Track chassis device with variable grounding specific pressure

Abstract

The invention provides a caterpillar band chassis device with variable grounding specific pressure. The caterpillar band chassis device comprises a caterpillar band set, a frame structure, an adjusting mechanism set and a circuit regulation and control set. The crawler belt group, the adjusting mechanism group and the circuit regulation and control group are respectively mounted on the frame structure; the crawler belt group comprises a crawler belt and a plurality of pressure sensors, and the pressure sensors are arranged on the crawler belt and used for detecting pressure applied to the crawler belt by the ground and transmitting the pressure to the circuit regulation and control group; the frame structure comprises a frame upper layer and a frame chassis which are arranged up and down; the circuit regulation and control group is respectively connected with the pressure sensor and the electric cylinder device; the circuit regulation and control set compares a pressure signal detected by the pressure sensor with a preset value, when the pressure signal exceeds the preset value, the expansion amount of the electric cylinder device is controlled, the distance between the upper layer of the frame and the frame chassis is adjusted, and therefore the pressing rod is driven to adjust the height of the guide wheel to change the contact area between the crawler belt and the ground. According to the invention, the driving speed, the flexibility and the adaptability are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of crawler chassis, and in particular relates to a crawler chassis device with variable ground contact pressure ratio. Background Art

[0002] Crawler chassis is a kind of traveling device widely used on complex roads. The current crawler chassis is mainly composed of traveling mechanism, crawler, driving wheel, track roller, supporting roller, tensioning device, power unit and guide wheel. The supporting roller, driving wheel, track roller, guide wheel and tensioning device are all installed on the traveling mechanism, and the crawler works with these wheels. The driving wheel of the power unit rotates, and the gear on the driving wheel engages with the track chain, continuously rolling up the crawler from the back. The grounded crawler exerts a backward force on the ground, and the ground correspondingly exerts a forward reaction force on the crawler, which is the driving force that pushes the machine forward. The traditional ordinary crawler chassis cannot change the crawler ground contact area, has a low running speed, has a large weight, and the contact pressure between the crawler and the ground is uneven, which will cause great damage to the road surface. Therefore, in order to effectively improve the flexibility and adaptability of the crawler chassis, the crawler chassis structure needs to be upgraded.

[0003] At present, the designs for crawler chassis mainly include: the Chinese invention patent with application announcement number CN111361645A and titled "An all-terrain four-track chassis and agricultural machinery" discloses an all-terrain four-track chassis, including a frame, a flat crawler walking mechanism, a body leveling mechanism, and a steering mechanism; the number of flat crawler walking mechanisms is four groups, which are distributed in a rectangular shape, and each group of flat crawler walking mechanisms is installed on the frame through a group of body leveling mechanisms; the steering mechanism is located between the last two groups of flat crawler walking mechanisms, and drives the last two groups of flat crawler walking mechanisms to turn synchronously. After adopting this structure, the center of gravity of the whole machine tends to the geometric center of the body, making the body more stable on terrain with a large slope, and the frame is horizontal and vertical, which effectively prevents the body from tilting and can work better. The application publication number is CN116729513A, a deformable crawler chassis discloses a deformable crawler chassis based on dual drive motors and dual servos control, which is applied to the obstacle crossing of a low-lying crawler robot chassis, and includes four parts: a front crawler group, a rear crawler group, a deformable clutch, and a frame. The front crawler group and the rear crawler group directly contact the ground to achieve basic movement; the deformable clutch is used to change the front crawler group between the first clutch position, the second clutch position, and the third clutch position, thereby changing the shape of the chassis to adapt to different terrains; the frame is used to fix the front crawler group, the rear crawler group, and the deformable clutch. The deformable crawler chassis of the present invention makes up for the problems of large space occupation of traditional high-passability crawler chassis and low load capacity of traditional deformable crawler chassis, realizes simple installation of the crawler chassis, simple working principle analysis, and realizes high-performance obstacle crossing of the low-height crawler robot chassis with a more streamlined and reliable structure.

[0004] The above invention patents have optimized and improved the structure of the crawler chassis, which has improved the stability of the crawler chassis during driving to a certain extent, but cannot solve the problems of excessive ground contact pressure and uneven ground contact pressure, which leads to ground damage and low driving speed. The present invention can realize that the crawler chassis can autonomously change the contact area of ​​the crawler according to different ground environments, thereby reducing damage to the ground and increasing the driving speed, and enhancing the adaptability and flexibility of the whole machine. Summary of the invention

[0005] In view of the above technical problems, the present invention provides a crawler chassis device with variable ground contact pressure ratio, which improves the driving speed, flexibility and adaptability.

