An electric driven triangular track active suspension

Abstract

The present invention discloses an electric-driven triangular crawler active suspension, which belongs to the technical field of agricultural machinery. It 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; the push rod suspension includes 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; the electric-driven triangular crawler assembly is pushed vertically up and down by the double wishbone structure to adjust the relative position of the track and the frame. The electric-driven triangular crawler active suspension provided by the present invention can effectively improve the passability and stability of the crawler chassis in hilly and mountainous areas, and at the same time has the characteristics of strong load-bearing capacity and high active control precision.

Description

Technical Field

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

[0002] Tracked chassis are widely used in agricultural production due to their strong climbing ability and high passability, such as rotary tillage, deep tillage, ditching, harvesting, and transportation. However, existing tracked chassis install the engine or drive motor on the frame, which is then rigidly connected to the track assembly to achieve drive power output and track assembly fixation. This installation method results in the relative height between the track assembly and the frame being fixed and cannot be changed.

[0003] Due to the complex, undulating terrain, uneven ground, and steep slopes of hilly and mountainous areas, there are currently few agricultural and forestry machines suitable for use in these areas. These machines rely primarily on manual labor, which is labor-intensive, costly, and inefficient. The level of mechanization doesn't match current development needs. Traditional tracked chassis require minimal ground clearance when operating on relatively flat surfaces. However, when operating in hilly and mountainous areas with rugged roads, steep slopes, and numerous ridges and trenches, minimal ground clearance results in poor maneuverability. Furthermore, a larger ground clearance raises the chassis' center of gravity, increasing the risk of rollover. Therefore, designing a suspension structure that allows for active adjustment of the distance between the track and the frame is fundamental to solving the maneuverability issues faced by chassis equipment in hilly and mountainous areas and is crucial for ensuring smooth transport of equipment uphill and into forests. Summary of the Invention

[0004] In order to address the shortcomings of the existing technology, 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 raising 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 present invention adopts the following technical solutions:

[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 move 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 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 drive triangular crawler assembly; the rocker has 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, and the other end of the shock absorber is hinged to the double wishbone structure, which can drive the double wishbone structure to rotate around its hinged end with the frame;

[0008] The Y-shaped cross arm in the double wishbone 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 hinge 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 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 hinge 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 is located and the working plane where the third hinge part of the shock absorber and the rocker 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 assembly can share a frame.

[0012] As a preferred embodiment of the present invention, a limit switch is installed on the frame to prevent collision when the servo electric cylinder 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 portion is formed between the first steel plate, the second steel plate and the third steel plate, a second hinge portion is formed between the first steel plate and the second steel plate, and a third hinge portion 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 are 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 includes 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 track 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 to be hinged with the double wishbone 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, and a bearing is provided between the flange and the driving wheel. The inner ring of the bearing contacts the adapter plate fixed to the center of the driving wheel, and the outer ring contacts the flange. The output shaft of the wheel-side reducer is key-connected to 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 track assembly through the wheel-side motor and the reducer. The present invention uses a double wishbone structure to enable the electric-driven triangular track assembly to move vertically up and down, realizes the adjustment of the distance between the frame and the track, and increases the passability and stability of the track assembly. The present invention realizes high-precision active control of the electric-driven triangular track assembly through a servo electric cylinder, a rocker and a Y-shaped wishbone. The present invention effectively filters the vibration and impact of the ground when the track is moving by connecting a shock absorber in series with 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 to exist between the servo electric cylinder and the electric-driven triangular track assembly, so that a pair of suspension units consisting of a servo electric cylinder, a push rod suspension and an electric-driven triangular track assembly can share a frame. The servo electric cylinder is arranged front and back on the frame to reduce the distance between the tracks 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 Schematic diagram of the double wishbone structure.

