Electrically-driven triangular track active suspension

Abstract

The invention discloses an electrically-driven triangular track active suspension, and belongs to the technical field of agricultural machinery. Comprising a rack, a servo electric cylinder, a push rod suspension and an electric drive triangular track assembly. A cylinder body of the servo electric cylinder is installed on the machine frame, a cylinder rod of the servo electric cylinder and the electrically-driven triangular crawler belt assembly are both hinged to a push rod suspension installed on the machine frame, and the servo electric cylinder drives the electrically-driven triangular crawler belt assembly to vertically ascend and descend by pushing the push rod suspension. The push rod suspension comprises a double-wishbone structure, the frame side of the double-wishbone structure is hinged to the rack, and the track side of the double-wishbone structure is hinged to the electric drive triangular track assembly; the double-cross-arm structure pushes the electrically-driven triangular track assembly to move up and down in the vertical direction, so that the relative positions of the tracks and the frame are adjusted. The electrically-driven triangular track active suspension provided by the invention can effectively improve the trafficability and stability of a track chassis in hilly and mountainous areas, and has the characteristics of high bearing capacity, high active control precision and the like.

Description

Technical Field

[0001] The invention relates to the field of transport machinery in agricultural engineering equipment, and in particular to an electric-driven triangular crawler active suspension. Background Art

[0002] Track chassis are widely used in agricultural production due to their strong climbing ability and high trafficability, such as rotary tillage, deep loosening, ditching, harvesting, transportation, etc., while the existing track chassis is to install the engine or drive motor on the frame, and then rigidly connect the frame with the track assembly to achieve the output of driving force and fix the track assembly. The above installation method results in that the relative height between the track assembly and the frame cannot be changed after it is determined.

[0003] my country's cultivated land is mainly concentrated in hilly and mountainous areas and plateaus. According to relevant statistics, the output of grain and oil crops in mountainous areas accounts for about 50% of the total national output. Due to the complex terrain, ups and downs, uneven ground and large slopes in hilly and mountainous areas, there are currently few agricultural and forestry machinery suitable for hilly and mountainous areas. They mainly rely on manual operations, which are labor-intensive, cost-intensive, and inefficient. The degree of mechanization does not match the current development needs. When the traditional crawler chassis is operating on a relatively flat road, a smaller ground clearance can meet the needs. However, when operating in hilly and mountainous areas with rugged roads, large slopes, and many ridges and trenches, the smaller ground clearance has poor passability, while the larger ground clearance will increase the center of gravity of the chassis and increase the risk of rollover. Therefore, designing a suspension structure in which the distance between the crawler and the frame can be actively adjusted is the basis for solving the passability problem of the chassis equipment in hilly and mountainous areas, and is the key to achieving the smooth entry of equipment into the mountains and forests. Summary of the invention

[0004] In order to address the deficiencies in the prior art, the present invention provides an electric-driven triangular track active suspension structure, which solves the problem of high-torque electric drive of agricultural equipment through wheel-side reducer electric drive technology; realizes the vertical raising and lowering of the electric-driven triangular track assembly through a double wishbone structure; and realizes high-precision active control of the lifting and lowering of the electric-driven triangular track assembly by a servo electric cylinder through a push rod suspension.

[0005] To achieve the above solution, the technical solution adopted by the present invention is:

[0006] An electric-driven triangular crawler active suspension comprises a frame, a servo electric cylinder, a push rod suspension and an electric-driven triangular crawler assembly; the cylinder body of the servo electric cylinder is mounted on the frame, the cylinder rod of the servo electric cylinder and the electric-driven triangular crawler assembly are both hinged to the push rod suspension mounted on the frame, and the servo electric cylinder drives the electric-driven triangular crawler assembly to rise and fall vertically by pushing the push rod suspension;

[0007] The push rod suspension includes a rocker, a shock absorber, a Y-shaped cross arm and an H-shaped cross arm; the Y-shaped cross arm and the H-shaped cross arm form a double cross arm structure, the frame side of the double cross arm structure is hinged to the frame, and the track side of the double cross arm structure is hinged to the electric drive triangular track assembly; the rocker is provided with three hinged parts, the first hinged part is hinged to the frame, the second hinged part is hinged to the cylinder rod of the servo electric cylinder, the third hinged part is hinged to one end of the shock absorber, and the other end of the shock absorber is hinged to the double cross arm structure, which can drive the double cross arm structure to rotate around the hinged end with the frame;

