A stepped tracked vehicle with passive self-adjusting ground contact area

Abstract

The present invention discloses a stepped crawler vehicle with a passive self-adjusting contact area with the ground, which relates to the technical field of transportation equipment. The crawler wheel structures with vertical elastic yielding properties are symmetrically arranged in pairs on both sides of the frame assembly, 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, and the output end provides a yielding linear sliding parallel to the travel direction of the crawler wheel structure to the interior of the crawler wheel structure. In the crawler wheel structure of the present invention, part of the driving wheel structure is mounted and connected to the frame assembly through the transverse elastic yielding structure, and the track wheels in the driving wheel structure are mounted and connected to the track wheel bracket through the vertical elastic yielding structure, providing each track wheel with transverse and vertical elastic yielding properties, 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 contact area between the crawler and the support surface as large as possible, and thereby enhance the crawler vehicle's ability to pass and adapt to special terrain.

Description

Technical Field

[0001] The present invention relates to the technical field of transportation 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 for propulsion and support. Compared to tires, tracks provide a larger contact area with the ground, helping to distribute the vehicle's weight and reduce the risk of the vehicle sinking or getting stuck. This gives tracked vehicles excellent traction and adaptability in specific environments, such as mud, snow, sand, and other soft and irregular terrain. Furthermore, tracked vehicles offer greater grip and improved driving stability on extreme terrain, such as steep slopes and sideways inclines. Consequently, tracked vehicles are widely used in military, construction, mining, and polar exploration applications. Tracked vehicles may be equipped with computer-assisted suspension systems that adjust track tension and vehicle suspension rigidity in real time to adapt to varying terrain conditions. Hybrid and electric tracked vehicles are also under research and development, aiming to improve efficiency and reduce dependence on fossil fuels.

[0003] In the existing technology, the tracks and power wheels of tracked vehicles mostly adopt fixed structures or slightly movable structures, and are unable to adjust their own 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 cannot provide sufficient friction with the ground to propel the vehicle forward. In certain circumstances such as when the vehicle is heavy or the load is heavy, it is easy to slip or fall back.

[0004] Through prior art search, the following known technical solutions exist:

[0005] Prior Art 1: Wheel-track composite deformable mobile robot with adaptive capabilities

[0006] Application number: CN201010219515.2, application date: 2010.07.07, publication (announcement) date: 2012.01.11.

[0007] Prior art 1 discloses a wheel-track composite deformable mobile robot with adaptive capabilities, comprising a control box, two wheel-track composite mobile modules mounted on either side of the control box 1, and a tail wheel mechanism mounted at the rear end of the control box. The wheel-track composite mobile module comprises a crawler mobile device and a motion wheel device disposed outside the crawler mobile device. A crawler drive device is symmetrically arranged within the control box, wherein the output shaft extends out of the control box and is provided with a first gear that is mated and connected to a second gear on the crawler mobile device. The present invention can move on flat hard surfaces in a wheeled motion mode, and can also travel on rough, steep, and rugged complex terrain in a crawler motion mode. It can move efficiently on different complex terrains in a reasonable motion mode. The geometry of its tracks can be automatically adjusted according to the shape and size of the obstacles encountered, and has strong adaptability to complex terrains.

[0008] However, prior art 1 does not have passability for steps, especially higher steps that exceed the diameter of its wheels or crawler tracks.

[0009] Prior Art 2: A High-Performance Adaptive Track Chassis Device

[0010] Application number: CN201921273506.4, application date: 2019.08.06, publication (announcement) date: 2020.04.07.

[0011] Prior art 2 relates to a high-performance adaptive crawler chassis device, including a crawler chassis, a shock absorber system, crawlers, a shock-absorbing adaptive adjustment component, a power transmission component, and a drive component. The shock absorber system is arranged on the outside of the side support plate, the shock absorber system is connected to the crawler track, the shock absorber 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 to the crawler chassis, one end of the shock absorber adaptive adjustment component is fixed to the upper support plate, and the other end is connected to the side support plate. By combining the shock absorber adaptive adjustment component with a reciprocating adjustment mechanism and a telescopic hydraulic rod structure, the left and right vertical angle adjustment of the shock absorber system relative to the mobile platform body is achieved, thereby achieving obstacle crossing on "∨"-shaped, "∧"-shaped ramps or other complex ground surfaces. The power transmission component under variable angles achieves continuous power output when the left and right angle adjustment of the shock absorber system relative to the mobile platform body is achieved.