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

[0022] Figure 4 Schematic 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, 4-limit switch, 5-servo electric cylinder body, 6-servo electric cylinder rod, 7-second pin, 8-rocker, 9-rocker bracket, 10-third pin, 11-fourth pin, 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, 18-H-type cross arm, 19-track side cross arm mounting bracket, 20-sixth pin, 801-second pin hole, 802-first steel plate, 8 03-second steel plate, 804-third steel plate, 805-third pin hole, 806-first reinforcing plate, 807-second reinforcing 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-drive wheel, 1508-drive 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 with reference to the accompanying drawings and specific implementation methods.

[0026] In the description of the present invention, it should be noted that the terms "upper side", "lower side", "left side", "right side", etc. indicate orientations or positional relationships 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. 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 frame, a servo cylinder bracket 2 mounted on the main frame, a rocker bracket 9, a frame-side cross-arm mounting bracket 16, and a limit switch 4. The servo cylinder bracket 2 is fixedly connected to the interior 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 mounted on the upper side of the frame, facing the direction of rotation of the servo cylinder. The cylinder body 5 of the servo cylinder is hinged to the servo cylinder bracket 2 via a first pin 3, allowing the servo cylinder to rotate about the first pin 3. The limit switch 4 prevents the servo cylinder from rotating too far and colliding with the frame 1. The servo cylinder rod 6 is hinged to the rocker 8 via a second pin. The lower side of the rocker 8 is hinged to the rocker bracket 9 via a third pin 10, allowing the rocker 8 to rotate about the second pin 10 under the action of the servo cylinder. The right side of the rocker arm 8 is hinged to the upper side of the shock absorber 12 via the fourth pin 11, and the lower side of the shock absorber 12 is hinged to the shock absorber mounting bracket 13 via 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 via the fifth pin 17, and the right side is hinged to the track-side cross arm mounting bracket 19 via the sixth pin 20, allowing the electric-driven triangular crawler track assembly 15 to move vertically up and down. The motion control process of the electric-driven triangular crawler track assembly 15 is as follows: the servo electric cylinder rod 6 extends, pushing the rocker arm 8 to swing to the right around the third pin, pushing the shock absorber 12 downward, pushing the Y-shaped cross arm 14 downward around the fifth pin, pushing the electric-driven triangular crawler track assembly 15 vertically downward, and raising the frame, thereby achieving high-precision control of the electric-driven triangular crawler track assembly 15. The shock absorber used in the present invention can effectively filter ground vibrations and reduce damage to the servo electric cylinder caused by ground impacts. For smaller potholes, the shock absorber passively stabilizes the vehicle body.

[0029] like Figure 2As shown, the Y-shaped cross arm in the double wishbone structure is located above the H-shaped cross arm. The Y-shaped cross arm has two hinges on the frame side, one hinge on the track side, and two hinges on the frame and track sides of the H-shaped cross arm. The midpoints of the two hinges on the frame side of the Y-shaped cross arm, the hinge on the track side of the Y-shaped cross arm, the midpoint of the two hinges on the frame side of the H-shaped cross arm, and the midpoint of the two hinges on the track side of the H-shaped cross arm form a parallelogram perpendicular to the ground, so that the electric drive triangular crawler track 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 drive wheel 1507, a drive wheel fixing bolt 1508, an adapter plate 1509, a rubber crawler 1510, a track 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, and 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. 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 via the triangular connecting plate fixed shaft 1512. The track wheels 1513 are connected to the assembly plate 1511 via their respective shafts, 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 wheels 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 via a flat key. The adapter plate 1509 is fixedly connected to the drive wheel 1507 via the drive wheel fixing bolts 1508. The inner ring of the bearing 1506 contacts the adapter plate 1509, and the outer ring contacts the flange 1504. Therefore, the wheel-side reducer 1502 can drive the drive wheel 1507 to rotate, so that the torque output by the wheel-side reducer 1502 can be transmitted to the drive wheel 1507. The rubber track 1510 is installed on the outside of the drive wheel 1507 track wheel 1513.

