Chassis capable of adapting to different terrains and tracked vehicle

Abstract

The invention provides a chassis capable of adapting to different terrains and a tracked vehicle. The chassis comprises a chassis body; the crawler walking devices are arranged on the two opposite sides of the chassis body respectively; the rotating mechanism is arranged between the chassis body and the crawler walking device, is rotationally connected with the chassis body and is fixedly connected with the crawler walking device; the chassis has a first working mode and a second working mode, in the first working mode, the control device is disconnected with the rotating mechanism, and in the second working mode, the control device is connected with the rotating mechanism and used for controlling work of the rotating mechanism. In the application, the crawler walking device can realize passive overturning and active overturning control so as to adapt to various complex environments and different driving requirements, so that the self-adaptability and the steering capability of the vehicle in a narrow space can be improved, the vehicle is not limited to passive adaptation of follow-up overturning any more, and the practicability and the application range of the vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle engineering, and in particular to a chassis and tracked vehicle capable of adapting to different terrains. Background Art

[0002] There are many types of all-terrain tracked vehicles, the most common ones are swing-arm tracked vehicles, independent tracked module forms (such as triangular track wheel vehicles), multi-track fixed tracked vehicles (the track walking system is rigidly connected to the frame), articulated tracked vehicles and other types.

[0003] At present, in the related art all-terrain tracked vehicles, such as swing arm tracked vehicles, although they have the ability to actively flip, they do not have the terrain adaptive follow-up characteristics. For some tracked vehicles that can passively adapt to the terrain, they also do not have the ability to actively flip, which results in a relatively simple walking control method for all-terrain tracked vehicles, which cannot meet the driving needs of drivers for all-terrain tracked vehicles under different terrains.

[0004] Therefore, in order to meet the driving needs of drivers in different terrains, how to provide a tracked vehicle chassis that can actively control the flip angle of the walking device to change the posture and passively adapt to the terrain has become a problem that needs to be solved urgently. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] A first object of the present invention is to provide a chassis that can adapt to different terrains.

[0007] A second object of the present invention is to provide a tracked vehicle.

[0008] To achieve the above-mentioned purpose, the present invention provides a chassis that can adapt to different terrains, including: a chassis body; a plurality of crawler running devices, respectively arranged on two opposite sides of the chassis body; a rotating mechanism, arranged between the chassis body and the crawler running devices, rotatably connected to the chassis body, and fixedly connected to the crawler running devices; a control device, the chassis has a first working mode and a second working mode, in the first working mode, the control device is disconnected from the rotating mechanism, and in the second working mode, the control device is connected to the rotating mechanism for controlling the operation of the rotating mechanism.

[0009] According to the chassis capable of adapting to different terrains provided by the present invention, the chassis body and the crawler walking device are connected by a rotating mechanism, the chassis body is the bottom structure of the vehicle that can carry other structures of the vehicle, and when the vehicle chassis is in the first working mode, the control device is disconnected from the rotating mechanism, and the control device does not control the rotating mechanism, which can also be understood as the control device releasing the control of the rotating mechanism, and the crawler walking device can passively flip with the road conditions, that is, the crawler walking device can drive the rotating mechanism to rotate when it encounters terrain fluctuations, so as to achieve relative rotation between the crawler walking device and the chassis body, so that the chassis structure can be passively adapted to various terrain scenes such as potholes, climbing and crossing obstacles. At the same time, when the vehicle chassis is in the second working mode, the control device is used to control the rotating mechanism to work, so that the vehicle can actively adjust the posture of the crawler walking device, so that the adaptability and steering ability of the vehicle in a small space (such as a corridor, a narrow alley, etc.) can be improved, and it is no longer limited to the passive adaptation of the follow-up flip. Through the chassis structure capable of adapting to different terrains provided by the present application, the crawler walking device can realize passive flipping and active flipping control to adapt to a variety of complex environments and different driving requirements. For example, when passing through a wide road, the chassis of the vehicle can adaptively adapt to the terrain in the first working mode. When passing through a narrow passage, the second working mode can be used to actively adjust the angle of the crawler walking device to reduce the overall size of the vehicle, thereby improving the practicality and application range of the vehicle.