[0012] However, the existing technology 2 is mainly applicable to V-shaped and inverted V-shaped obstacles and does not have the ability to pass step-shaped obstacles.

[0013] Through the above search, it is found that the above technical solutions do not affect the novelty of the present invention; and the combination of the above prior arts does not destroy the creativity of the present invention. Summary of the Invention

[0014] In order to avoid the above-mentioned deficiencies in the prior art, the present invention provides a stepped tracked vehicle with a passive self-adjusting ground contact area.

[0015] The present invention adopts the following technical solution to solve the technical problem: a stepped crawler vehicle with passive self-adjusting ground contact area, wherein a frame assembly is fixedly mounted on the frame of the crawler vehicle as a frame, track wheel structures are symmetrically arranged in pairs on both sides of the frame assembly, and further comprises a transverse elastic yielding structure and a guide wheel structure; a fixed end of the transverse elastic yielding structure is fixedly mounted on the frame assembly, and an output end outputs a yielding linear sliding parallel to the travel direction of the track wheel structure;

[0016] The guide wheel structure includes 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 travel direction, and a guide wheel bracket is sleeved on the guide wheel limiting rod and slides only along the axial direction of the guide wheel limiting rod; the guide wheel spring is located between the fixed end of the transverse elastic yielding structure and the guide wheel bracket, and is sleeved on the guide wheel limiting rod; the guide wheel is rotatably mounted and connected to the guide wheel bracket;

[0017] The crawler wheel structure includes at least three groups of driving wheel structures and crawlers arranged in sequence along the travel direction;

[0018] The driving wheel structure includes 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; 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 installed with the frame assembly, and the remaining driving wheel structures serve 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 connected to the track wheel through the track wheel bracket and the track wheel shaft respectively;

[0019] 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.

[0020] Furthermore, the vertical elastic yield 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 yield structure, and is installed and fixed to the frame assembly or the output end of the lateral elastic yield structure; the axis of the moving wheel slide is arranged in the vertical direction, passing through the moving wheel bracket, and a sliding pair is formed between the two in 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 yield structure, and are rotatably installed and connected to the corresponding track wheel through the track wheel bracket and the track wheel shaft.

[0021] Furthermore, the lateral elastic yielding structure includes a wheel frame assembly, a lateral yielding limiting rod, a side bracket base, a lateral yielding slider and a lateral adjustment spring;

[0022] The wheel frame assembly serves as the fixed end of the transverse elastic yielding structure and is fixedly mounted on the vehicle frame assembly. A transverse yielding slide rail is provided on the wheel frame assembly in parallel with 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 central shaft driving wheel.

[0023] 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 mounted on the lateral yielding limit rod, and forms a sliding pair parallel to the travel direction with the lateral yielding limit rod;

[0024] 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.

[0025] 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 are radially protruded to form a limiting edge.

[0026] Furthermore, the outer edge of the guide wheel limit rod is convex to form a key structure, and the guide wheel bracket is fitted onto the guide wheel limit rod through a corresponding through hole with a key structure opened thereon, so that a sliding pair that only supports axial relative sliding is formed between the two.

[0027] Furthermore, the outer edge of the guide wheel is detachably sleeved and fixed with a guide wheel skin.

[0028] 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.

[0029] 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.

[0030] Furthermore, it also includes a guide wheel spring limiting ring, a lateral adjustment spring limiter and a wheel position adjustment spring limiting block;

[0031] The guide wheel spring limiting ring, 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.

[0032] The present invention provides a stepped crawler vehicle with passive self-adjustment of ground contact area, which has the following beneficial effects:

[0033] 1. In the track 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 track wheels in the driving wheel structure are installed and connected to the track wheel bracket through a vertical elastic yielding structure, providing each track wheel with lateral and vertical elastic yielding properties, so that the crawler can passively and adaptively adjust its shape according to the terrain during the travel of the crawler vehicle, maintaining the largest possible contact area between the crawler and the supporting surface, thereby enhancing the crawler vehicle's ability to pass and adapt to special terrains.

[0034] 2. The lateral elastic yielding structure and the vertical elastic yielding structure of the present invention work in coordination, and can better provide the tension required to support the crawler or relieve the tightening force generated by the crawler during the process of crawler shape change.