[0006] The present invention utilizes the working characteristics of the crawler chassis and combines it with the ground contact pressure ratio principle to overcome the problems of excessive ground contact pressure and uneven ground contact pressure during the working process of the crawler chassis, which leads to ground damage and low driving speed. After realizing the function of the crawler chassis to autonomously adapt to different soil environments, the machine can dynamically adjust the crawler's ground contact area and ground contact pressure ratio according to specific soil conditions. The crawler chassis device with variable ground contact pressure ratio described in the present invention can increase the ground contact area, reduce the pressure ratio, prevent sinking and reduce ground damage on soft ground; and on hard ground, it can reduce the ground contact area and enhance the grip, which not only increases the driving speed, but also effectively improves the flexibility and adaptability of the whole machine.

[0007] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0008] The present invention achieves the above technical objectives through the following technical means.

[0009] The specific technical solution of the present invention is a crawler chassis device with variable ground contact pressure ratio, comprising a crawler group, a frame structure, an adjustment mechanism group and a circuit control group;

[0010] The track group, adjustment mechanism group and circuit control group are respectively installed on the frame structure;

[0011] The crawler group includes crawlers and a plurality of pressure sensors, wherein the pressure sensors are arranged on the crawlers and are used to detect the pressure given to the crawlers by the ground and transmit it to the circuit control group;

[0012] The frame structure includes a frame upper layer and a frame chassis arranged up and down;

[0013] The adjustment mechanism group includes a guide wheel, a fixed wheel, a rear swing wheel, a V-rod, a swing rod, a coupling rod, a pressure rod, a connecting rod, and a plurality of electric cylinder devices; one end of the pressure rod is rotatably connected to the upper layer of the frame, and the other end is rotatably connected to one end of the coupling rod, and the other end of the connecting rod is rotatably connected to one end of the swing rod; one end of the connecting rod is coaxially connected to the connection between the pressure rod and the coupling rod, the other end of the connecting rod is rotatably connected to one end of the V-rod, and the other end of the V-rod is connected to the guide wheel, the guide wheel contacts the inner side of the track of the track group, and the fixed wheel is installed at the middle bottom end of the V-rod; the rear swing wheel contacts the inner side of the track and is connected to the other end of the swing rod through a bearing seat, and the bearing seat is installed on the frame chassis; the electric cylinder device is installed between the upper layer of the frame and the frame chassis, and is used to adjust the distance between the upper layer of the frame and the frame chassis;

[0014] The circuit control group is connected to the pressure sensor and the electric cylinder device respectively; the circuit control group compares the pressure signal detected by the pressure sensor with a preset value, and when it exceeds the preset value, controls the extension and retraction amount of the electric cylinder device, adjusts the distance between the upper layer of the frame and the frame chassis, thereby driving the pressure rod to adjust the height of the guide wheel to change the contact area between the crawler track and the ground.

[0015] In the above scheme, when the pressure signal detected by the pressure sensor is less than the preset value, the circuit control group controls the extension and contraction of the electric cylinder device to increase, thereby increasing the distance between the upper layer of the frame and the frame chassis, driving the pressure rod to lower the height of the guide wheel, and increasing the contact area between the crawler and the ground;

[0016] When the pressure signal detected by the pressure sensor is greater than the preset value, the circuit control group controls the electric cylinder device to reduce the extension and retraction amount, thereby reducing the distance between the upper layer of the frame and the frame chassis, driving the pressure rod to increase the height of the guide wheel and reduce the contact area between the track and the ground.

[0017] In the above scheme, the track group also includes a wireless power generation device; the wireless power generation devices are respectively installed in the protruding patterns on the outer surface of the track in sequence, the pressure sensor is a wireless flexible pressure sensor, the wireless power generation device is wirelessly connected to the pressure sensor, and the wireless flexible pressure sensor is wirelessly charged; the wireless flexible pressure sensors are respectively fixed in the middle part of the protruding patterns in sequence.