[0010] In addition, the chassis capable of adapting to different terrains provided by the present application may also have the following additional technical features:

[0011] In some embodiments, optionally, the chassis that can adapt to different terrains also includes: a limit plate, which is arranged on the side of the rotating mechanism away from the crawler walking device, and rotates with the rotation of the rotating mechanism, and a limit groove is provided on the limit plate; a mounting plate, which is arranged on the limit plate; an adjustable telescopic member, which is installed on the mounting plate, and the adjustable telescopic member has a first state and a second state. In the first state, at least a part of the adjustable telescopic member is located inside the limit groove, and in the second state, the adjustable telescopic member is located outside the limit groove.

[0012] In this embodiment, when active control is not connected, the crawler walking device undergoes a passive flipping stage according to the road conditions, the limit plate rotates with the rotating mechanism, and is provided with a limit groove, which can be an arc groove or other shapes, and cooperates with the adjustable telescopic member to more accurately limit the rotation range of the rotating mechanism, thereby improving the reliability and stability of the vehicle. When the crawler walking device is actively controlled by the control device, the crawler walking device is rotated to a preset position and stopped by active control, that is, the limit of the crawler walking device is achieved by setting the parameters of the control device in the active control stage. Therefore, the two states of the adjustable telescopic member can be switched according to actual needs. In the active control stage, the adjustable telescopic member is located outside the limit groove and does not affect the free rotation of the rotating mechanism. In the passive flipping stage, the adjustable telescopic member enters the limit groove to play a limiting role, thereby enhancing the adaptability and controllability of the vehicle.

[0013] Optionally, the limiting groove may be replaced by a limiting hole.

[0014] In some embodiments, optionally, the adjustable telescopic member includes: an electromagnet mounted on a mounting plate, the electromagnet including an armature, when the electromagnet is in a power-off state, at least a portion of the armature is located inside the limit slot, and when the electromagnet is in a power-on state, the armature is located outside the limit slot.

[0015] In this embodiment, an electromagnet is used as an adjustable telescopic part, and the position of the armature is controlled by powering on and off, thereby realizing the switching of the limit function. This electromagnetic control method has the advantages of fast response speed, high control accuracy, and strong reliability. It can more accurately meet the vehicle's requirements for limit under different working conditions, and further improve the overall performance of the vehicle.

[0016] At the same time, compared with some complex mechanical limit and adjustment devices, the electromagnet structure is relatively simple, which not only reduces the number of parts and reduces the vehicle's own weight, but also helps to reduce production costs and maintenance difficulties, and improves the vehicle's economy and maintainability.

[0017] In some embodiments, optionally, the rotating mechanism includes a rotating cylinder or a rotating damping device.

[0018] In this embodiment, both the rotary cylinder and the rotary damping device can help optimize the vibration reduction effect of the vehicle during driving, provide the chassis with follow-up adaptive balance and good vibration reduction and damping performance, reduce the fluctuation of the center of gravity of the whole vehicle caused by the flipping of the track module or the change of terrain, improve the comfort and handling stability of the vehicle, and also reduce the dependence on the chassis mounting seat vibration reduction spring, thereby extending the service life of related components.

[0019] Furthermore, when the rotary cylinder is connected to the hydraulic control, it can realize active and precise control of the flip angle of the crawler module to meet the requirements of vehicle posture change. In the passive flipping stage, the ground fluctuation is fed back to the crawler walking device, which is connected to the output shaft of the rotary cylinder, thereby driving the crawler walking device to flip around the output shaft of the rotary cylinder. When the output shaft rotates passively, the cylinder produces a throttling effect through the throttle valve (hole), resulting in good vibration damping performance.

[0020] At the same time, the transmission mechanism of the swing arm tracked vehicle in the related art is relatively complex, and it is generally a long cantilever structure, which limits the space for internal layout of the vehicle, has a small load capacity, and has certain limitations in usage scenarios. However, the present application uses a rotary cylinder as a transmission mechanism, which can effectively simplify the overall structure of the chassis, free up space for internal layout of the vehicle, thereby increasing the load capacity of the vehicle, and at the same time can increase the swing angle of the tracked walking device to improve the adaptability of the vehicle when entering narrow passages.