[0008] The Y-shaped cross arm in the double cross arm structure is located above the H-shaped cross arm, the frame side of the Y-shaped cross arm has two hinged parts, the track side of the Y-shaped cross arm has one hinged part, the frame side and the track side of the H-shaped cross arm each have two hinged parts, the midpoint of the two hinged parts on the frame side of the Y-shaped cross arm, the hinged part on the track side of the Y-shaped cross arm, the midpoint of the two hinged parts on the frame side of the H-shaped cross arm, and the midpoint of the two hinged parts on the track side of the H-shaped cross arm, four points form a parallelogram perpendicular to the ground, so that the electric drive triangular crawler assembly can only move up and down perpendicular to the ground.

[0009] As a preferred embodiment of the present invention, the frame includes a main bracket and a servo electric cylinder bracket, a rocker bracket and a frame side cross arm mounting bracket installed on the main bracket, the servo electric cylinder bracket is located inside the main bracket, the bottom of the cylinder body of the servo electric cylinder is hinged to the servo electric cylinder bracket, and the servo electric cylinder can swing around the bottom hinged end; the cylinder rod of the servo electric cylinder is hinged to the second hinge part of the rocker; the rocker bracket is located at the upper part of the main bracket, and the first hinge part of the rocker is hinged to the rocker bracket; the frame side cross arm mounting bracket is located on the side of the main bracket, and the frame side of the double wishbone structure is hinged to the frame side cross arm mounting bracket.

[0010] As a preferred embodiment of the present invention, the Y-shaped cross arm is fixedly connected to a shock absorber bracket, the other end of the shock absorber is hinged to the shock absorber bracket, and the working plane of the shock absorber is coplanar with the parallelogram.

[0011] As a preferred embodiment of the present invention, there is a distance between the working plane where the second hinge part of the servo electric cylinder and the rocker arm is located and the working plane where the third hinge part of the shock absorber and the rocker arm is located, so that a pair of suspension units consisting of a servo electric cylinder, a push rod suspension and an electric-driven triangular crawler track assembly can share a frame.

[0012] As a preferred embodiment of the present invention, a limit switch is installed on the frame to prevent the servo electric cylinder from colliding when it swings.

[0013] As a preferred embodiment of the present invention, each hinge part on the rocker includes one or more coaxial pin holes, and the axes of the pin holes of different hinge parts are parallel; the second hinge part and the third hinge part are staggered along the forward / backward direction of the electric drive triangular crawler assembly.

[0014] As a preferred embodiment of the present invention, the rocker includes a first steel plate, a second steel plate, a third steel plate, a first reinforcing plate and a second reinforcing plate. The first steel plate, the second steel plate and the third steel plate are parallel to each other and arranged vertically, and the second steel plate is located between the first steel plate and the third steel plate; a first hinge is formed between the first steel plate, the second steel plate and the third steel plate, a second hinge is formed between the first steel plate and the second steel plate, and a third hinge is formed between the second steel plate and the third steel plate; the first reinforcing plate and the second reinforcing plate are parallel to each other and arranged horizontally, and connected between the second steel plate and the third steel plate.

[0015] As a preferred embodiment of the present invention, the electric drive triangular crawler assembly comprises a wheel-side motor, a wheel-side reducer, a track-side cross arm mounting bracket, a triangular connecting plate, a driving wheel, a rubber crawler track, a crawler wheel and an assembly plate; the track-side cross arm mounting bracket is fixed to the frame side of the triangular connecting plate and is used for being hinged with the double cross arm structure;

[0016] A driving wheel and several track wheels are respectively installed on the upper and lower sides of the assembly plate to form a triangular connection structure. The rubber track is sleeved on the outside of the triangular connection structure. The rubber track can move forward or backward under the drive of the driving wheel; the wheel-side motor is connected to the wheel-side reducer and is installed on the assembly plate through the triangular connection plate. The output shaft of the wheel-side reducer is used to drive the driving wheel.

[0017] As a preferred embodiment of the present invention, the wheel-side reducer is fixed on the triangular connecting plate through a flange, a bearing is provided between the flange and the driving wheel, the inner ring of the bearing is in contact with the adapter plate fixedly connected to the center of the driving wheel, the outer ring is in contact with the flange, and the output shaft of the wheel-side reducer is key-connected with the adapter plate, so that the torque of the output shaft of the wheel-side reducer is transmitted to the driving wheel.