[0031] like Figure 4-5As shown, the rocker 8 has three hinged sections: the first hinged to the frame, the second hinged to the servo cylinder's rod, and the third hinged to one end of the shock absorber 12. The other end of the shock absorber 12 is hinged to the double wishbone structure, capable of driving the double wishbone structure to rotate about its hinged end with the frame. A distance exists between the working plane of the second hinged section between the servo cylinder and the rocker 8 and the working plane of the third hinged section between the shock absorber 12 and the rocker 8, enabling a pair of suspension units, consisting of the servo cylinder, push rod suspension, and electric-driven triangular crawler track assembly 15, to share a common frame. Each hinged section contains one or more coaxial pinholes, with the pinhole axes of different hinged sections parallel. The second and third hinged sections are staggered along the forward / reverse direction of the electric-driven triangular crawler track assembly 15.

[0032] In this embodiment, if Figure 4 As shown in (a), the rocker 8 is welded from a first steel plate 802, a second steel plate 803, and a third steel plate 804. A first reinforcement plate 806 and a second reinforcement plate 807 are added to increase its strength. The second pin hole 801 on the second hinged portion of the rocker 8 is hinged to the servo cylinder rod 6 via a second pin shaft 7. The third pin hole 805 on the third hinged portion is hinged to the upper end of the shock absorber 12 via a fourth pin shaft 11. The first pin hole 808 on the first hinged portion is hinged to the rocker mounting bracket 9 via a 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. The 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 specified or limited, the terms "mounted" and "connected" should be understood in a broad sense. For example, they can refer to fixed connection, integral connection, or mechanical connection. Those skilled in the art will understand the specific meanings of the above terms in the present invention.

[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 scope of protection of the present invention.

Claims

1. An electrically driven triangular crawler active suspension, characterized by: 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 move vertically 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 crawler 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 its hinged end with the frame; each hinged part comprises one or more coaxial pin holes, the pin hole axes of different hinged parts are parallel, and the second hinged part and the third hinged part are staggered along the forward / backward direction of the electric drive triangular crawler assembly (15); 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 crawler active suspension according to claim 1, characterized in that: The frame comprises a main bracket and a servo electric cylinder bracket (2), a rocker bracket (9) and a frame side cross arm mounting bracket (16) mounted on the main bracket, wherein the servo electric cylinder bracket (2) 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 (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 bracket (9) is located on the upper part of the main bracket, and the first hinge part of the rocker (8) is hinged to the rocker bracket (9); the frame side cross arm mounting bracket (16) is located on the side of the main bracket, and the frame side of the double cross arm structure is hinged to the frame side cross arm mounting bracket (16).

3. The electrically driven triangular crawler active suspension according to claim 1, characterized in that: The Y-shaped cross arm (14) is fixedly connected to the 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 portion of the servo electric cylinder and the rocker (8) is located and the working plane where the third hinged portion 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 crawler 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 crawler active suspension according to claim 1, 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 hinge portion is formed between the first steel plate (802), the second steel plate (803) and the third steel plate (804); a second hinge portion is formed between the first steel plate (802) and the second steel plate (803), and a third hinge 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).

7. 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 articulation with the double cross arm structure; A driving wheel (1507) and a plurality of track wheels (1513) are respectively mounted on the upper and lower sides of an assembly plate (1511) to form a triangular connection structure. A rubber track (1510) is sleeved on the outside of 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) via a triangular connection plate (1503). The output shaft of the wheel-side reducer (1502) is used to drive the driving wheel (1507).

8. The electrically driven triangular crawler active suspension according to claim 7, characterized in that: The wheel-side reducer (1502) is fixed to the triangular connecting plate (1503) via a flange (1504); a bearing (1506) is provided between the flange (1504) and the driving wheel (1507); the inner ring of the bearing (1506) contacts a transfer plate (1509) fixed to the center of the driving wheel (1507); the outer ring contacts the flange (1504); the output shaft of the wheel-side reducer (1502) is key-connected to 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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