[0021] In some embodiments, optionally, the crawler walking device includes: a track frame, connected to a rotating mechanism, and the track frame is rotatably connected to a chassis body through the rotating mechanism; a driving wheel, arranged at the front end of the track frame and connected to the track frame; a driven wheel, arranged at the rear end of the track frame and connected to the track frame; a driving device, arranged on the driving wheel and used to drive the driving wheel; a rotary track, wound around the track frame, the driving wheel and the driven wheel, and the rotary track is driven to rotate by the driving wheel.

[0022] In this embodiment, the track frame, driving wheel, driven wheel, driving device and slewing track together constitute a complete track walking device, ensuring that the vehicle can travel stably under various terrain conditions. The driving device provides sufficient driving force to the driving wheel, thereby driving the driven wheel to rotate, ensuring the normal operation and passability of the vehicle.

[0023] At the same time, the reasonable connection and coordination between the various components make the crawler walking device have good structural strength and stability, able to withstand large loads and complex stress conditions, reduce the probability of failure, improve the reliability and durability of the vehicle, and adapt to the needs of all-terrain driving.

[0024] In some embodiments, optionally, the crawler walking device further includes a crawler tensioning device, which is disposed on the crawler frame. The crawler tensioning device can adjust the position of the driven wheel, thereby adjusting the tensioning state of the rotary crawler track.

[0025] In some embodiments, optionally, the driving device includes one of a driving motor, a hydraulic motor or a pneumatic motor.

[0026] In this embodiment, the driving device includes one of a driving motor, a hydraulic motor or a pneumatic motor. Different driving modes have their own advantages. For example, the driving motor has the characteristics of high efficiency, energy saving, low noise, etc. The hydraulic motor has the advantages of large torque, high power density, and stepless speed regulation. The pneumatic motor has the characteristics of explosion-proof, corrosion-resistant, and simple maintenance. Such a design can select a suitable driving mode according to the specific application scenario of the vehicle and user needs, thereby improving the adaptability and flexibility of the vehicle.

[0027] In some embodiments, optionally, the swivel track comprises a swivel rubber track or a swivel metal track.

[0028] In this embodiment, the rubber track has good flexibility, vibration reduction and adaptability to the ground, and is suitable for some relatively flat roads with high noise requirements; the metal track has higher strength, wear resistance and puncture resistance, and is more suitable for driving in harsh and complex terrain environments. By providing two track material options, the application range of the vehicle is further expanded to meet the needs of different users.

[0029] In some embodiments, optionally, the number of rotating mechanisms is the same as the number of crawler walking devices, and a rotating mechanism is provided between each crawler walking device and the chassis body.

[0030] In this embodiment, the number of rotating mechanisms is the same as the number of crawler running devices, and a rotating mechanism is provided between each crawler running device and the chassis body, so that independent control of each crawler running device can be achieved, so that the vehicle can adjust its posture more flexibly, adapt to various complex terrains and narrow space driving requirements, and improve the vehicle's handling performance and passability.

[0031] In some embodiments, optionally, the number of crawler walking devices is four, two of which are respectively installed at the front and rear ends of one side of the chassis body, and the other two crawler walking devices are respectively installed at the front and rear ends of the other side of the chassis body.

[0032] In this embodiment, four crawler walking devices are respectively installed at the front and rear ends of both sides of the chassis body, which can make the weight distribution of the vehicle more even and reasonable, improve the balance performance and stability of the vehicle during driving, reduce the risks of rollover and loss of control caused by center of gravity shift, and improve the overall stability of the vehicle especially in complex terrain and when driving at high speed.

[0033] In some embodiments, optionally, the chassis body is a one-piece structure.

[0034] In this embodiment, the chassis body adopts an integrated structure, which can effectively reduce the connection gaps and relative movements between components, improve the overall rigidity and strength of the chassis, and make it less likely to deform and damage when subjected to large loads and complex stresses, thereby ensuring the driving safety and reliability of the vehicle.

[0035] An embodiment of the second aspect of the present invention provides a tracked vehicle, comprising a chassis capable of adapting to different terrains in any embodiment of the first aspect.

[0036] The tracked vehicle provided by the present invention comprises the chassis capable of adapting to different terrains in any one of the embodiments of the first aspect. Therefore, the tracked vehicle has all the beneficial effects of the chassis capable of adapting to different terrains in any one of the embodiments of the first aspect, which will not be described in detail here.

