Modularized crawler-type power chassis

Abstract

The invention relates to a modular crawler-type power chassis which comprises a frame body and crawler mechanisms arranged on the two sides of the frame body, an external connection mechanism detachably connected to various agricultural implements is arranged on one side of the frame body, and the length of the external connection mechanism can be changed so that the angle of the agricultural implements can be adjusted. A driving mechanism assembly body used for driving the crawler belt mechanism to walk is arranged in the frame body, and one side of the driving mechanism assembly body is further in transmission connection with a transmission mechanism used for driving the agricultural implement to work; when the position of the agricultural implement needs to be adjusted, the external mechanism can push the agricultural implement to change the angle of the agricultural implement, and then the driving mechanism assembly is matched to drive the transmission mechanism to rotate, so that various matched agricultural implements not only can adjust the angle but also can work, and are not simply dragged; and other different agricultural implements can be subsequently purchased according to requirements, so that the adaptive modular function of the agricultural implements is realized, and convenience is brought to a user during use.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural vehicles, and in particular to a modular crawler-type power chassis. Background Art

[0002] Crawler agricultural vehicles are a type of transport vehicle designed specifically for agricultural operations. They exert low pressure per unit area on the soil, have good adhesion to the soil, are not easy to slip, have good passing performance in wet and soft soils, and have high traction efficiency. The design of the crawler chassis enables them to adapt to different types of terrain, including wetlands, steep slopes, and irregularly shaped farmlands. Crawler agricultural vehicles are suitable for deep tillage operations in paddy fields, wet land, and dry fields. They not only perform precise operations in farmland, such as sowing, fertilizing, and spraying pesticides, but also maintain high-precision navigation and efficient and safe production operations in complex field environments or greenhouses full of obstacles.

[0003] The authorization announcement number is CN109795567B, which discloses a crawler self-propelled dual-power universal platform. Combined with its specification and drawings, the middle part of the rear end of its frame is equipped with a conventional three-point hitch system for connecting with various machines and implements. The front end of the machine can be integrated with any vegetable harvesting header, and the rear end can be equipped with a three-point hitch system, an integrated tillage device, and a three-point hitch system. However, its solution firstly, the three-point hitch system simply hitches the matching machines or agricultural implements, which has limitations when used for some machines or agricultural implements that need to adjust the angle, and the fuel engine only transmits power to the drive wheel at the rear end of the crawler through various gearboxes or generates electricity for the lithium battery. At this time, the adjustment of the running speed of the matching agricultural implements or machines on the three-point hitch system is also limited. Summary of the invention

[0004] The present invention mainly aims at the problems existing in the operation of the chassis of tracked vehicles, and invents a modular crawler-type power chassis. When the position of the agricultural machinery needs to be adjusted, the telescopic shaft of the electric push rod will extend and push the agricultural machinery. The top or the middle part of the agricultural machinery plays a supporting and guiding role to change the angle of the agricultural machinery. Then, the second transmission shaft is driven by the engine to rotate, so that various matching agricultural machinery can not only adjust the angle but also work, instead of simple towing. Therefore, the user only needs to purchase one such crawler-type power chassis and can subsequently purchase other different agricultural machinery according to needs, thus realizing the modular function of agricultural machinery adaptation.

[0005] The inventive objective of the present invention is achieved through the following technical solutions: a modular crawler power chassis, comprising a frame body, crawler mechanisms arranged on both sides of the frame body, one side of the frame body is provided with an external mechanism that can be detachably connected to various agricultural machinery and implements, the external mechanism can change its length to adjust the angle of the agricultural machinery and implement, the interior of the frame body is provided with a drive mechanism assembly for driving the crawler mechanism to move, one side of the drive mechanism assembly is also transmission-connected with a transmission mechanism for driving the agricultural machinery and implement to work, the other side of the frame body is provided with an energy storage mechanism for storing electrical energy, the drive mechanism assembly includes a first drive mechanism and a second drive mechanism, the first drive mechanism is arranged inside the frame body and is used to drive the crawler mechanism to move, the electricity used by the first drive mechanism is obtained through the energy storage mechanism, and the second drive mechanism is arranged on the surface of the frame body and can replenish the energy storage mechanism while generating driving force for the transmission mechanism.

