prior art, the tracks and power wheels of tracked vehicles mostly adopt fixed structures or slightly movable structures, and are unable to adjust their passing capabilities according to the working environment; especially when passing through step-type obstacles, the effective contact area between the existing tracked vehicles and the steps is very limited, and is unable to provide sufficient friction with the ground to propel the vehicle forward. In certain circumstances such as when the vehicle is heavy or has a large load, it is easy to slip or fall back.

[0004] Through prior art search, there are the following known technical solutions: Prior art 1: Wheel-track composite deformation mobile robot with adaptive capability Application number: CN201010219515.2, application date: 2010.07.07, publication (announcement) date: 2012.01.11.

[0005] Prior art 1 discloses a wheel-track composite deformable mobile robot with adaptive capability, comprising a control box, two wheel-track composite mobile modules respectively mounted on both sides of the control box 1, and a tail wheel mechanism mounted at the rear end of the control box, wherein the wheel-track composite mobile module comprises a crawler mobile device and a moving wheel device disposed outside the crawler mobile device, and a crawler drive device is symmetrically arranged in the control box, wherein the output shaft thereof extends out of the control box, and a first gear is arranged thereon, which is matched and connected with a second gear on the crawler mobile device. The present invention can move on a flat hard road surface in a wheeled motion mode, and can also walk on a rough, steep, rugged and complex terrain in a crawler motion mode, and can efficiently move on different complex ground surfaces in a reasonable motion mode. The geometry of the crawler track can be automatically adjusted according to the shape and size of the obstacles encountered, and has strong adaptability to complex ground surfaces.

[0006] However, prior art 1 does not have passability for steps, especially higher steps that exceed the diameter of its wheels or crawler tracks.

[0007] Prior art 2: A high-performance adaptive crawler chassis device Application number: CN201921273506.4, application date: 2019.08.06, publication (announcement) date: 2020.04.07.

[0008] Prior art 2 relates to a high-performance adaptive crawler chassis device, including a crawler chassis, a shock absorbing system, a crawler track, a shock-absorbing adaptive adjustment component, a power transmission component, and a drive component. The shock absorbing system is arranged on the outside of the side support plate, the shock absorbing system is connected to the crawler track, the shock absorbing system is also connected to one end of the power transmission component, the other end of the power transmission component is connected to the drive component, the drive component is fixed on the crawler chassis, one end of the shock absorbing adaptive adjustment component is fixed to the upper support plate, and the other end is connected to the side support plate. Through the shock absorbing adaptive adjustment component in conjunction with the reciprocating adjustment mechanism and the telescopic hydraulic rod structure, the left and right vertical angle adjustment of the shock absorbing system relative to the mobile platform body is achieved, and the obstacle crossing of "∨"-shaped, "∧"-shaped ramps or other complex ground is achieved. The power transmission component under the variable angle realizes the continuous power output when the left and right angle adjustment of the shock absorbing system relative to the mobile platform body is achieved.

[0009] However, the prior art 2 is mainly applicable to V-shaped and inverted V-shaped obstacles and does not have the ability to pass through step-shaped obstacles.

[0010] Through the above search, it is found that the above technical solutions do not affect the novelty of the present invention; and the mutual combination of the above prior arts does not destroy the creativity of the present invention. Summary of the invention

[0011] The present invention is to avoid the deficiencies of the above-mentioned prior art and provides a step-type crawler vehicle with a passive self-adjusting ground contact area.