[0018] Furthermore, the wireless power generation device includes a gear rack assembly, a gear transmission mechanism, a generator, a telescopic shaft and a spring; the telescopic shaft and the gear rack assembly are vertically installed, and the spring is sleeved on the telescopic shaft; the gear and rack in the gear rack assembly are meshed, the rack can move up and down, and the gear is connected to the wireless generator through the gear transmission mechanism; the wireless generator is wirelessly connected to the wireless flexible pressure sensor; the gear rack assembly generates pressure when the track is rolled, causing the telescopic shaft to shorten, the spring to compress, and the rack to move downward, driving the gear to rotate, causing the gear transmission mechanism to rotate, transferring kinetic energy to the wireless generator to generate electricity, and wirelessly outputting electrical energy to the pressure sensor, and when the pressure is over, the spring rebounds, driving the telescopic shaft to extend and the rack to move up, driving the gear to rotate, causing the gear transmission mechanism to rotate, transferring kinetic energy to the wireless generator to generate electricity, and wirelessly outputting electrical energy to the pressure sensor.

[0019] In the above solution, the crawler track is a rubber crawler track.

[0020] In the above scheme, the frame structure also includes a support roller device, a load-bearing wheel, a tensioning wheel device, a driving wheel and a power device;

[0021] The track roller device, the tensioning wheel device, the driving wheel and the power device are respectively installed on the upper layer of the frame, and the load-bearing wheel is installed on the frame chassis; the track roller device, the load-bearing wheel and the driving wheel are respectively in contact with the inner side of the track, and the track roller device and the driving wheel are located above the load-bearing wheel; the driving wheel is connected to the output shaft of the power device for driving the track to rotate; the tensioning wheel device is located above the track and is used to provide tensioning force to the track.

[0022] In the above solution, the frame structure also includes a control box; the circuit regulation group is installed in the control box.

[0023] In the above scheme, the frame structure also includes an optical axis; the optical axis is installed on the upper layer of the frame, and one end of the pressure rod is rotatably connected to the upper layer of the frame through the optical axis.

[0024] In the above scheme, the electric cylinder device includes a first electric cylinder device, a second electric cylinder device and a third electric cylinder device; the first electric cylinder device is installed at one end of the frame structure, and the second electric cylinder device and the third electric cylinder device are installed at the other end of the frame structure; one end of the first electric cylinder device is connected to the upper layer of the frame, and the other end is connected to the frame chassis; one end of the second electric cylinder device is connected to the power device, and the other end is connected to the frame chassis; one end of the third electric cylinder device is connected to the upper layer of the frame, and the other end is connected to the frame chassis.

[0025] In the above scheme, the circuit control group includes a single-chip microcomputer, a data acquisition card, a DC power supply and a protection resistor; the DC power supply and the circuit protection resistor are connected in series in the circuit, the pressure sensor is connected to the data acquisition card, and the data acquisition card is connected to the single-chip microcomputer; the pressure sensor outputs real-time data to the data acquisition card, the data acquisition card transmits the data to the single-chip microcomputer, the single-chip microcomputer is connected to the electric cylinder device, and the extension and retraction of the electric cylinder device is controlled according to the signal of the pressure sensor, thereby changing the contact area between the track and the ground.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention can solve the problem of poor passability of the traditional chassis in different wet, rotten and soft soil environments, such as roads, tidal flats, fields and the like, and has an autonomous adaptation function to improve the versatility and work efficiency of the whole machine.

[0028] During the crawler rolling process of the present invention, the wireless power generation device inside the crawler can provide power to the wireless flexible pressure sensor at any time without additional replenishment, thereby saving time and improving work efficiency.

[0029] When the crawler chassis device with variable ground contact pressure ratio of the present invention is walking and passes through a road surface with different degrees of hardness and softness, the pressure signal detected by the pressure-free sensor in the crawler track is less than a preset value, and the circuit control group controls the extension and contraction amount of the electric cylinder device to increase, thereby increasing the distance between the upper layer of the frame and the frame chassis, driving the pressure rod to lower the height of the guide wheel, and increasing the contact area between the crawler track and the ground; when the pressure signal detected by the pressure sensor is greater than the preset value, the circuit control group controls the extension and contraction amount of the electric cylinder device to decrease, thereby reducing the distance between the upper layer of the frame and the frame chassis, driving the pressure rod to increase the height of the guide wheel, and reducing the contact area between the crawler track and the ground, thereby achieving the stability of the chassis and improving the overall passability, smoothness and stability.