[0037] In some embodiments, optionally, the tracked vehicle comprises a tracked all-terrain vehicle.

[0038] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0040] Figure 1 One of the structural schematic diagrams of a chassis capable of adapting to different terrains according to an embodiment of the present invention is shown;

[0041] Figure 2 A top view of a chassis capable of adapting to different terrains according to an embodiment of the present invention is shown;

[0042] Figure 3 A second structural schematic diagram of a chassis capable of adapting to different terrains according to an embodiment of the present invention is shown;

[0043] Figure 4 Shows Figure 3 A cross-sectional view of the chassis that can adapt to different terrains along the AA direction;

[0044] Figure 5 A third structural schematic diagram of a chassis capable of adapting to different terrains according to an embodiment of the present invention is shown;

[0045] Figure 6 A fourth structural schematic diagram of a chassis capable of adapting to different terrains according to an embodiment of the present invention is shown;

[0046] Figure 7 A fifth structural schematic diagram of a chassis capable of adapting to different terrains according to an embodiment of the present invention is shown;

[0047] in, Figures 1 to 7 The corresponding relationship between the reference numerals and component names in the figure is:

[0048] 1 chassis body, 2 crawler walking device, 20 crawler frame, 21 driving wheel, 22 driven wheel, 23 driving device, 24 rotary crawler, 25 crawler tensioning device, 3 rotating mechanism, 32 rotating cylinder, 34 rotating damping device, 4 limiting plate, 42 limiting groove, 5 mounting plate, 6 adjustable telescopic part, 62 electromagnet, 622 armature, 7 control device. DETAILED DESCRIPTION

[0049] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0050] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0051] Refer to the following Figures 1 to 7 The invention describes a chassis and a tracked vehicle capable of adapting to different terrains according to some embodiments of the present application.

[0052] In one embodiment of the present application, Figure 1 , Figure 2 and Figure 4 As shown, a chassis capable of adapting to different terrains is provided, comprising: a chassis body 1; a plurality of crawler walking devices 2, respectively arranged on opposite sides of the chassis body 1; a rotating mechanism 3, arranged between the chassis body 1 and the crawler walking device 2, rotatably connected to the chassis body 1, and fixedly connected to the crawler walking device 2; a control device 7, the chassis has a first working mode and a second working mode, in the first working mode, the control device 7 is disconnected from the rotating mechanism 3, and in the second working mode, the control device 7 is connected to the rotating mechanism 3, for controlling the operation of the rotating mechanism 3.

[0053] According to the chassis capable of adapting to different terrains provided by the present invention, the chassis body 1 and the crawler walking device 2 are connected by a rotating mechanism 3, the chassis body 1 is the bottom structure of the vehicle that can carry other structures of the vehicle, and when the vehicle chassis is in the first working mode, the control device is disconnected from the rotating mechanism, and the control device 7 does not control the rotating mechanism 3, which can also be understood as the control device 7 releasing the control of the rotating mechanism 3, and the crawler walking device 2 can passively flip with the road conditions, that is, the crawler walking device 2 can drive the rotating mechanism 3 to rotate when encountering terrain fluctuations, so as to achieve relative rotation between the crawler walking device 2 and the chassis body 1, so that the chassis structure can be passively adapted to various terrain scenes such as potholes, climbing and crossing obstacles. At the same time, when the vehicle chassis is in the second working mode, the control device 7 is used to control the rotating mechanism 3 to work, so that the vehicle can actively adjust the posture of the crawler walking device 2, so that the adaptability and steering ability of the vehicle in a small space (such as a corridor, a narrow alley, etc.) can be improved, and it is no longer limited to the passive adaptation of the follow-up flip.

[0054] like Figure 5 , Figure 6 and Figure 7 As shown, Figure 5 The posture of the crawler walking device 2 when the vehicle is traveling on a normal road, Figure 6 When the middle crawler walking device 2 is passively controlled when encountering an undulating road surface, the posture of the crawler walking device 2 is Figure 7 When the vehicle is actively controlled, the posture of the crawler walking device 2 when encountering a narrow space. Through the chassis structure that can adapt to different terrains provided by the present application, the crawler walking device 2 can realize passive flipping and active flipping control to adapt to a variety of complex environments and different driving needs. For example, when passing through a wide road, the chassis of the vehicle can adaptively move in the first working mode to the terrain, and when passing through a narrow passage, the second working mode can be used to actively adjust the angle of the crawler walking device 2 to reduce the overall size of the vehicle, thereby improving the practicality and application range of the vehicle.