[0012] The present invention adopts the following technical solution to solve the technical problem: a step-type crawler vehicle with passive self-adjusting contact area with the ground, wherein a frame assembly is fixedly mounted on the frame of the crawler vehicle as a frame, and track wheel structures are symmetrically arranged on both sides of the frame assembly in pairs, and further include a transverse elastic yielding structure and a guide wheel structure; the fixed end of the transverse elastic yielding structure is fixedly mounted on the frame assembly, and the output end outputs a yielding linear sliding parallel to the traveling direction of the track wheel structure; The guide wheel structure comprises a guide wheel limiting rod, a guide wheel spring and a guide wheel; the guide wheel limiting rod is fixed to the fixed end of the transverse elastic yielding structure with its axis parallel to the traveling direction, and a guide wheel bracket which only slides along the axial direction of the guide wheel limiting rod is sleeved thereon; the guide wheel spring is located between the fixed end of the transverse elastic yielding structure and the guide wheel bracket, and sleeved on the guide wheel limiting rod; the guide wheel is rotatably mounted and connected to the guide wheel bracket; The crawler wheel structure comprises at least three groups of driving wheel structures and crawlers arranged in sequence along the traveling direction; The driving wheel structure comprises a vertical elastic yielding structure, a track wheel bracket, a track wheel shaft and a track wheel, wherein the vertical elastic yielding structure outputs a pair of vertical yielding linear sliding; among the driving wheel structures, one or two groups located in the middle are used as the middle axis driving wheels, and the fixed ends of their vertical elastic yielding structures are fixedly installed with the frame assembly, and the remaining driving wheel structures are used as side driving wheels, and the fixed ends of their vertical elastic yielding structures are fixedly installed with the output ends of the transverse elastic yielding structures; a pair of output ends of each vertical elastic yielding structure are rotatably installed and connected with the track wheel through the track wheel bracket and the track wheel shaft respectively; The axes of the track wheels and the guide wheels are arranged in parallel, and the track is tensioned and wound around the track wheels.

[0013] Furthermore, the vertical elastic yielding structure includes a moving wheel bracket, a moving wheel slide and a wheel position adjusting spring; the moving wheel bracket serves as a fixed end of the vertical elastic yielding structure, and is installed and fixed to the output end of the frame assembly or the lateral elastic yielding structure; the axis of the moving wheel slide is arranged along the vertical direction, passing through the moving wheel bracket, and a sliding pair is formed between the two along the vertical direction; the wheel position adjusting spring is located below the moving wheel bracket, is sleeved on the moving wheel slide, and its top end is arranged against the bottom end of the moving wheel bracket; the bottom end of the wheel position adjusting spring and the top end of the moving wheel slide respectively serve as a pair of output ends of the vertical elastic yielding structure, and are rotatably installed and connected with the corresponding track wheel through the track wheel bracket and the track wheel shaft.

[0014] Furthermore, the lateral elastic yielding structure comprises a wheel frame assembly, a lateral yielding limiting rod, a side bracket base, a lateral yielding sliding block and a lateral adjusting spring; The wheel frame assembly serves as the fixed end of the transverse elastic yielding structure, and is fixedly mounted on the frame assembly, and a transverse yielding slide rail is provided on the wheel frame assembly parallel to the travel direction; the axis of the transverse yielding limit rod is arranged along the travel direction, and one end of the transverse yielding limit rod is fixedly mounted on the fixed end of the vertical elastic yielding structure in the middle shaft driving wheel; The lateral yielding slider, the side bracket base and the fixed end of the vertical elastic yielding structure in the side moving wheel are installed and fixed in a one-to-one correspondence; each of the lateral yielding sliders is slidably mounted in the lateral yielding slide rail, and forms a sliding pair parallel to the travel direction with the wheel frame assembly; each of the side bracket bases is slidably sleeved on the lateral yielding limit rod, and forms a sliding pair parallel to the travel direction with the lateral yielding limit rod; The lateral adjustment spring sleeved on the lateral yielding limit rod is axially compressed between the fixed end of the vertical elastic yielding structure in the central shaft driving wheel and the adjacent side bracket base and between two adjacent side bracket bases.

[0015] Furthermore, one end of the guide wheel limiting rod away from the fixed end of the lateral elastic yielding structure and one end of the lateral yielding limiting rod away from the fixed end of the vertical elastic yielding structure in the central shaft driving wheel radially protrude outward to form a limiting edge.

[0016] Furthermore, the outer edge of the guide wheel limit rod is convex to form a key structure, and the guide wheel bracket is sleeved on the guide wheel limit rod through a through hole with a key structure correspondingly opened thereon, so that a sliding pair that only supports axial relative sliding is formed therebetween.

[0017] Furthermore, a guide wheel skin is detachably mounted and fixed on the outer edge of the guide wheel.