[0030] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A crawler chassis device with a variable ground contact pressure ratio according to one embodiment of the present invention.

[0032] Figure 2 It is a schematic diagram of a crawler structure according to an embodiment of the present invention.

[0033] Figure 3 It is a schematic diagram of the installation position of the pressure sensor according to one embodiment of the present invention.

[0034] Figure 4 yes Figure 3 AA section view.

[0035] Figure 5 It is a schematic diagram of the installation of a wireless power generation device according to one embodiment of the present invention.

[0036] Figure 6 It is a schematic three-dimensional diagram of the structure of a wireless power generation device according to one embodiment of the present invention.

[0037] Figure 7 It is a schematic side view of the structure of a wireless power generation device according to one embodiment of the present invention.

[0038] Figure 8 It is a schematic diagram of the structure of an adjustment mechanism group according to one embodiment of the present invention.

[0039] Fig. 9 It is a schematic diagram of a circuit control group according to one embodiment of the present invention.

[0040] Fig.10 It is a schematic diagram of lowering the height of the guide wheel by an adjustment mechanism assembly according to one embodiment of the present invention.

[0041] Fig.11 It is a schematic diagram of raising the height of the guide wheel by an adjustment mechanism assembly according to one embodiment of the present invention.

[0042] In the figure, 1. track assembly, 101. track, 102. pressure sensor, 104. wireless power generation device, 1041. gear rack assembly, 1042. gear transmission mechanism, 1043. wireless generator, 1044. spring, 1045. telescopic shaft, 2. frame structure, 201. belt support roller device, 202. load-bearing wheel, 203. tensioning wheel device, 204. optical axis, 205. driving wheel, 206. power device, 207. bearing seat, 208. frame Upper layer, 209. Frame chassis, 210. Control box, 3. Adjustment mechanism group, 301. Guide wheel, 302 Fixed wheel, 303. Rear swing wheel, 304. V rod, 305. Rear swing rod, 306. Connecting rod, 307. Pressure rod, 308. Connecting rod, 309. Electric cylinder device, 310. Electric cylinder device, 311. Electric cylinder device, 4. Circuit control group, 401. Single chip microcomputer, 402. Data acquisition card, 403. DC power supply, 404. Protection resistor. DETAILED DESCRIPTION

[0043] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0044] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Figure 1-4 The figure shows a preferred embodiment of the crawler chassis device with variable ground contact pressure ratio, which includes a track group 1, a frame structure 2, an adjustment mechanism group 3 and a circuit control group 4; the track group 1, the adjustment mechanism group 3 and the circuit control group 4 are respectively installed on the frame structure 2.

[0046] The track group 1 includes a track 101 and a plurality of pressure sensors 102. The pressure sensors 102 are arranged on the track 101 to detect the pressure applied by the ground to the track 101 and transmit it to the circuit control group 4. Preferably, a sealing treatment is performed at the installation location of the pressure sensor 102 to prevent external impurities such as dust and moisture from entering the installation location of the pressure sensor 102 inside the track 101.

[0047] The frame structure 2 includes a frame upper layer 208 and a frame chassis 209 arranged up and down; the adjustment mechanism group 3 includes a guide wheel 301, a fixed wheel 302, a rear swing wheel 303, a V rod 304, a swing rod 305, a connecting rod 306, a pressure rod 307, a connecting rod 308, and a plurality of electric cylinder devices; one end of the pressure rod 307 is rotatably connected to the frame upper layer 208, and the other end is rotatably connected to one end of the connecting rod 306, and the other end of the connecting rod 306 is rotatably connected to one end of the swing rod 305; one end of the connecting rod 308 is coaxially connected to the connection between the pressure rod 307 and the connecting rod 306, and the other end of the connecting rod 308 The fixed wheel 302 is installed at the middle bottom end of the V-rod 304; the rear swing wheel 303 is in contact with the inner side of the track 101 and connected to the other end of the swing rod 305 through the bearing seat 207, and the bearing seat 207 is installed on the frame chassis 209; the electric cylinder device is installed between the frame upper layer 208 and the frame chassis 209, and is used to adjust the distance between the frame upper layer 208 and the frame chassis 209;

[0048] The connecting rod 308 is coaxially matched with the pressure rod 307 and the connecting rod 306, and the rear swing wheel 303 is installed on the swing rod 305. The rear swing rod 305 and the connecting rod 306 are also coaxially matched. This design enables the rear swing wheel 303 to cooperate with the guide wheel 301 to flexibly adjust the ground contact surface of the track group 1, thereby ensuring the stability and adaptability of the equipment under various complex terrains.