[0055] In some embodiments, optionally, Figure 3 and Figure 4 As shown, the chassis capable of adapting to different terrains also includes: a limit plate 4, which is arranged on the side of the rotating mechanism 3 away from the crawler walking device 2 and rotates with the rotation of the rotating mechanism 3, and a limit groove 42 is provided on the limit plate 4; a mounting plate 5, which is arranged on the limit plate 4; an adjustable telescopic member 6, which is installed on the mounting plate 5, and the adjustable telescopic member 6 has a first state and a second state. In the first state, at least a part of the adjustable telescopic member 6 is located inside the limit groove 42, and in the second state, the adjustable telescopic member 6 is located outside the limit groove 42.

[0056] In this embodiment, when active control is not connected, the crawler walking device 2 undergoes a passive flipping stage according to the road conditions, and the limit plate 4 rotates with the rotating mechanism 3 and is provided with a limit groove 42. The limit groove 42 can be an arc groove or other shapes. In conjunction with the adjustable telescopic member 6, the rotation range of the rotating mechanism 3 can be more accurately limited, thereby improving the reliability and stability of the vehicle. When the crawler walking device 2 is actively controlled by the control device 7, the crawler walking device 2 is rotated to a preset position and stopped by active control, that is, the limit of the crawler walking device 2 is achieved by setting the parameters of the control device 7 in the active control stage. Therefore, the two states of the adjustable telescopic member 6 can be switched according to actual needs. In the active control stage, the adjustable telescopic member 6 is located outside the limit groove 42 and does not affect the free rotation of the rotating mechanism 3. In the passive flipping stage, the adjustable telescopic member 6 enters the limit groove 42 to play a limiting role, thereby enhancing the adaptability and controllability of the vehicle.

[0057] Optionally, the limiting groove 42 may be replaced by a limiting hole.

[0058] In some embodiments, optionally, Figure 4 As shown, the adjustable telescopic member 6 includes: an electromagnet 62, which is installed on the mounting plate 5. The electromagnet 62 includes an armature 622. When the electromagnet 62 is in a power-off state, at least a portion of the armature 622 is located inside the limit groove 42. When the electromagnet 62 is in a power-on state, the armature 622 is located outside the limit groove 42.

[0059] In this embodiment, an electromagnet 62 is used as an adjustable telescopic part 6, and the position of the armature 622 is controlled by powering on and off, thereby realizing the switching of the limit function. This electromagnetic control method has the advantages of fast response speed, high control accuracy, and strong reliability. It can more accurately meet the vehicle's requirements for limit under different working conditions, and further improve the overall performance of the vehicle.

[0060] At the same time, compared with some complex mechanical limit and adjustment devices, the electromagnet 62 has a relatively simple structure, which not only reduces the number of parts and reduces the vehicle's own weight, but also helps to reduce production costs and maintenance difficulties, and improves the economy and maintainability of the vehicle.

[0061] In some embodiments, optionally, Figure 4 As shown, the rotating mechanism 3 includes a rotating cylinder 32 or a rotating damping device 34 .

[0062] In this embodiment, both the rotary cylinder 32 and the rotary damping device 34 help to optimize the vibration reduction effect of the vehicle during driving, provide the chassis with follow-up adaptive balance and good vibration reduction and damping performance, reduce the fluctuation of the center of gravity of the whole vehicle caused by the flipping of the track module or the change of terrain, improve the comfort and handling stability of the vehicle, and also reduce the dependence on the chassis mounting seat vibration reduction spring, thereby extending the service life of related components.

[0063] Furthermore, when the rotary oil cylinder 32 is connected to the hydraulic control, it can realize active and precise control of the flip angle of the crawler module to meet the requirements of vehicle posture change. In the passive flipping stage, the ground fluctuation is fed back to the crawler walking device 2, which is connected to the output shaft of the rotary oil cylinder 32, thereby driving the crawler walking device 2 to flip around the output shaft of the rotary oil cylinder 32. When the output shaft rotates passively, the oil cylinder produces a throttling effect through the throttle valve (hole), resulting in good vibration damping performance.