[0006] Preferably, each of the track mechanisms comprises a track support plate, a track driving wheel, a driven wheel support frame, a track driven wheel and a first track, wherein the track support plate is connected to the side of the frame body, both ends of the track support plate are rotatably connected to the track driving wheels, a driven wheel support frame is also provided in the middle of the track support plate, a plurality of track driven wheels are connected to the driven wheel support frame, and the first track is connected to the surface of the track driving wheel and the track driven wheel.

[0007] Preferably, the track driven wheel is hingedly connected to the driven wheel support frame, and a metal spring is provided between the track driven wheel and the driven wheel support frame. The angle change of the track driven wheel will cause the metal spring to deform. This setting is to enable the first track to have a certain shock-absorbing function.

[0008] Preferably, each of the first driving mechanisms includes a first driving motor, a first transmission wheel and a first transmission belt, at least one of the track driving wheels is provided with a track driving wheel on one side, a first transmission wheel is provided at the end of the rotating shaft of the first driving motor, and a first transmission belt is provided between the first transmission wheel and the track driving wheel.

[0009] Preferably, the external mechanism includes an articulated support plate, a push rod support block and an electric push rod. Several articulated support plates and push rod support blocks are arranged on one side of the frame body close to the transmission mechanism. The electric push rod is hingedly connected to the inside of the push rod support block. The surface of the electric push rod is also provided with a hinged end. The external agricultural machinery is hingedly connected to the articulated support plate and the articulated end of the electric push rod. This arrangement is to achieve angle control of the external agricultural machinery.

[0010] Preferably, the second driving mechanism comprises an engine, a second transmission wheel, a third transmission wheel, a second transmission belt and a third transmission belt, the engine is connected to the surface of the frame body, the second transmission wheel and the third transmission wheel are provided at the end of the rotating shaft of the engine, the second transmission wheel is connected to the transmission mechanism through the second transmission belt, and the third transmission wheel is connected to the energy storage mechanism through the third transmission belt.

[0011] Preferably, the energy storage mechanism includes a first generator, a fourth transmission wheel and a power battery pack, the first generator and the power battery pack are arranged on the surface of the frame body, a fourth transmission wheel is provided at the end of the first generator, the second transmission belt is connected to the fourth transmission wheel, and the first generator is electrically connected to the power battery pack.

[0012] Preferably, the transmission mechanism includes a first transmission shaft, a fifth transmission wheel, a first cross support frame, a second transmission shaft, a second cross support frame and a third transmission shaft, a fifth transmission wheel is provided at one end of the first transmission shaft, the second transmission belt is connected to the fifth transmission wheel, the other end of the first transmission shaft is hingedly connected to the upper and lower ends of the first cross support frame, the left and right ends of the first cross support frame are connected to one end of the second transmission shaft, the other end of the second transmission shaft is hingedly connected to the left and right ends of the second cross support frame, the upper and lower ends of the second cross support frame are hingedly connected to one end of the third transmission shaft, the other end of the third transmission shaft is connected to the inside of the external agricultural machinery, the second transmission shaft does not interfere with each other when rotating up and down relative to the first cross support frame, and the third transmission shaft does not interfere with each other when rotating left and right relative to the second cross support frame.