[0049] The circuit control group 4 is connected to the pressure sensor 102 and the electric cylinder device respectively; the circuit control group 4 compares the pressure signal detected by the pressure sensor 102 with the preset value, and when it exceeds the preset value, controls the extension and retraction amount of the electric cylinder device, adjusts the distance between the upper layer 208 of the frame and the frame chassis 209, thereby driving the pressure rod 307 to adjust the height of the guide wheel 301 to change the contact area between the crawler 101 and the ground, thereby improving the travel speed when working in different ground environments.

[0050] In this embodiment, preferably, when the pressure signal detected by the pressure sensor 102 is less than a preset value, the circuit control group 4 controls the extension and contraction amount of the electric cylinder device to increase, thereby increasing the distance between the upper layer 208 of the frame and the chassis 209 of the frame, driving the pressure rod 307 to lower the height of the guide wheel 301, thereby increasing the contact area between the crawler 101 and the ground;

[0051] When the pressure signal detected by the pressure sensor 102 is greater than the preset value, the circuit control group 4 controls the extension and retraction of the electric cylinder device to decrease, thereby reducing the distance between the upper layer 208 of the frame and the frame chassis 209, driving the pressure rod 307 to increase the height of the guide wheel 301 and reduce the contact area between the track 101 and the ground.

[0052] The present invention uses the pressure value detected by the pressure sensor 102 to control the adjustment mechanism group 3, and changes the contact area between the crawler 101 and the ground in real time to adapt to different application occasions. By changing the contact area between the crawler 101 and the ground, not only the wear of the crawler 101 and the ground power consumption are reduced, but also the travel speed is significantly improved. The present invention can flexibly adjust the contact area between the crawler 101 and the ground, thereby changing the ground contact pressure, improving the travel speed of the whole machine, and has versatility on different terrains, and can widely replace the existing crawler chassis devices on the market.

[0053] In this embodiment, preferably, the track group 1 also includes a wireless power generation device 104; the wireless power generation device 104 is respectively and sequentially installed in the protruding patterns on the outer surface of the track 101, the pressure sensor 102 is a wireless flexible pressure sensor, the wireless power generation device 104 is wirelessly connected to the pressure sensor 102, and the wireless flexible pressure sensor is wirelessly charged; the wireless flexible pressure sensors 102 are respectively and sequentially fixed in the middle part of the protruding patterns.

[0054] like Figure 5-7 As shown, in this embodiment, the wireless power generation device 104 is a mechanical power generation device, including a gear rack assembly 1041, a gear transmission mechanism 1042, a generator 1043, a spring 1044 and a telescopic shaft 1045; the telescopic shaft 1045 and the gear rack assembly 1041 are vertically installed, and the spring 1044 is sleeved on the telescopic shaft 1045; the gear and the rack in the gear rack assembly 1041 are meshed, and the rack can move up and down, and the gear is connected to the wireless generator 1043 through the gear transmission mechanism 1042; the wireless generator 1043 is wirelessly connected to the wireless flexible pressure sensor Connection; when the track 101 is rolled over, the rack and pinion assembly 1041 generates pressure, causing the telescopic shaft 1045 to shorten, the spring 1044 to compress, and the rack to move downward, driving the gear to rotate, causing the gear transmission mechanism 1042 to rotate, transferring kinetic energy to the wireless generator 1043 to generate electricity, and wirelessly outputting the electrical energy to the pressure sensor 102. When the pressure is over, the spring 1044 rebounds, causing the telescopic shaft 1045 to extend and the rack to move upward, driving the gear to rotate, causing the gear transmission mechanism 1042 to rotate, transferring kinetic energy to the wireless generator 1043 to generate electricity, and wirelessly outputting the electrical energy to the pressure sensor 102.

[0055] In this embodiment, preferably, the track 101 is a rubber track.