[0064] At the same time, the transmission mechanism of the swing arm tracked vehicle in the related art is relatively complex, and it is generally a long cantilever structure, which limits the space for arrangement inside the vehicle, has a small load capacity, and has certain limitations in the use scenarios. However, the present application adopts a rotating oil cylinder 32 as a transmission mechanism, which can effectively simplify the overall structure of the chassis, free up the space for arrangement inside the vehicle, so as to improve the load capacity of the vehicle, and at the same time, it can also increase the swing angle of the crawler walking device 2, so as to improve the adaptability of the vehicle when entering a narrow passage.

[0065] In some embodiments, optionally, Figure 1 As shown, the crawler walking device 2 includes: a crawler frame 20, which is connected to the rotating mechanism 3, and the crawler frame 20 is rotatably connected to the chassis body 1 through the rotating mechanism 3; a driving wheel 21, which is arranged at the front end of the crawler frame 20 and connected to the crawler frame 20; a driven wheel 22, which is arranged at the rear end of the crawler frame 20 and connected to the crawler frame 20; a driving device 23, which is arranged on the driving wheel 21 and is used to drive the driving wheel 21; a rotary crawler 24, which is wound around the crawler frame 20, the driving wheel 21 and the driven wheel 22, and the rotary crawler 24 is driven to rotate through the driving wheel 21.

[0066] In this embodiment, the track frame 20, the driving wheel 21, the driven wheel 22, the driving device 23 and the rotary track 24 together constitute a complete crawler walking device 2, ensuring that the vehicle can travel stably under various terrain conditions. The driving device 23 provides sufficient driving force to the driving wheel 21, thereby driving the driven wheel 22 to rotate, ensuring the normal operation and passability of the vehicle.

[0067] At the same time, the reasonable connection and coordination between the various components make the crawler walking device 2 have good structural strength and stability, can withstand large loads and complex stress conditions, reduce the probability of failure, improve the reliability and durability of the vehicle, and adapt to the needs of all-terrain driving.

[0068] In some embodiments, optionally, the crawler walking device 2 further includes a crawler tensioning device 25 , which is disposed on the crawler frame 20 . The crawler tensioning device 25 can adjust the position of the driven wheel 22 , thereby adjusting the tensioning state of the rotary crawler 24 .

[0069] In some embodiments, optionally, the driving device 23 includes one of a driving motor, a hydraulic motor or a pneumatic motor.

[0070] In this embodiment, the driving device 23 includes one of a driving motor, a hydraulic motor or a pneumatic motor. Different driving modes have their own advantages. For example, the driving motor has the characteristics of high efficiency, energy saving, low noise, etc. The hydraulic motor has the advantages of large torque, high power density, and stepless speed regulation. The pneumatic motor has the characteristics of explosion-proof, corrosion-resistant, and simple maintenance. Such a design can select a suitable driving mode according to the specific application scenario of the vehicle and user needs, thereby improving the adaptability and flexibility of the vehicle.

[0071] In some embodiments, the swivel track 24 may optionally include a swivel rubber track or a swivel metal track.

[0072] In this embodiment, the rubber track has good flexibility, vibration reduction and adaptability to the ground, and is suitable for some relatively flat roads with high noise requirements; the metal track has higher strength, wear resistance and puncture resistance, and is more suitable for driving in harsh and complex terrain environments. By providing two track material options, the application range of the vehicle is further expanded to meet the needs of different users.

[0073] In some embodiments, optionally, the number of the rotating mechanisms 3 is the same as the number of the crawler walking devices 2 , and a rotating mechanism 3 is provided between each crawler walking device 2 and the chassis body 1 .

[0074] In this embodiment, the number of rotating mechanisms 3 is the same as the number of crawler running devices 2, and a rotating mechanism 3 is respectively provided between each crawler running device 2 and the chassis body 1, so that independent control of each crawler running device 2 can be achieved, so that the vehicle can adjust its posture more flexibly, adapt to various complex terrains and narrow space driving requirements, and improve the vehicle's handling performance and passability.