[0018] The beneficial effects of the present invention are as follows: the present invention realizes independent drive and high torque drive of the crawler assembly through the wheel-side motor and the reducer. The present invention enables the electric-driven triangular crawler assembly to move vertically up and down through the double wishbone structure, realizes the adjustment of the distance between the frame and the crawler, and increases the passability and stability of the crawler assembly. The present invention realizes high-precision active control of the electric-driven triangular crawler assembly through the servo electric cylinder, the rocker and the Y-shaped wishbone. The present invention effectively filters the vibration and impact of the ground when the crawler is walking by connecting a shock absorber in series on the servo electric cylinder, thereby increasing the service life of the servo electric cylinder. The rocker structure designed by the present invention enables an eccentric distance between the servo electric cylinder and the electric-driven triangular crawler assembly, so that a pair of suspension units consisting of the servo electric cylinder, the push rod suspension and the electric-driven triangular crawler assembly can share a frame, and the servo electric cylinder is arranged front and back on the frame to reduce the distance between the crawlers on both sides and increase the passability and maneuverability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1Schematic diagram of an active suspension with an electrically driven triangular track.

[0020] Figure 2 It is a schematic diagram of the double wishbone structure.

[0021] Figure 3 This is a schematic diagram of the structure of the electric drive triangular track assembly.

[0022] Figure 4 A diagram of the joystick.

[0023] Figure 5 Schematic diagram of active suspension installed on both sides of the frame.

[0024] In the figure: 1-frame, 2-servo electric cylinder bracket, 3-first pin shaft, 4-limit switch, 5-servo electric cylinder body, 6-servo electric cylinder rod, 7-second pin shaft, 8-rocker, 9-rocker bracket, 10-third pin shaft, 11-fourth pin shaft, 12-shock absorber, 13-shock absorber bracket, 14-Y-type cross arm, 15-electric drive triangular crawler assembly, 16-frame side cross arm mounting bracket, 17-fifth pin shaft, 18-H-type cross arm, 19-crawler side cross arm mounting bracket, 20-sixth pin shaft, 801-second pin hole, 802-first steel plate, 8 03-second steel plate, 804-third steel plate, 805-third pin hole, 806-first reinforcement plate, 807-second reinforcement plate, 808-first pin hole, 1501-wheel side motor, 1502-wheel side reducer, 1503-triangular connecting plate, 1504-flange, 1505-flange fixing bolt, 1506-bearing, 1507-driving wheel, 1508-driving wheel fixing bolt, 1509-adapter plate, 1510-rubber track, 1511-assembly plate, 1512-triangular connecting plate fixing shaft, 1513-track wheel. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0026] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by terms such as “upper side”, “lower side”, “left side” and “right side” are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0027] like Figure 1As shown, an electric-driven triangular crawler active suspension mainly consists of a frame, a servo electric cylinder, a push rod suspension and an electric-driven triangular crawler assembly 15. The push rod suspension includes a rocker 8, a shock absorber 12, a Y-shaped cross arm 14 and an H-shaped cross arm 18; the Y-shaped cross arm 14 and the H-shaped cross arm 18 form a double wishbone structure, the frame side of the double wishbone structure is hinged to the frame, and the track side of the double wishbone structure is hinged to the electric-driven triangular crawler assembly 15. The cylinder body of the servo electric cylinder is mounted on the frame, and the cylinder rod of the servo electric cylinder and the electric-driven triangular crawler assembly 15 are both hinged to the push rod suspension mounted on the frame, and the servo electric cylinder drives the electric-driven triangular crawler assembly 15 to rise and fall vertically by pushing the push rod suspension;