[0013] Preferably, a removable tension wheel support plate is provided on the surface of the frame body, and a first tension wheel is connected to the tension wheel support plate via a tension wheel roller. The first tension wheel is attached to the surface of the second transmission belt. This arrangement is to prevent the second transmission belt from slipping with the second transmission wheel or the third transmission wheel when the second transmission belt moves.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. When the position of the agricultural machinery needs to be adjusted, the telescopic shaft of the electric push rod will extend out and push the agricultural machinery. The top or middle part of the agricultural machinery plays a supporting and guiding role, so that the angle of the agricultural machinery changes, and then cooperates with the engine to drive the second transmission shaft to rotate, so that the various supporting agricultural machinery can not only adjust the angle but also work, not simply towing, then the user only needs to buy one such crawler power chassis and can subsequently purchase other different agricultural machinery according to needs, thereby realizing the modular function of agricultural machinery adaptation and bringing convenience to users when using; 2. For external agricultural machinery, the transmission position or height or width is different, then when the third transmission shaft is installed inside the agricultural machinery, the third transmission shaft can be rotated left and right relative to the second cross support frame to adjust the position. Under this premise, the second transmission shaft can also be used to rotate up and down relative to the first cross support frame to adjust the position. This adjustment makes the third transmission shaft at the final end The driving shaft can realize multi-angle adjustment up, down, left and right, which brings convenience to users during installation; 3. Since the second transmission wheel and the third transmission wheel are installed at the end of the engine's rotating shaft, the engine can drive the first generator to work while driving the second transmission shaft to rotate, so that the engine has higher working efficiency, improves the integrated layout of the entire crawler power chassis, and realizes the most functions in the smallest space; 4. Since the second transmission belt is the key component for driving the entire transmission mechanism to rotate, the torque demand of the transmission mechanism will also be higher. Therefore, the first tensioning wheel can prevent slipping between the second transmission belt and the fifth transmission wheel, thereby increasing the transmission efficiency and bringing convenience to the entire crawler chassis during operation; 5. When encountering potholes or crushing small stones, the reaction force received by the first crawler will be transmitted to several crawler driven wheels. The crawler driven wheels will offset this part of the force under the deformation of the metal spring and gradually return to their original position, which has a shock-absorbing effect, making the entire crawler chassis more stable during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A perspective view of the present invention; Figure 2 It is a partial stereogram of the present invention; Figure 3 It is a partial stereogram of the present invention; Figure 4 A perspective view of the present invention; Figure 5 It is a partial stereogram of the present invention; Figure 6 A perspective view of the present invention; Figure 7 For the present invention Figure 6 A partial enlarged view of area A.

[0016] Markings in the figure: 1. Frame body; 2. External mechanism; 21. Articulated support plate; 22. Push rod support block; 23. Electric push rod; 3. Track mechanism; 31. Track support plate; 32. Track driving wheel; 33. Driven wheel support frame; 34. Track driven wheel; 35. Metal spring; 36. Track driving wheel; 37. First track; 4. Energy storage mechanism; 41. First generator; 42. Fourth driving wheel; 43. Power battery pack; 5. First driving mechanism; 51. The first driving motor; 52, the first transmission wheel; 53, the first transmission belt; 6, the second driving mechanism; 61, the engine; 62, the second transmission wheel; 63, the third transmission wheel; 64, the second transmission belt; 65, the third transmission belt; 7, the transmission mechanism; 71, the first transmission shaft; 72, the fifth transmission wheel; 73, the first cross support frame; 74, the second transmission shaft; 75, the second cross support frame; 76, the third transmission shaft; 81, the tensioning wheel support plate; 82, the first tensioning wheel. DETAILED DESCRIPTION

[0017] like Figure 1 to Figure 2 As shown, a modular crawler power chassis includes a frame body 1, which is composed of a plurality of aluminum alloy profiles fixedly connected to each other, and a crawler mechanism 3 arranged on both sides of the frame body 1. Specifically, each of the crawler mechanisms 3 includes a crawler support plate 31, a crawler driving wheel 32, a driven wheel support frame 33, a crawler driven wheel 34 and a first crawler 37. The crawler support plate 31 is connected to the side of the frame body 1, and the two ends of the crawler support plate 31 are rotatably connected to the crawler driving wheel 32. A driven wheel support frame 33 is also provided in the middle of the crawler support plate 31, and a plurality of crawler driven wheels 34 are connected to the driven wheel support frame 33. The first crawler 37 is connected to the surface of the crawler driving wheel 32 and the crawler driven wheel 34. The crawler driven wheel 34 is hingedly connected to the driven wheel support frame 33. A metal spring 35 is also provided between the driven wheel support frames 33. The angle change of the track driven wheel 34 will cause the metal spring 35 to deform. After this arrangement, a number of track driven wheels 34 will tension the entire first track 37 under the elastic force of the metal spring 35, and the track driving wheel 32 can drive the first track 37 to start reciprocating motion. When the first track 37 is used in a farmland scene, the large contact area can avoid damaging the farmland ground. During the movement of the first track 37, the track driven wheel 34 plays a supporting and guiding role for the flat ground. When encountering a pothole or pressing a small stone, the reaction force received by the first track 37 will be transmitted to a number of track driven wheels 34, and the track driven wheel 34 will offset this part of the force under the deformation of the metal spring 35 and gradually return to its original position, which has a shock-absorbing effect, making the entire track chassis more stable during operation.