[0075] In some embodiments, optionally, Figure 2As shown, there are four crawler running devices 2, two of which are respectively installed at the front and rear ends of one side of the chassis body 1, and the other two crawler running devices 2 are respectively installed at the front and rear ends of the other side of the chassis body 1.

[0076] In this embodiment, four crawler walking devices 2 are respectively installed at the front and rear ends of both sides of the chassis body 1, which can make the weight distribution of the vehicle more uniform and reasonable, improve the balance performance and stability of the vehicle during driving, reduce the risks of rollover and loss of control caused by center of gravity shift, and improve the overall stability of the vehicle especially in complex terrain and when driving at high speed.

[0077] In some embodiments, optionally, the chassis body 1 is an integrated structure.

[0078] In this embodiment, the chassis body 1 adopts an integrated structure, which can effectively reduce the connection gaps and relative movements between components, improve the overall rigidity and strength of the chassis, and make it less likely to deform and damage when subjected to large loads and complex stresses, thereby ensuring the driving safety and reliability of the vehicle.

[0079] An embodiment of the second aspect of the present invention provides a tracked vehicle, comprising a chassis capable of adapting to different terrains in any embodiment of the first aspect.

[0080] The tracked vehicle provided by the present invention comprises the chassis capable of adapting to different terrains in any one of the embodiments of the first aspect. Therefore, the tracked vehicle has all the beneficial effects of the chassis capable of adapting to different terrains in any one of the embodiments of the first aspect, which will not be described in detail here.

[0081] In some embodiments, optionally, the tracked vehicle comprises a tracked all-terrain vehicle.

[0082] In one embodiment of the present invention, an all-terrain tracked vehicle (tracked vehicle) is provided, which has four independent track module units, which are connected to the frame and can rotate around the connection axis. The specific implementation method is that the track module is connected to the frame using a rotating cylinder 32. When the hydraulic control is not connected, the chassis is a follow-up adaptive balancing device, and it has better vibration damping performance; when the hydraulic control is connected, the flip angle of the track module can be actively controlled to change the posture, so as to reduce the overall size of the vehicle and improve the function of passing through narrow spaces.

[0083] In some embodiments, the rotary cylinder 32 may be optionally replaced by other rotary damping devices.

[0084] In the related art, there are many types of multi-track all-terrain vehicles, the most common of which are swing-arm tracked vehicles, independent tracked module forms (such as triangular track wheel vehicles), multi-track fixed tracked vehicles (the track walking system is rigidly connected to the frame), articulated tracked vehicles and other types.

[0085] Judging from the products in the current relevant technologies, the chassis with a swing-arm track structure can change the walking posture and improve the vehicle's passing performance, but its transmission device is complex and requires a large installation space in the vehicle. The swing arm has a large working stress and it is difficult to achieve a large load-bearing capacity. In addition, the contact between the swing arm and the obstacle is a rigid collision, and the impact resistance is poor.

[0086] The other types of multi-track vehicles mentioned above, under the same obstacle crossing indicators, are significantly larger than the tracked vehicles with swing arm posture deformation, which limits their turning ability in narrow spaces (such as corridors and narrow alleys). The adaptive all-terrain tracked vehicle, whose tracked walking device 2 adopts 4 sets of independent track modules, is connected to the frame and can rotate around the connecting axis. When encountering complex road surfaces, it can rotate according to the terrain and has good adaptability. For example, the all-terrain vehicle in the related art adopts an articulated tracked chassis, which is divided into two parts, front and rear, each equipped with a lifting device, so that it can pass through some complex ground. And the all-terrain fire-fighting robot adopts four independent track module units, and the flipping angle of the track module is limited by steel wire ropes, so that the tracked walking mechanism can be flipped to a certain extent.

[0087] The above scheme has a strong vehicle load capacity, but the vehicle size is large, and the walking device cannot be changed by active flipping, making it difficult to turn in a small space. Although the conventional swing arm type crawler device can be used in a small space by changing the walking posture, its transmission structure is complex and the load capacity is limited when crossing obstacles. In addition, the swing arm type crawler often needs to control the change of posture to adapt to different obstacle environments, and it does not have terrain adaptability.

[0088] Therefore, without reducing the chassis's passability and load capacity, the vehicle must have high adaptability and improve its steering ability in a narrow space. This application needs to solve the following problems:

[0089] 1) The follow-up flip can only passively adapt to terrain conditions and does not have the ability to actively flip to adapt to certain complex terrains or pass through narrow spaces.