[0035] 3. The present invention can increase the load 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 provide high friction when 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

[0036] Figure 1 It is a structural schematic diagram of the present invention;

[0037] Figure 2 This is a structural schematic diagram of the crawler wheel structure, the lateral elastic yielding structure and the guide wheel structure on one side of the present invention;

[0038] Figure 3 It is a structural schematic diagram of the guide wheel structure of the present invention.

[0039] In the picture:

[0040] 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 give way slider, 25. Lateral give way slide rail, 27. Lateral give way limit rod, 28. Lateral adjustment spring, 29. Track, 30. Guide wheel spring. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] A step-type tracked vehicle with passive self-adjusting ground contact area, such as Figures 1 to 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 track wheel structures are symmetrically arranged on both sides of the frame assembly 1, 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 travel direction of the track wheel structure;

[0043] The guide wheel structure includes a guide wheel limit rod 10, a guide wheel spring 30, and a guide wheel 11. The guide wheel limit rod 10 is fixed to the fixed end of the transverse elastic yield structure with its axis parallel to the direction of travel. A guide wheel bracket 9 is mounted on the guide wheel limit rod 10 and slides only along the axial direction of the guide wheel limit rod 10. The guide wheel spring 30 is located between the fixed end of the transverse elastic yield structure and the guide wheel bracket 9 and is mounted on the guide wheel limit rod 10. The guide wheel 11 is rotatably connected to the guide wheel bracket 9.

[0044] The crawler wheel structure includes at least three sets of driving wheel structures and crawler belts 29 arranged in sequence along the travel direction;

[0045] The driving wheel structure includes a vertical elastic yielding structure, a track wheel bracket 18, a track wheel shaft and a track wheel 20. The vertical elastic yielding structure outputs a pair of vertical yielding linear sliding. Among each driving wheel structure, one or two groups located in the middle serve as the central axis driving wheel, and the fixed end of its vertical elastic yielding structure is fixedly installed with the frame assembly 1. The remaining driving wheel structures serve as side driving wheels, and the fixed end of its vertical elastic yielding structure is fixedly installed with the output end of the lateral elastic yielding structure. A pair of output ends of each vertical elastic yielding structure are respectively rotatably connected to the track wheel 20 through the track wheel bracket 18 and the track wheel shaft.

[0046] 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 .

[0047] Preferably, the vertical elastic yielding structure includes a moving wheel bracket 15, a moving wheel slide 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 fixed to the frame assembly 1 or the output end of the lateral elastic yielding structure; the axis of the moving wheel slide 16 is arranged in the vertical direction and passes 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, is sleeved on the moving wheel slide 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 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.

[0048] Preferably, the lateral elastic yielding structure includes a wheel frame assembly 5, a lateral yielding limiting rod 27, a side bracket base 21, a lateral yielding slider 24 and a lateral adjustment spring 28;

[0049] The wheel frame assembly 5 serves as the fixed end of the transverse elastic yielding structure and is fixed to the vehicle frame assembly 1. A transverse yielding slide rail 25 is provided on the wheel frame assembly 5 parallel to the direction of travel. The axis of the transverse yielding limit rod 27 is arranged along the direction of travel, and one end of the transverse yielding limit rod 27 is fixed to the fixed end of the vertical elastic yielding structure in the middle shaft driving wheel.

[0050] The lateral yielding sliders 24, the side bracket bases 21, and the fixed ends of the vertical elastic yielding structures in the side moving wheels are fixed and mounted in a one-to-one correspondence; each lateral yielding slider 24 is slidably mounted in the lateral yielding slide rails 25, forming a sliding pair parallel to the direction of travel with the wheel frame assembly 5; each side bracket base 21 is slidably mounted on the lateral yielding limit rods 27, forming a sliding pair parallel to the direction of travel with the lateral yielding limit rods 27;

[0051] A lateral adjustment spring 28 sleeved on a lateral yielding limit rod 27 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 21 and between two adjacent side bracket bases 21.

[0052] 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 are radially protruded to form a limiting edge.

[0053] 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 give-way 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 give-way limit rod 27.

[0054] 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 fitted onto the guide wheel limit rod 10 through a corresponding through hole with a key structure opened thereon, so that a sliding pair that only supports axial relative sliding is formed between the two.

[0055] Preferably, a guide wheel skin 12 is detachably mounted and fixed on the outer edge of the guide wheel 11 .