[0018] Furthermore, the guide wheel structures are arranged in pairs and are respectively installed at both ends of the fixed ends of the transverse elastic yielding structure.

[0019] Furthermore, at least any one of the track wheels serves as a driving wheel, and the corresponding track wheel shaft is connected to the driving machine shaft.

[0020] Furthermore, it also includes a guide wheel spring limit ring, a lateral adjustment spring limiter and a wheel position adjustment spring limit block; The guide wheel spring limiting ring sleeve, the lateral adjustment spring limiter and the wheel position adjustment spring limiting block are respectively mounted on the guide wheel limiting rod, the lateral yielding limiting rod and the moving wheel sliding rod, and are respectively connected and fixed to the ends of the guide wheel spring, the lateral adjustment spring and the wheel position adjustment spring.

[0021] The present invention provides a step-type crawler vehicle with passive self-adjustment of ground contact area, which has the following beneficial effects: 1. In the crawler wheel structure of the present invention, part of the driving wheel structure is installed and connected to the frame assembly through a lateral elastic yielding structure, and the crawler wheel in the driving wheel structure is installed and connected to the crawler wheel bracket through a vertical elastic yielding structure, which provides lateral and vertical elastic yielding properties for each crawler wheel, so that the crawler can passively and adaptively adjust its shape according to the terrain during the driving process of the crawler vehicle, maintain the crawler and the supporting surface with as large a contact area as possible, thereby enhancing the crawler vehicle's ability to pass and adapt to special terrain.

[0022] 2. The lateral elastic yielding structure and the vertical elastic yielding structure of the present invention work together to better provide the tensioning force required to support the crawler or relieve the tightening force generated by the crawler during the change of crawler shape.

[0023] 3. The present invention can increase the weight on one side of the tracked vehicle so that the forward side can be tilted up to a certain extent. In conjunction with the guide wheel structure, the pressure between the guide wheel and the side of the step can be used to provide high friction during the process of passing through the high step, which serves as the power to support the tracked vehicle to pass through the high step, thereby improving the passability and passing efficiency of the tracked vehicle on the high step terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of a track wheel structure, a lateral elastic yielding structure and a guide wheel structure on one side of the present invention; Figure 3 It is a structural schematic diagram of the guide wheel structure of the present invention.

[0025] In the figure: 1. Frame assembly, 5. Wheel frame assembly, 8. Guide wheel spring limit ring, 9. Guide wheel bracket, 10. Guide wheel limit rod, 11. Guide wheel, 15. Moving wheel bracket, 16. Moving wheel slide bar, 17. Wheel position adjustment spring, 18. Track wheel bracket, 19. Wheel position adjustment spring limit block, 20. Track wheel, 21. Side bracket base, 22. Lateral adjustment spring limiter, 24. Lateral clearance slider, 25. Lateral clearance slide rail, 27. Lateral clearance limit rod, 28. Lateral adjustment spring, 29. Track, 30. Guide wheel spring. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] A step-type tracked vehicle with passive self-adjusting ground contact area, such as Figure 1~Figure 3 As shown, the structural relationship is as follows: the frame assembly 1 is fixedly mounted on the frame of the crawler vehicle as a frame, the crawler wheel structures are symmetrically arranged on both sides of the frame assembly 1 in pairs, and also include a transverse elastic yielding structure and a guide wheel structure; the fixed end of the transverse elastic yielding structure is fixedly mounted on the frame assembly 1, and the output end outputs a yielding linear sliding parallel to the traveling direction of the crawler wheel structure; The guide wheel structure includes a guide wheel limiting rod 10, a guide wheel spring 30 and a guide wheel 11; the guide wheel limiting rod 10 is fixed to the fixed end of the transverse elastic yielding structure with its axis parallel to the traveling direction, and a guide wheel bracket 9 is sleeved on the guide wheel limiting rod 10 and slides only along the axial direction of the guide wheel bracket 9; the guide wheel spring 30 is located between the fixed end of the transverse elastic yielding structure and the guide wheel bracket 9, and is sleeved on the guide wheel limiting rod 10; the guide wheel 11 is rotatably installed and connected with the guide wheel bracket 9; The crawler wheel structure includes at least three sets of driving wheel structures and crawler tracks 29 arranged in sequence along the traveling direction; The driving wheel structure includes a vertical elastic yielding structure, a track wheel bracket 18, a track wheel shaft and a track wheel 20, and the vertical elastic yielding structure outputs a pair of vertical yielding linear sliding; in each driving wheel structure, one or two groups located in the middle are used as the middle axis driving wheel, and the fixed end of its vertical elastic yielding structure is installed and fixed with the frame assembly 1, and the remaining driving wheel structures are used as side driving wheels, and the fixed end of its vertical elastic yielding structure is installed and fixed with the output end of the lateral elastic yielding structure; a pair of output ends of each vertical elastic yielding structure are respectively rotatably installed and connected with the track wheel 20 through the track wheel bracket 18 and the track wheel shaft; The axes of the track wheels 20 and the guide wheel 11 are arranged in parallel, and the track 29 is tensioned and wound around each track wheel 20 .