[0018] In this embodiment, please continue to refer to Figure 3 to Figure 4As shown, a driving mechanism assembly for driving the crawler mechanism 3 to move is provided inside the frame body 1, and one side of the driving mechanism assembly can also be connected to a transmission mechanism 7 for driving the agricultural machinery to work, wherein the driving mechanism assembly includes a first driving mechanism 5 and a second driving mechanism 6, the first driving mechanism 5 is arranged inside the frame body 1 and is used to drive the crawler mechanism 3 to move, specifically, each of the first driving mechanisms 5 includes a first driving motor 51, a first transmission wheel 52 and a first transmission belt 53, and one side of at least one of the crawler driving wheels 32 inside the crawler mechanisms 3 on both sides of the frame body 1 is fixedly connected to a crawler driving wheel 36 through a rotating shaft, and the rotating shaft of the first driving motor 51 A first transmission wheel 52 is provided at the end, and a first transmission belt 53 is provided between the first transmission wheel 52 and the track transmission wheel 36. After such arrangement, the two first drive motors 51 respectively control the first transmission wheels 52 at their ends to rotate, and the first transmission wheel 52 drives the track transmission wheel 36 to rotate through the first transmission belt 53. When the track transmission wheel 36 rotates, the track driving wheel 32 will also rotate at the same time. It should be noted that the first crawlers 37 on both sides each use a first drive motor 51 to generate driving force. Therefore, when encountering a turn, it is only necessary to adjust the two first drive motors 51 to generate different rotation speeds, so that the entire track chassis turns or turns around, which brings convenience to the user when remotely controlling or driving the entire track chassis.

[0019] In this embodiment, please continue to refer to Figure 5As shown, an energy storage mechanism 4 for storing electric energy is provided on the other side of the frame body 1, and the electricity used by the first driving mechanism 5 is obtained through the energy storage mechanism 4. The second driving mechanism 6 mentioned above includes an engine 61, a second transmission wheel 62, a third transmission wheel 63, a second transmission belt 64 and a third transmission belt 65. The engine 61 is connected to the surface of the frame body 1, and a second transmission wheel 62 and a third transmission wheel 63 are provided at the end of the rotating shaft of the engine 61. The second transmission wheel 62 is connected to the transmission mechanism 7 through the second transmission belt 64, and the third transmission wheel 63 is connected to the energy storage mechanism 4 through the third transmission belt 65. The energy storage mechanism 4 includes a first generator 41, a fourth transmission wheel 42 and a power battery pack 43. The first generator 41 and the power battery pack 43 are arranged on the surface of the frame body 1, and the fourth transmission wheel 42 is provided at the end of the first generator 41, and the second transmission belt 64 is connected to the fourth transmission wheel 42, and the first generator 41 is electrically connected to the power battery pack 43. After such arrangement, when the rotating shaft of the engine 61 rotates, it can drive the second transmission wheel 62 and the third transmission wheel 63 to rotate at the same time, wherein when the second transmission wheel 62 rotates, it drives the fourth transmission wheel 42 to rotate through the third transmission belt 65, and the fourth transmission wheel 42 drives the first generator 41 to work to generate electrical energy. The electrical energy generated by the first generator 41 will be concentrated in the interior of the power battery pack 43, so that each first drive motor 51 has a source of electrical energy.