[0028] In this embodiment, the frame includes a main bracket and a servo electric cylinder bracket 2, a rocker bracket 9, a frame side cross arm mounting bracket 16 and a limit switch 4 installed on the main bracket. The servo electric cylinder bracket 2 is fixedly connected to the inside of the frame 1, the rocker bracket 9 is fixedly connected to the upper side of the frame 1, and the frame side cross arm mounting bracket 16 is fixedly connected to the right side of the frame 1. The limit switch 4 is installed on the upper side of the frame and is installed opposite to the rotation direction of the servo electric cylinder. The cylinder body 5 of the servo electric cylinder is hinged to the servo electric cylinder bracket 2 through the first pin shaft 3, so that the servo electric cylinder can rotate around the first pin shaft 3. The limit switch 4 prevents the servo electric cylinder from colliding with the frame 1 due to excessive rotation angle. The servo electric cylinder rod 6 is hinged to the rocker 8 through the second pin shaft. The lower side of the rocker 8 is hinged to the rocker bracket 9 through the third pin shaft 10, so that the rocker 8 can rotate around the second pin shaft 10 under the push of the servo electric cylinder. The right side of the rocker 8 is hinged to the upper side of the shock absorber 12 through the fourth pin 11, and the lower side of the shock absorber 12 is hinged to the shock absorber mounting bracket 13 through the fourth pin 11. The shock absorber mounting bracket 13 is fixedly connected to the Y-shaped cross arm 14. The left side of the Y-shaped cross arm 14 and the H-shaped cross arm 18 are hinged to the frame side cross arm mounting bracket 16 through the fifth pin 17, and the right side is hinged to the track side cross arm mounting bracket 19 through the sixth pin 20, so that the electric drive triangular crawler assembly 15 can move vertically up and down. The motion control process of the electric drive triangular crawler assembly 15 is as follows: the servo electric cylinder rod 6 extends, pushing the rocker 8 to swing to the right around the third pin, pushing the shock absorber 12 to move downward, pushing the Y-shaped cross arm 14 to move downward around the fifth pin, pushing the electric drive triangular crawler assembly 15 to move vertically downward, and the frame rises, thereby realizing high-precision control of the electric drive triangular crawler assembly 15. The shock absorber used in the present invention can effectively filter ground vibrations, reduce damage to the servo electric cylinder caused by ground impact, and for smaller potholes, the shock absorber passively achieves stability of the vehicle body.

[0029] like Figure 2As shown, the Y-shaped cross arm in the double cross arm structure is located above the H-shaped cross arm, the frame side of the Y-shaped cross arm has two hinged parts, the track side of the Y-shaped cross arm has one hinged part, the frame side and track side of the H-shaped cross arm each have two hinged parts, the midpoint of the two hinged parts on the frame side of the Y-shaped cross arm, the hinged part on the track side of the Y-shaped cross arm, the midpoint of the two hinged parts on the frame side of the H-shaped cross arm, and the midpoint of the two hinged parts on the track side of the H-shaped cross arm, four points form a parallelogram perpendicular to the ground, so that the electric drive triangular crawler assembly can only move up and down perpendicular to the ground. The shock absorber bracket 13 is fixedly connected to the Y-shaped cross arm 14, the shock absorber 12 is hinged to the shock absorber bracket 13, and the working plane of the shock absorber is coplanar with the parallelogram.

[0030] like Figure 3 As shown, the electric drive triangular crawler assembly 15 includes a wheel-side motor 1501, a wheel-side reducer 1502, a track-side cross arm mounting bracket 19, a triangular connecting plate 1503, a flange 1504, a flange fixing bolt 1505, a bearing 1506, a driving wheel 1507, a driving wheel fixing bolt 1508, an adapter plate 1509, a rubber crawler 1510, a crawler wheel 1513 and an assembly plate 1511, and a triangular connecting plate fixing shaft 1512. The wheel-side motor 1501 is fixedly connected to the wheel-side reducer 1502 by bolts, the wheel-side reducer 1502 housing, the triangular connecting plate 1503 and the flange 1504 are fixedly connected together by the flange fixing bolts 1505, and the three track-side cross arm mounting brackets 19 are fixedly connected to the triangular connecting plate 1503. The triangular connecting plate 1503 and the assembly plate 1511 are fixedly connected together through the triangular connecting plate fixing shaft 1512, and the track wheel 1513 is connected to the assembly plate 1511 through its own shaft, so that the weight of the frame 1, the wheel-side motor 1501 and the wheel-side reducer 1502 can be transmitted to the track wheel 1513 through the triangular connecting plate 1503 and the assembly plate 1511, and then transmitted to the ground. The output shaft of the wheel-side reducer 1502 is fixedly connected to the adapter plate 1209 through a flat key, and the adapter plate 1509 is fixedly connected to the driving wheel 1507 through the driving wheel fixing bolt 1508. The inner ring of the bearing 1506 contacts the adapter plate 1509, and the outer ring contacts the flange 1504, so that the wheel-side reducer 1502 can drive the driving wheel 1507 to rotate, so that the torque output by the wheel-side reducer 1502 can be transmitted to the driving wheel 1507. The rubber track 1510 is installed on the outside of the track wheel 1513 of the driving wheel 1507.