[0028] Preferably, the vertical elastic yielding structure includes a moving wheel bracket 15, a moving wheel slide rod 16 and a wheel position adjusting spring 17; the moving wheel bracket 15 serves as a fixed end of the vertical elastic yielding structure, and is installed and fixed to the frame assembly 1 or the output end of the lateral elastic yielding structure; the axis of the moving wheel slide rod 16 is arranged in the vertical direction, passing through the moving wheel bracket 15, and a sliding pair is formed between the two in the vertical direction; the wheel position adjusting spring 17 is located below the moving wheel bracket 15, sleeved on the moving wheel slide rod 16, and its top end is arranged against the bottom end of the moving wheel bracket 15; the bottom end of the wheel position adjusting spring 17 and the top end of the moving wheel slide rod 16 respectively serve as a pair of output ends of the vertical elastic yielding structure, and are rotatably installed and connected with the corresponding track wheel 20 through the track wheel bracket 18 and the track wheel shaft.

[0029] Preferably, the lateral elastic yielding structure comprises a wheel frame assembly 5, a lateral yielding limiting rod 27, a side support base 21, a lateral yielding slider 24 and a lateral adjusting spring 28; The wheel frame assembly 5 is used as the fixed end of the transverse elastic yielding structure, and is fixedly mounted on the frame assembly 1. A transverse yielding slide rail 25 is provided on the wheel frame assembly 5 parallel to the traveling direction. The axis of the transverse yielding limit rod 27 is arranged along the traveling direction, and one end of the transverse yielding limit rod 27 is fixedly mounted on the fixed end of the vertical elastic yielding structure in the middle shaft driving wheel. The lateral yielding slider 24, the side bracket base 21 and the fixed end of the vertical elastic yielding structure in the side moving wheel are installed and fixed one by one; each lateral yielding slider 24 is slidably mounted in the lateral yielding slide rail 25, and forms a sliding pair parallel to the travel direction with the wheel frame assembly 5; each side bracket base 21 is slidably mounted on the lateral yielding limit rod 27, and forms a sliding pair parallel to the travel direction with the lateral yielding limit rod 27; A lateral adjustment spring 28 sleeved on a lateral yielding limit rod 27 is axially pressed between the fixed end of the vertical elastic yielding structure in the central shaft driving wheel and the adjacent side bracket base 21 and between two adjacent side bracket bases 21 .

[0030] Preferably, one end of the guide wheel limiting rod 10 away from the fixed end of the lateral elastic yielding structure and one end of the lateral yielding limiting rod 27 away from the fixed end of the vertical elastic yielding structure in the central shaft driving wheel radially protrude outward to form a limiting edge.

[0031] The limit position along which the relative sliding between the guide wheel bracket 9 and the guide wheel limit rod 10 or between the side bracket base 21 and the lateral yield limit rod 27 is limited prevents the guide wheel bracket 9 or the side bracket base 21 from slipping off the guide wheel limit rod 10 or the lateral yield limit rod 27.