[0020] In this embodiment, please continue to refer to Figure 6 to Figure 7As shown, the second driving mechanism 6 is arranged on the surface of the frame body 1 and can replenish the energy storage mechanism 4 while generating a driving force for the transmission mechanism 7. Specifically, the transmission mechanism 7 includes a first transmission shaft 71, a fifth transmission wheel 72, a first cross support frame 73, a second transmission shaft 74, a second cross support frame 75 and a third transmission shaft 76. One end of the first transmission shaft 71 is provided with a fifth transmission wheel 72, the second transmission belt 64 is connected to the fifth transmission wheel 72, the other end of the first transmission shaft 71 is hingedly connected to the upper and lower ends of the first cross support frame 73, the left and right ends of the first cross support frame 73 are connected to one end of the second transmission shaft 74, and the second transmission shaft The other end of 74 is hingedly connected to the left and right ends of the second cross support frame 75, and the upper and lower ends of the second cross support frame 75 are hingedly connected to one end of the third transmission shaft 76. The other end of the third transmission shaft 76 is connected to the inside of the external agricultural machinery. The second transmission shaft 74 does not interfere with each other when it rotates up and down relative to the first cross support frame 73, and the third transmission shaft 76 does not interfere with each other when it rotates left and right relative to the second cross support frame 75. A tensioning wheel support plate 81 is detachably provided on the surface of the frame body 1, and a first tensioning wheel 82 is connected to the tensioning wheel support plate 81 through a tensioning wheel roller. The first tensioning wheel 82 is attached to the surface of the second transmission belt 64. The driving belt 64 is a key component for driving the entire transmission mechanism 7 to rotate, so the torque demand of the transmission mechanism 7 will also be higher. Therefore, the first tensioning wheel 82 can make the transmission efficiency between the second transmission belt 64 and the fifth transmission wheel 72 higher. After such a configuration, when the shaft of the engine 61 rotates, it can drive the second transmission wheel 62 and the third transmission wheel 63 to rotate at the same time. Then, when the second transmission wheel 62 drives the first generator 41 to work, when the third transmission wheel 63 rotates, it can drive the fifth transmission wheel 72 to rotate under the transmission of the second transmission belt 64. When the fifth transmission wheel 72 rotates, it will also drive the first transmission shaft 71 to rotate. The first transmission shaft 71 is respectively connected to the first cross support frame 7 through the first cross support frame 7. 3 and the second cross support frame 75 drive the second transmission shaft 74 and the third transmission shaft 76 to rotate simultaneously, so the third transmission shaft 76 can generate a driving force source for the external agricultural machinery. It should be noted that since the transmission position or height or width of the external agricultural machinery is different, when the third transmission shaft 76 is installed inside the agricultural machinery, the third transmission shaft 76 can be rotated left and right relative to the second cross support frame 75 to adjust the position. Under this premise, the second transmission shaft 74 can also be used to rotate up and down relative to the first cross support frame 73 to adjust the position. This adjustment allows the third transmission shaft 76 at the final end to achieve multi-angle adjustment up, down, left and right, which brings convenience during installation.

[0021] In this embodiment, one side of the frame body 1 is provided with an external mechanism 2 that can be detachably connected to various agricultural machinery and implements. The external mechanism 2 can change its length to adjust the angle of the agricultural machinery and implements. Specifically, the external mechanism 2 includes a hinged support plate 21, a push rod support block 22 and an electric push rod 23. Several hinged support plates 21 and push rod support blocks 22 are arranged on one side of the frame body 1 close to the transmission mechanism 7. The electric push rod 23 is hingedly connected to the inside of the push rod support block 22. The surface of the electric push rod 23 is also provided with a hinged end. The external agricultural machinery and implement is hingedly connected to the hinged support plate 21 and the hinged end of the electric push rod 23. After such arrangement, the top or middle of the external matching agricultural machinery and implement The two ends can be hinged on the hinged support plate 21 respectively, and then the two ends of the bottom of the agricultural machinery are hinged to the end of the electric push rod 23. Then, when the position of the agricultural machinery needs to be adjusted, the telescopic shaft of the electric push rod 23 will extend and push the agricultural machinery. At this time, the top of the agricultural machinery plays a supporting and guiding role to change the angle of the agricultural machinery. In addition, the above-mentioned engine 61 rotates the second transmission shaft 74 while driving the first generator 41 to work, so that the various supporting agricultural machinery can not only adjust the angle but also work, not simply towing, so the user only needs to purchase one such crawler power chassis and can subsequently purchase other different agricultural machinery according to needs, realizing the modular function of agricultural machinery adaptation.