[0056] 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.

[0057] 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, reducing the maintenance cost and difficulty of the tracked vehicle and improving the convenience of tracked vehicle maintenance.

[0058] 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.

[0059] 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.

[0060] Preferably, it also includes a guide wheel spring limiting ring 8, a lateral adjustment spring limiter 22 and a wheel position adjustment spring limiting block 19;

[0061] The guide wheel spring limiting ring 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 slide 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.

[0062] The guide wheel spring limiting ring 8, the lateral adjustment spring limiter 22 and the wheel position adjustment spring limiting 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.

[0063] When in use, the working process of the above crawler vehicle passing through the stairs is as follows:

[0064] Step 1: The crawler vehicle is placed in front of the step in a substantially horizontal state, and its forward side is adjusted to a certain degree of upward tilt by changing the load on one side of the crawler vehicle;

[0065] 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.

[0066] Step 2: The crawler vehicle moves forward until the guide wheel 11 reaches the side of the step:

[0067] 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;

[0068] 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;

[0069] Subsequently, the wheel frame assembly 5 moves up with the front side tilted upward, and the side bracket base 21 located on the front side is moved upward. In the side moving wheel corresponding to the side bracket base 21, the vertical elastic yielding structure is adjusted, and the moving wheel slide rod 16 and the wheel position adjusting spring 17 work together. Within the allowable yielding range, the support force provided by the wheel position adjusting spring 17 in the side moving wheel enables the track wheel 20 to maintain its original contact position, so as to ensure that the contact area between the track 29 and the ground is as large as possible, providing the greatest possible friction.

[0070] Step 3: If the guide wheel 11 has not yet 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 have moved 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 ground upward, and the track wheel 20 that has not yet been separated from the ground will still maintain contact with the ground with the largest possible contact area, providing a sufficiently large friction force to the crawler vehicle;

[0071] 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;

[0072] 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 frontmost moving wheel structure have not moved to the relative limit position, step 4 is directly performed.

[0073] 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;

[0074] At the same time, in each of the following driving wheel structures, the track wheels 20 consume their vertical elastic yielding properties in sequence in a manner that prioritizes them, and try to maintain contact with the ground as much as possible before reaching the side of the step. After their own vertical elastic yielding properties are exhausted, they move upward away from the ground, relying on the remaining driving wheel structures behind to provide sufficient friction until each track wheel 20 reaches the upper surface of the step in sequence and the tracked vehicle passes the step.

[0075] During the above steps 2 to 4,

[0076] In the above process, the lateral elastic yielding structure provides lateral elastic yielding to each driving wheel structure, making the lateral position of each driving wheel structure movable, avoiding the fixed-length track 29 from getting stuck in the track wheel 20, and solving the problem of the track 29 limiting the track wheel 20 due to the change in its shape.

[0077] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0078] 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 they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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 various 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 fixedly mounted on 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 traveling 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 crawler wheel structure comprises at least three groups of driving wheel structures and crawler tracks (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 sliding motions; 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 transverse 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 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 fixedly mounted on the frame assembly (1) or the output end of the transverse elastic yielding structure; the axis of the moving wheel slide rod (16) is arranged in the vertical direction and passes through the moving wheel bracket (15), and a sliding pair in the vertical direction is formed between the two; the wheel position adjusting spring (17) is located below the moving wheel bracket (15), is sleeved on the moving wheel slide rod (16), and its top end is tightly 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 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 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 adjustment 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). 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 slider (24), the side bracket base (21) and the fixed end of the vertical elastic yielding structure in the side moving wheel are fixed and installed in a one-to-one correspondence; each of the lateral yielding sliders (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 compressed between the fixed end of the vertical elastic yielding structure in the central axis driving wheel and the adjacent side bracket base (21), and between two adjacent side bracket bases (21).

4. A stepped 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 stepped 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 limiting rod (10) is convex to form a key structure, and the guide wheel bracket (9) is sleeved onto the guide wheel limiting 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 between the two.

6. A stepped 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 driving machine shaft.

9. The step-type crawler vehicle with passive self-adjusting ground contact area according to claim 3, characterized in that: It also includes a guide wheel spring limiting ring (8), a lateral adjustment spring limiter (22) and a wheel position adjustment spring limiting block (19); The guide wheel spring limiting ring (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 slide 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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