[0032] Preferably, the outer edge of the guide wheel limit rod 10 bulges outward to form a key structure, and the guide wheel bracket 9 is sleeved onto the guide wheel limit rod 10 through a through hole with a key structure correspondingly opened thereon, so that a sliding pair that only supports axial relative sliding is formed therebetween.

[0033] Preferably, a guide wheel skin 12 is detachably mounted and fixed on the outer edge of the guide wheel 11.

[0034] The outer edge of the guide wheel 11 adopts a detachable guide wheel skin 12 so that the type of the guide wheel skin 12 can be changed according to actual needs. For example, when greater grip is required, a spiked guide wheel skin 12 can be selected, thereby improving the adaptability of the crawler vehicle to different terrains. In addition, the provision of the detachable guide wheel skin 12 allows the guide wheel skin to replace the guide wheel 11 as a consumable part to cope with the wear of the guide wheel 11 during the use of the tracked vehicle, thereby reducing the maintenance cost and difficulty of the tracked vehicle and improving the convenience of tracked vehicle maintenance.

[0035] Preferably, the guide wheel structures are arranged in pairs and are respectively installed at both ends of the fixed ends of the transverse elastic yielding structure.

[0036] Preferably, at least any one of the track wheels 20 serves as a driving wheel, and its corresponding track wheel shaft is connected to the driving machine shaft.

[0037] Preferably, it also includes a guide wheel spring limit ring 8, a lateral adjustment spring limiter 22 and a wheel position adjustment spring limit block 19; The guide wheel spring limiting ring sleeve 8, the lateral adjustment spring limiter 22 and the wheel position adjustment spring limiting block 19 are respectively mounted on the guide wheel limiting rod 10, the lateral yielding limiting rod 27 and the moving wheel sliding rod 16, and are respectively connected and fixed to the ends of the guide wheel spring 30, the lateral adjustment spring 28 and the wheel position adjustment spring 17.

[0038] The guide wheel spring limit ring 8, the lateral adjustment spring limiter 22 and the wheel position adjustment spring limit block 19 serve to fix the ends of the guide wheel spring 30, the lateral adjustment spring 28 and the wheel position adjustment spring 17.

[0039] When in use, the working process of the above crawler vehicle passing through the stairs is as follows: Step 1: The crawler vehicle is placed in front of the step in a basically horizontal state, and the forward side of the crawler vehicle is adjusted to a certain degree of upward posture by changing the weight on one side of the crawler vehicle; At this time, each wheel position adjusting spring 17 is in a certain compression state under the action of the crawler vehicle's own weight or load.

[0040] Step 2: The crawler vehicle moves forward until the guide wheel 11 reaches the side of the step: If the guide wheel 11 is equal to or higher than the height of the upper surface of the step, proceed directly to step 4; If the guide wheel 11 is lower than the height of the upper surface of the step, the guide wheel 11 will immediately contact and press the side of the step, and under the push of the forward movement of the crawler vehicle, it will roll upward along the side of the step in an upturned posture; Subsequently, the wheel frame assembly 5 moves up with the front side tilted upward, driving the side bracket base 21 located on the front side to move upward, and the vertical elastic yielding structure in the side moving wheel corresponding to the side bracket base 21 is adjusted to yield, and the moving wheel slide rod 16 and the wheel position adjusting spring 17 work together to make the side moving wheel in the allowable yielding range. The supporting force provided by the wheel position adjusting spring 17 enables the track wheel 20 to maintain its original contact position with the ground, so as to ensure that the contact area between the track 29 and the ground is as large as possible, providing as much friction as possible.

[0041] Step 3: If the guide wheel 11 has not reached the upper surface of the step, and the driving wheel bracket 15 and the driving wheel slide rod 16 in the frontmost driving wheel structure move to the extreme relative position, exhausting the yielding property of the vertical elastic yielding structure in the driving wheel structure, the track wheel 20 in the driving wheel structure will be separated from the contact with the ground upward, and the track wheel 20 that has not yet separated from the ground still maintains contact with the ground with the largest possible contact area, providing a sufficiently large friction force to the crawler vehicle; The vertical elastic yielding structures in each moving wheel structure consume the vertical elastic yielding property in sequence from front to back, and after the yielding property is exhausted, they are separated from the ground in sequence until the guide wheel 11 reaches the upper surface of the step; If the guide wheel 11 reaches the upper surface of the step before the moving wheel bracket 15 and the moving wheel slide bar 16 in the moving wheel structure located at the front side have not moved to the relative limit position, step 4 is directly performed.