[0031] like Figure 4-5As shown, the rocker 8 is provided with three hinged parts, the first hinged part is hinged with the frame, the second hinged part is hinged with the cylinder rod of the servo electric cylinder, and the third hinged part is hinged with one end of the shock absorber 12. The other end of the shock absorber 12 is hinged with the double wishbone structure, which can drive the double wishbone structure to rotate around the hinged end with the frame. There is a distance between the working plane where the second hinged part of the servo electric cylinder and the rocker 8 is located and the working plane where the third hinged part of the shock absorber 12 and the rocker 8 is located, so that a pair of suspension units composed of the servo electric cylinder, the push rod suspension and the electric drive triangular crawler assembly 15 can share a frame. Each hinged part includes one or more coaxial pin holes, and the pin hole axes of different hinged parts are parallel; the second hinged part and the third hinged part are staggered along the forward / backward direction of the electric drive triangular crawler assembly 15.

[0032] In this embodiment, if Figure 4 As shown in (a), the rocker 8 is welded by the first steel plate 802, the second steel plate 803 and the third steel plate 804, and the first reinforcing plate 806 and the second reinforcing plate 807 are added to improve its strength. The second pin hole 801 on the second hinged part of the rocker 8 is hinged to the servo electric cylinder rod 6 through the second pin shaft 7, the third pin hole 805 on the third hinged part is hinged to the upper end of the shock absorber 12 through the fourth pin shaft 11, and the first pin hole 808 on the first hinged part is hinged to the rocker mounting bracket 9 through the third pin shaft 10. Figure 4 As shown in (b), the center line of the first steel plate 802 and the second steel plate 803 is AB, the center line between the second steel plate and the third steel plate is CD, and the distance between AB and CD is d, so that the installation distance between the servo electric cylinder and the shock absorber has an eccentric distance d, and its purpose is that when the other side of the frame is also installed with the patent of the present invention, the servo electric cylinders corresponding to the triangular crawler assemblies 15 on both sides can be arranged front and back crosswise (such as Figure 5 ), making the structure more compact, the distance a between the chassis tracks smaller, and having better passability and maneuverability.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or an integral connection, or a mechanical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] For those skilled in the art, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the protection scope of the present invention.

Claims

1. An electrically driven triangular crawler active suspension, characterized in that: The invention comprises a frame, a servo electric cylinder, a push rod suspension and an electric drive triangular crawler assembly (15); the cylinder body of the servo electric cylinder is mounted on the frame, the cylinder rod of the servo electric cylinder and the electric drive triangular crawler assembly (15) are both hinged to the push rod suspension mounted on the frame, and the servo electric cylinder drives the electric drive triangular crawler assembly (15) to vertically rise and fall by pushing the push rod suspension; The push rod suspension comprises a rocker (8), a shock absorber (12), a Y-shaped cross arm (14) and an H-shaped cross arm (18); the Y-shaped cross arm (14) and the H-shaped cross arm (18) form a double cross arm structure, the frame side of the double cross arm structure is hinged to the frame, and the track side of the double cross arm structure is hinged to the electric drive triangular track assembly (15); the rocker (8) is provided with three hinged parts, the first hinged part is hinged to the frame, the second hinged part is hinged to the cylinder rod of the servo electric cylinder, and the third hinged part is hinged to one end of the shock absorber (12), and the other end of the shock absorber (12) is hinged to the double cross arm structure, which can drive the double cross arm structure to rotate around the hinged end with the frame; The Y-shaped cross arm (14) in the double cross arm structure is located above the H-shaped cross arm (18), the frame side of the Y-shaped cross arm (14) has two hinged parts, the track side of the Y-shaped cross arm (14) has one hinged part, the frame side and the track side of the H-shaped cross arm (18) each have two hinged parts, the midpoint of the two hinged parts on the frame side of the Y-shaped cross arm (14), the hinged part on the track side of the Y-shaped cross arm (14), the midpoint of the two hinged parts on the frame side of the H-shaped cross arm (18), and the midpoint of the two hinged parts on the track side of the H-shaped cross arm (18) form a parallelogram perpendicular to the ground, so that the electric drive triangular crawler assembly (15) can only move up and down perpendicular to the ground.