[0022] Working principle and use method of the present invention: The transmission position or height or width of the external agricultural machinery is different. Then, when the third transmission shaft 76 is installed inside the agricultural machinery, the third transmission shaft 76 can be rotated left and right relative to the second cross support frame 75 to adjust the position. Under this premise, the second transmission shaft 74 can also be used to rotate up and down relative to the first cross support frame 73 to adjust the position. This adjustment allows the third transmission shaft 76 at the final end to achieve multi-angle adjustment up, down, left and right before installation. After installation, the two ends of the top or middle of the external agricultural machinery can be respectively hinged on the hinged support plate 21, and then the two ends of the bottom of the agricultural machinery are hinged to the ends of the electric push rod 23. Then, when the agricultural machinery needs to adjust its position, the telescopic shaft of the electric push rod 23 will extend and push the agricultural machinery. At this time, the top of the agricultural machinery plays a supporting and guiding role, causing the angle of the agricultural machinery to change. Then, when the rotating shaft of the engine 61 rotates, it can drive the second transmission wheel 62 and the third transmission wheel 63 to rotate at the same time. When the second transmission wheel 62 rotates, it drives the fourth transmission wheel 42 to rotate through the third transmission belt 65. The fourth transmission wheel 42 drives the first generator 41 to work to generate electric energy. The electric energy generated by the first generator 41 will be concentrated inside the power battery pack 43. In this way, each first drive motor 51 has a source of electric energy. Then, the two first drive motors 51 respectively control the first transmission wheel 52 at their ends to rotate. The first transmission wheel 52 drives the track drive wheel 36 to rotate through the first transmission belt 53. When the track drive wheel 36 rotates, the track drive wheel 32 will also rotate at the same time. The track drive wheel 32 can drive the first crawler 37 to start reciprocating motion. During the movement of the first crawler 37, the track driven wheel 34 plays a supporting and guiding role for the flat ground, which is good for encountering pits. When the third transmission wheel 63 rotates, it can drive the fifth transmission wheel 72 to rotate under the transmission of the second transmission belt 64. When the fifth transmission wheel 72 rotates, it will also drive the first transmission shaft 71 to rotate. The first transmission shaft 71 drives the second transmission shaft 74 and the third transmission shaft 76 to rotate simultaneously through the first cross support frame 73 and the second cross support frame 75 respectively. Then, the third transmission shaft 76 can generate a driving force source for external agricultural machinery. Then, the above-mentioned engine 61 rotates the second transmission shaft 74 while driving the first generator 41 to work, so that various supporting agricultural machinery can not only adjust the angle but also work, which is not a simple towing.

[0023] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A modular crawler-type power chassis, comprising a frame body (1), crawler mechanisms (3) arranged on both sides of the frame body (1), characterized in that: One side of the vehicle frame body (1) is provided with an external connection mechanism (2) that can be detachably connected to various agricultural implements, the external connection mechanism (2) can change its length to adjust the angle of the agricultural implement, the interior of the vehicle frame body (1) is provided with a drive mechanism assembly for driving a crawler mechanism (3) to move, one side of the drive mechanism assembly is also connected in a transmission manner to a transmission mechanism (7) for driving the agricultural implement to work, the other side of the vehicle frame body (1) is provided with an energy storage mechanism (4) for storing electric energy, the drive mechanism assembly comprises a first drive mechanism (5) and a second drive mechanism (6), the first drive mechanism (5) is arranged inside the vehicle frame body (1) and is used to drive the crawler mechanism (3) to move, the electricity used by the first drive mechanism (5) is obtained through the energy storage mechanism (4), and the second drive mechanism (6) is arranged on the surface of the vehicle frame body (1) and can replenish energy for the energy storage mechanism (4) and generate driving force for the transmission mechanism (7) at the same time.