[0042] Step 4: The guide wheel 11 rolls along the upper surface of the step until the track wheel 20 located at the front side reaches the side of the step, and then the track wheel 20 rolls upward along the side of the step, and the guide wheel 11 leaves the upper surface of the step until the track wheel 20 reaches the upper surface of the step and continues to roll forward along the upper surface of the step; At the same time, in each of the rear driving wheel structures, the track wheels 20 sequentially and preferentially consume their vertical elastic yielding properties, so as to maintain contact with the ground as much as possible before reaching the side of the step, and after their own vertical elastic yielding properties are exhausted, they break away from the ground upward, relying on the remaining rear driving wheel structures to provide sufficient friction until each track wheel 20 reaches the upper surface of the step in turn and the tracked vehicle passes the step.

[0043] During the above steps 2 to 4, In the above process, the lateral elastic yielding structure provides lateral elastic yielding to each driving wheel structure, so that the lateral position of each driving wheel structure is movable, avoiding the fixed-length track 29 from getting stuck in the track wheel 20, and solving the problem of the track 29 morphology change causing the track wheel 20 to be limited.

[0044] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0045] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A step-type crawler vehicle with passive self-adjusting ground contact area, wherein a frame assembly (1) is mounted and fixed to a frame of the crawler vehicle as a frame, and track wheel structures are symmetrically arranged in pairs on both sides of the frame assembly (1), characterized in that: It also includes a transverse elastic yielding structure and a guide wheel structure; the fixed end of the transverse elastic yielding structure is fixedly mounted on the frame assembly (1), and the output end outputs a yielding linear sliding parallel to the travel direction of the track wheel structure; The guide wheel structure comprises a guide wheel limiting rod (10), a guide wheel spring (30) and a guide wheel (11); the guide wheel limiting rod (10) is fixed to the fixed end of the transverse elastic yielding structure with its axis parallel to the traveling direction, and a guide wheel bracket (9) is sleeved on the guide wheel limiting rod (10) and slides only along the axial direction of the guide wheel limiting rod (10); the guide wheel spring (30) is located between the fixed end of the transverse elastic yielding structure and the guide wheel bracket (9), and is sleeved on the guide wheel limiting rod (10); the guide wheel (11) is rotatably mounted and connected to the guide wheel bracket (9); The track wheel structure comprises at least three groups of driving wheel structures and a track (29) arranged in sequence along the travel direction; The driving wheel structure comprises a vertical elastic yielding structure, a track wheel bracket (18), a track wheel shaft and a track wheel (20), wherein the vertical elastic yielding structure outputs a pair of vertical yielding linear slides; in each of the driving wheel structures, one or two groups located in the middle serve as central axis driving wheels, and the fixed ends of their vertical elastic yielding structures are fixedly mounted on the frame assembly (1); the remaining driving wheel structures serve as side driving wheels, and the fixed ends of their vertical elastic yielding structures are fixedly mounted on the output ends of the lateral elastic yielding structures; the pair of output ends of each of the vertical elastic yielding structures are rotatably mounted and connected to the track wheel (20) via the track wheel bracket (18) and the track wheel shaft respectively; The axes of the track wheels (20) and the guide wheels (11) are arranged in parallel, and the track (29) is tensioned and wound around the track wheels (20).

2. The step-type crawler vehicle with passive self-adjusting ground contact area according to claim 1, characterized in that: The vertical elastic yielding structure comprises a moving wheel bracket (15), a moving wheel slide bar (16) and a wheel position adjusting spring (17); the moving wheel bracket (15) serves as a fixed end of the vertical elastic yielding structure and is fixedly mounted on the frame assembly (1) or the output end of the transverse elastic yielding structure; the axis of the moving wheel slide bar (16) is arranged in the vertical direction and penetrates the moving wheel bracket (15), and a sliding pair is formed between the two in the vertical direction; the wheel position adjusting spring (17) is located below the moving wheel bracket (15), sleeved on the moving wheel slide bar (16), and its top end is arranged tightly against the bottom end of the moving wheel bracket (15); the bottom end of the wheel position adjusting spring (17) and the top end of the moving wheel slide bar (16) respectively serve as a pair of output ends of the vertical elastic yielding structure, and are rotatably mounted and connected to the corresponding track wheel (20) through the track wheel bracket (18) and the track wheel shaft.