2. The electrically driven triangular track active suspension according to claim 1, characterized in that: The frame comprises a main support and a servo electric cylinder support (2), a rocker support (9) and a frame side cross arm mounting support (16) mounted on the main support, wherein the servo electric cylinder support (2) is located inside the main support, the bottom of the cylinder body of the servo electric cylinder is hinged to the servo electric cylinder support (2), and the servo electric cylinder can swing around the bottom hinge end; the cylinder rod of the servo electric cylinder is hinged to the second hinge part of the rocker (8); the rocker support (9) is located on the upper part of the main support, and the first hinge part of the rocker (8) is hinged to the rocker support (9); the frame side cross arm mounting support (16) is located on the side of the main support, and the frame side of the double cross arm structure is hinged to the frame side cross arm mounting support (16).

3. The electrically driven triangular track active suspension according to claim 1, characterized in that: The Y-shaped cross arm (14) is fixedly connected to a shock absorber bracket (13), the other end of the shock absorber (12) is hinged to the shock absorber bracket (13), and the working plane of the shock absorber is coplanar with the parallelogram.

4. The electrically driven triangular crawler active suspension according to claim 1, characterized in that: There is a distance between the working plane where the second hinged part of the servo electric cylinder and the rocker (8) is located and the working plane where the third hinged part of the shock absorber (12) and the rocker (8) is located, so that a pair of suspension units consisting of the servo electric cylinder, the push rod suspension and the electric drive triangular crawler assembly (15) can share a frame.

5. The electrically driven triangular track active suspension according to claim 1, characterized in that: The frame is provided with a limit switch (4) for preventing the servo electric cylinder from colliding when swinging.

6. The electrically driven triangular track active suspension according to claim 1, characterized in that: Each hinged part on the rocker (8) comprises one or more coaxial pin holes, and the axes of the pin holes of different hinged parts are parallel; the second hinged part and the third hinged part are staggered along the forward / reverse direction of the electric drive triangular crawler assembly (15).

7. The electrically driven triangular track active suspension according to claim 6, characterized in that: The rocker (8) comprises a first steel plate (802), a second steel plate (803), a third steel plate (804), a first reinforcing plate (806) and a second reinforcing plate (807); the first steel plate (802), the second steel plate (803) and the third steel plate (804) are parallel to each other and arranged vertically, and the second steel plate (803) is located between the first steel plate (802) and the third steel plate (804); a first hinged portion is formed between the first steel plate (802), the second steel plate (803) and the third steel plate (804); a second hinged portion is formed between the first steel plate (802) and the second steel plate (803), and a third hinged portion is formed between the second steel plate (803) and the third steel plate (804); the first reinforcing plate (806) and the second reinforcing plate (807) are parallel to each other and arranged horizontally, and are connected between the second steel plate (803) and the third steel plate (804).

8. The electrically driven triangular crawler active suspension according to claim 1, characterized in that: The electric drive triangular crawler assembly (15) comprises a wheel-side motor (1501), a wheel-side reducer (1502), a crawler side cross arm mounting bracket (19), a triangular connecting plate (1503), a driving wheel (1507), a rubber crawler (1510), a crawler wheel (1513) and an assembly plate (1511); the crawler side cross arm mounting bracket (19) is fixed to the frame side of the triangular connecting plate (1503) and is used for being hinged to the double cross arm structure; A driving wheel (1507) and a plurality of track wheels (1513) are respectively mounted on the upper side and the lower side of the assembly plate (1511) to form a triangular connection structure; a rubber track (1510) is sleeved outside the triangular connection structure; the rubber track (1510) can move forward or backward under the drive of the driving wheel (1507); the wheel-side motor (1501) is connected to the wheel-side reducer (1502) and is mounted on the assembly plate (1511) through the triangular connection plate (1503); the output shaft of the wheel-side reducer (1502) is used to drive the driving wheel (1507).

9. The electrically driven triangular crawler active suspension according to claim 8, characterized in that: The wheel-side reducer (1502) is fixed on the triangular connecting plate (1503) through a flange (1504), and a bearing (1506) is provided between the flange (1504) and the driving wheel (1507). The inner ring of the bearing (1506) contacts with a transfer plate (1509) fixedly connected to the center of the driving wheel (1507), and the outer ring contacts with the flange (1504). The output shaft of the wheel-side reducer (1502) is key-connected with the transfer plate (1509), so that the torque of the output shaft of the wheel-side reducer (1502) is transmitted to the driving wheel (1507).

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