[0090] 2) The follow-up flip limit is a mechanical limit, and there is a large impact at the extreme position (such as straightening the wire rope or hitting the limit block).

[0091] 3) The follow-up flipping has no damping during the flipping process and does not have the performance of reducing the flipping impact. It relies on the shock absorbing spring of the chassis mounting seat to reduce vibration in the vertical direction, and the center of gravity of the whole vehicle has obvious ups and downs.

[0092] Based on the solution of the present application, the vehicle can change its posture to adapt to use in complex environments.

[0093] The chassis and tracked vehicle capable of adapting to different terrains provided by the present invention have the following advantages:

[0094] 1) The follow-up crawler walking system can realize active posture change and has high passing performance under high load.

[0095] 2) The damping system improves the vehicle's vibration reduction performance, reduces the vehicle's center of gravity disturbance, and improves balance.

[0096] In the present invention, the term "plurality" refers to two or more than two, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0097] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A chassis capable of adapting to different terrains, characterized in that: include: Chassis body; A plurality of crawler walking devices are respectively arranged on two opposite sides of the chassis body; A rotating mechanism is disposed between the chassis body and the crawler walking device, is rotatably connected to the chassis body, and is fixedly connected to the crawler walking device; The chassis has a first working mode and a second working mode. In the first working mode, the control device is disconnected from the rotating mechanism. In the second working mode, the control device is connected to the rotating mechanism for controlling the operation of the rotating mechanism.

2. The chassis capable of adapting to different terrains according to claim 1, characterized in that: Also includes: A limit plate is arranged on a side of the rotating mechanism away from the crawler walking device, rotates with the rotation of the rotating mechanism, and a limit groove is arranged on the limit plate; A mounting plate, arranged on the limiting plate; An adjustable telescopic member is mounted on the mounting plate, and the adjustable telescopic member has a first state and a second state. In the first state, at least a portion of the adjustable telescopic member is located inside the limiting groove, and in the second state, the adjustable telescopic member is located outside the limiting groove.

3. The chassis capable of adapting to different terrains according to claim 2, characterized in that: The adjustable telescopic member comprises: An electromagnet is mounted on the mounting plate, and the electromagnet includes an armature. When the electromagnet is in a power-off state, at least a portion of the armature is located inside the limiting groove, and when the electromagnet is in a power-on state, the armature is located outside the limiting groove.

4. The chassis capable of adapting to different terrains according to claim 1, characterized in that: The rotating mechanism includes a rotating oil cylinder or a rotating damping device.

5. The chassis capable of adapting to different terrains according to claim 1, characterized in that: The crawler walking device comprises: A crawler frame connected to the rotating mechanism, wherein the crawler frame is rotatably connected to the chassis body through the rotating mechanism; A driving wheel, arranged at the front end of the crawler frame and connected to the crawler frame; A driven wheel is arranged at the rear end of the crawler frame and connected to the crawler frame; A driving device, disposed on the driving wheel, for driving the driving wheel; The rotary crawler is wound around the crawler frame, the driving wheel and the driven wheel, and the rotary crawler is driven to rotate by the driving wheel.

6. The chassis capable of adapting to different terrains according to claim 5, characterized in that: The driving device comprises a driving motor, a hydraulic motor or a pneumatic motor; and / or The rotary crawler includes a rotary rubber crawler or a rotary metal crawler.

7. The chassis capable of adapting to different terrains according to any one of claims 1 to 6, characterized in that: The number of the rotating mechanisms is the same as the number of the crawler walking devices, and the rotating mechanism is respectively arranged between each crawler walking device and the chassis body.

8. The chassis capable of adapting to different terrains according to claim 7, characterized in that: There are four crawler walking devices, two of which are respectively installed at the front and rear ends of one side of the chassis body, and the other two crawler walking devices are respectively installed at the front and rear ends of the other side of the chassis body.

9. The chassis capable of adapting to different terrains according to any one of claims 1 to 6, characterized in that: The chassis body is an integrated structure.

10. A tracked vehicle, characterized in that: include: A chassis capable of adapting to different terrains as claimed in any one of claims 1 to 9.

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