[0056] like Figure 8 As shown, in this embodiment, the frame structure 2 further includes a support roller device 201, a load-bearing wheel 202, a tensioning wheel device 203, a driving wheel 205 and a power device 206;

[0057] The track roller device 201, the tensioning wheel device 203, the driving wheel 205 and the power device 206 are respectively installed on the upper layer 208 of the frame, and the load-bearing wheel 202 is installed on the frame chassis 209; the track roller device 201, the load-bearing wheel 202 and the driving wheel 205 are respectively in contact with the inner side of the track 101, and the track roller device 201 and the driving wheel 205 are located above the load-bearing wheel 202; the driving wheel 205 is connected to the output shaft of the power device 206, and is used to drive the track 101 to rotate; the tensioning wheel device 203 is located above the track 101, and is used to provide tensioning force to the track 101.

[0058] In this embodiment, preferably, the frame structure 2 further includes a control box 210 ; the circuit regulation group 4 is installed in the control box 210 .

[0059] In this embodiment, preferably, the frame structure 2 further includes an optical axis 204 ; the optical axis 204 is installed on the upper layer 208 of the frame, and one end of the pressure rod 307 is rotatably connected to the upper layer 208 of the frame through the optical axis 204 .

[0060] In this embodiment, preferably, the electric cylinder device includes a first electric cylinder device 309, a second electric cylinder device 310 and a third electric cylinder device 311; the first electric cylinder device 309 is installed at one end of the frame structure 2, and the second electric cylinder device 310 and the third electric cylinder device 311 are installed at the other end of the frame structure 2; one end of the first electric cylinder device 309 is connected to the frame upper layer 208, and the other end is connected to the frame chassis 209; one end of the second electric cylinder device 310 is connected to the power device 206, and the other end is connected to the frame chassis 209; one end of the third electric cylinder device 311 is connected to the frame upper layer 208, and the other end is connected to the frame chassis 209. The first electric cylinder device 309, the second electric cylinder device 310 and the third electric cylinder device 311 are installed between the frame upper layer 208 and the frame chassis 209, and are used to adjust the distance between the frame upper layer 208 and the frame chassis 209.

[0061] like Fig. 9As shown, in this embodiment, the circuit control group 4 includes a single-chip microcomputer 401, a data acquisition card 402, a DC power supply 403 and a protection resistor 404; the DC power supply 403 provides power supply for the system and is connected in series with the circuit protection resistor 404 in the circuit, which can effectively prevent the single-chip microcomputer 401 from being damaged due to excessive current; the pressure sensor 102 is connected to the data acquisition card 402, and the data acquisition card 402 is connected to the single-chip microcomputer 401 through a data line; the pressure sensor 102 outputs real-time data to the data acquisition card 402 through a wireless signal, and the data acquisition card 402 transmits the data to the single-chip microcomputer 401, and the single-chip microcomputer 401 is connected to the electric cylinder device. The single-chip microcomputer 401, as the core of the entire circuit control group, can control the extension and retraction of the electric cylinder device according to the wireless output signal of the pressure sensor 102, and change the contact area between the track and the ground to adapt to the needs of different working environments. Specifically, the single chip computer 401 sends adjustment instructions to the first electric cylinder device 309, the second electric cylinder device 310 and the third electric cylinder device 311; after receiving the instructions from the single chip computer 401, the first electric cylinder device 309, the second electric cylinder device 310 and the third electric cylinder device 311 raise and lower the upper layer 208 of the frame, thereby changing the ground contact area of ​​the track group 1 and realizing the adjustment of the variable ground contact pressure ratio.

[0062] Combination Fig.10 and 11 As shown, the working process of the present invention is as follows:

[0063] The pressure sensor 102 detects the pressure of the ground on the crawler 101 and transmits it to the circuit control group 4;

[0064] The circuit control group 4 compares the pressure signal detected by the pressure sensor 102 with the preset value. When the pressure signal detected by the pressure sensor 102 is less than the preset value, the circuit control group 4 controls the extension and contraction amount of the electric cylinder device to increase, thereby increasing the distance between the upper layer 208 of the frame and the chassis 209 of the frame, driving the pressure rod 307 to lower the height of the guide wheel 301, and then adjusting the angle between the section between the guide wheel 301 and the fixed wheel 302 in the V rod 304 and the horizontal plane. Preferably, the maximum angle can be increased to 35°, thereby increasing the contact area between the crawler 101 and the ground. Fig.10 As shown;

[0065] When the pressure signal detected by the pressure sensor 102 is greater than the preset value, the circuit control group 4 controls the extension and contraction of the electric cylinder device to decrease, thereby reducing the distance between the upper frame 208 and the frame chassis 209, driving the pressure rod 307 to increase the height of the guide wheel 301, and reducing the contact area between the crawler 101 and the ground. Fig.11 shown.