2. The modular crawler power chassis according to claim 1, characterized in that: Each crawler mechanism (3) comprises a crawler support plate (31), a crawler driving wheel (32), a driven wheel support frame (33), a crawler driven wheel (34) and a first crawler (37); the crawler support plate (31) is connected to the side of the frame body (1); both ends of the crawler support plate (31) are rotatably connected to the crawler driving wheels (32); a driven wheel support frame (33) is further provided in the middle of the crawler support plate (31); a plurality of crawler driven wheels (34) are connected to the driven wheel support frame (33); and the first crawler (37) is connected to the surfaces of the crawler driving wheel (32) and the crawler driven wheel (34).

3. The modular crawler power chassis according to claim 2, characterized in that: The crawler driven wheel (34) is hingedly connected to the driven wheel support frame (33), and a metal spring (35) is provided between the crawler driven wheel (34) and the driven wheel support frame (33). The change in the angle of the crawler driven wheel (34) causes the metal spring (35) to deform.

4. The modular crawler power chassis according to claim 3, characterized in that: Each of the first driving mechanisms (5) comprises a first driving motor (51), a first transmission wheel (52) and a first transmission belt (53); a track transmission wheel (36) is provided on one side of at least one of the track driving wheels (32); a first transmission wheel (52) is provided at the end of the rotating shaft of the first driving motor (51); and a first transmission belt (53) is provided between the first transmission wheel (52) and the track transmission wheel (36).

5. The modular crawler powered chassis according to claim 1, characterized in that: The external mechanism (2) comprises an articulated support plate (21), a push rod support block (22) and an electric push rod (23); a plurality of articulated support plates (21) and a push rod support block (22) are arranged on a side of the frame body (1) close to the transmission mechanism (7); the electric push rod (23) is hingedly connected to the inside of the push rod support block (22); a hinged end is also provided on the surface of the electric push rod (23); and an external agricultural implement is hingedly connected to the articulated support plate (21) and the hinged end of the electric push rod (23).

6. The modular crawler powered chassis according to claim 1, characterized in that: The second driving mechanism (6) comprises an engine (61), a second transmission wheel (62), a third transmission wheel (63), a second transmission belt (64) and a third transmission belt (65); the engine (61) is connected to the surface of the frame body (1); the second transmission wheel (62) and the third transmission wheel (63) are provided at the end of the rotating shaft of the engine (61); the second transmission wheel (62) is connected to the transmission mechanism (7) via the second transmission belt (64); and the third transmission wheel (63) is connected to the energy storage mechanism (4) via the third transmission belt (65).

7. The modular crawler powered chassis according to claim 6, characterized in that: The energy storage mechanism (4) comprises a first generator (41), a fourth transmission wheel (42) and a power battery pack (43); the first generator (41) and the power battery pack (43) are arranged on the surface of the frame body (1); the fourth transmission wheel (42) is arranged at the end of the first generator (41); the second transmission belt (64) is connected to the fourth transmission wheel (42); and the first generator (41) is electrically connected to the power battery pack (43).

8. The modular crawler powered chassis according to claim 6, characterized in that: The transmission mechanism (7) comprises a first transmission shaft (71), a fifth transmission wheel (72), a first cross support frame (73), a second transmission shaft (74), a second cross support frame (75) and a third transmission shaft (76); one end of the first transmission shaft (71) is provided with a fifth transmission wheel (72); the second transmission belt (64) is connected to the fifth transmission wheel (72); the other end of the first transmission shaft (71) is hingedly connected to the upper and lower ends of the first cross support frame (73); the left and right ends of the first cross support frame (73) are connected to the One end of a second transmission shaft (74), the other end of the second transmission shaft (74) is hingedly connected to the left and right ends of a second cross support frame (75), the upper and lower ends of the second cross support frame (75) are hingedly connected to one end of a third transmission shaft (76), the other end of the third transmission shaft (76) is connected to the inside of an external agricultural machine, the second transmission shaft (74) does not interfere with each other when rotating up and down relative to the first cross support frame (73), and the third transmission shaft (76) does not interfere with each other when rotating left and right relative to the second cross support frame (75).

9. The modular crawler powered chassis according to claim 6, characterized in that: A tension wheel support plate (81) is detachably provided on the surface of the frame body (1); a first tension wheel (82) is connected to the tension wheel support plate (81) via a tension wheel roller; the first tension wheel (82) is attached to the surface of the second transmission belt (64).

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