3. The step-type crawler vehicle with passive self-adjusting ground contact area according to claim 2, characterized in that: The transverse elastic yielding structure comprises a wheel frame assembly (5), a transverse yielding limiting rod (27), a side support base (21), a transverse yielding sliding block (24) and a transverse adjusting spring (28); The wheel frame assembly (5) serves as the fixed end of the transverse elastic yielding structure, and is fixedly mounted on the vehicle frame assembly (1), and a transverse yielding slide rail (25) is provided on the wheel frame assembly in parallel with the travel direction; the axis of the transverse yielding limit rod (27) is arranged along the travel direction, and one end of the transverse yielding limit rod (27) is fixedly mounted on the fixed end of the vertical elastic yielding structure in the middle shaft driving wheel; The lateral yielding slide block (24), the side bracket base (21) and the fixed end of the vertical elastic yielding structure in the side moving wheel are installed and fixed in a one-to-one correspondence; each of the lateral yielding slide blocks (24) is respectively slidably mounted in the lateral yielding slide rail (25), and forms a sliding pair parallel to the travel direction with the wheel frame assembly (5); each of the side bracket bases (21) is respectively slidably mounted on the lateral yielding limit rod (27), and forms a sliding pair parallel to the travel direction with the lateral yielding limit rod (27); The lateral adjustment spring (28) sleeved on the lateral yielding limit rod (27) is axially pressed between the fixed end of the vertical elastic yielding structure in the central shaft driving wheel and the adjacent side bracket base (21) and between two adjacent side bracket bases (21).

4. A step-type crawler vehicle with passive self-adjusting ground contact area according to any one of claim 3, characterized in that: One end of the guide wheel limiting rod (10) away from the fixed end of the transverse elastic yielding structure and one end of the transverse yielding limiting rod (27) away from the fixed end of the vertical elastic yielding structure in the central shaft driving wheel are radially protruded to form a limiting edge.

5. A step-type crawler vehicle with passive self-adjusting ground contact area according to any one of claims 1 to 3, characterized in that: The outer edge of the guide wheel limit rod (10) is convex to form a key structure, and the guide wheel bracket (9) is sleeved onto the guide wheel limit rod (10) through a through hole with a key structure correspondingly provided thereon, so that a sliding pair that only supports axial relative sliding is formed between the two.

6. A step-type crawler vehicle with passive self-adjusting ground contact area according to any one of claims 1 to 3, characterized in that: The outer edge of the guide wheel (11) is detachably sleeved and fixed with a guide wheel skin (12).

7. The step-type crawler vehicle with passive self-adjusting ground contact area according to claim 1, characterized in that: The guide wheel structures are arranged in pairs and are respectively installed at both ends of the fixed ends of the transverse elastic yielding structure.

8. The step-type crawler vehicle with passive self-adjusting ground contact area according to claim 1, characterized in that: At least any one of the track wheels (20) serves as a driving wheel, and the corresponding track wheel shaft is connected to the drive machine shaft.

9. The step-type crawler vehicle with passive self-adjusting ground contact area according to claim 1, characterized in that: It also includes a guide wheel spring stop ring (8), a lateral adjustment spring stopper (22) and a wheel position adjustment spring stopper (19); The guide wheel spring limiting ring sleeve (8), the lateral adjustment spring limiter (22) and the wheel position adjustment spring limiting block (19) are respectively sleeved on the guide wheel limiting rod (10), the lateral yielding limiting rod (27) and the moving wheel sliding rod (16), and are respectively connected and fixed to the ends of the guide wheel spring (30), the lateral adjustment spring (28) and the wheel position adjustment spring (17).

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