[0066] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0067] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A crawler chassis device with variable ground contact pressure ratio, characterized in that: It comprises a track group (1), a frame structure (2), an adjustment mechanism group (3) and a circuit control group (4); The crawler track group (1), the adjustment mechanism group (3) and the circuit control group (4) are respectively mounted on the frame structure (2); The crawler assembly (1) comprises a crawler (101) and a plurality of pressure sensors (102), wherein the pressure sensors (102) are arranged on the crawler (101) and are used to detect the pressure applied to the crawler (101) by the ground and transmit the pressure to the circuit control assembly (4); The frame structure (2) comprises a frame upper layer (208) and a frame chassis (209) arranged up and down; The adjustment mechanism group (3) comprises a guide wheel (301), a fixed wheel (302), a rear swing wheel (303), a V-rod (304), a swing rod (305), a connecting rod (306), a pressure rod (307), a connecting rod (308), and a plurality of electric cylinder devices; one end of the pressure rod (307) is rotatably connected to the upper layer (208) of the frame, and the other end is rotatably connected to one end of the connecting rod (306); the other end of the connecting rod (306) is rotatably connected to one end of the swing rod (305); one end of the connecting rod (308) is coaxially connected to the connection between the pressure rod (307) and the connecting rod (306), and the other end of the connecting rod (308) is rotatably connected to the V-rod One end of the V-rod (304) is rotatably connected, the other end of the V-rod (304) is connected to the guide wheel (301), the guide wheel (301) contacts the inner side of the crawler track (101) of the crawler track assembly (1), and the fixed wheel (302) is installed at the middle bottom end of the V-rod (304); the rear swing wheel (303) contacts the inner side of the crawler track (101) and is connected to the other end of the swing rod (305) through a bearing seat (207), and the bearing seat (207) is installed on the frame chassis (209); the electric cylinder device is installed between the frame upper layer (208) and the frame chassis (209) and is used to adjust the distance between the frame upper layer (208) and the frame chassis (209); The circuit control group (4) is connected to the pressure sensor (102) and the electric cylinder device respectively; the circuit control group (4) compares the pressure signal detected by the pressure sensor (102) with a preset value, and when the preset value is exceeded, controls the extension and contraction amount of the electric cylinder device, adjusts the distance between the upper layer of the frame (208) and the frame chassis (209), thereby driving the pressure rod (307) to adjust the height of the guide wheel (301) to change the contact area between the crawler (101) and the ground.

2. The crawler chassis device with variable ground contact pressure ratio according to claim 1, characterized in that: When the pressure signal detected by the pressure sensor (102) is less than a preset value, the circuit control group (4) controls the extension and contraction amount of the electric cylinder device to increase, thereby increasing the distance between the upper layer of the frame (208) and the frame chassis (209), driving the pressure rod (307) to lower the height of the guide wheel (301), thereby increasing the contact area between the crawler (101) and the ground; When the pressure signal detected by the pressure sensor (102) is greater than a preset value, the circuit control group (4) controls the extension and contraction amount of the electric cylinder device to decrease, thereby reducing the distance between the upper layer of the frame (208) and the frame chassis (209), driving the pressure rod (307) to increase the height of the guide wheel (301), thereby reducing the contact area between the crawler (101) and the ground.

3. The crawler chassis device with variable ground contact pressure ratio according to claim 1, characterized in that: The track assembly (1) further comprises a wireless power generation device (104); the wireless power generation devices (104) are respectively and sequentially installed in the protruding patterns on the outer surface of the track (101); the pressure sensor (102) is a wireless flexible pressure sensor; the wireless power generation device (104) is wirelessly connected to the pressure sensor (102) to wirelessly charge the wireless flexible pressure sensor; the wireless flexible pressure sensors (102) are respectively and sequentially fixed in the middle part of the protruding patterns.

4. The crawler chassis device with variable ground contact pressure ratio according to claim 3, characterized in that: The wireless power generation device (104) comprises a gear rack assembly (1041), a gear transmission mechanism (1042), a generator (1043), a spring (1044) and a telescopic shaft (1045); the telescopic shaft (1045) and the gear rack assembly (1041) are vertically installed, and the spring (1044) is sleeved on the telescopic shaft (1045); the gear and the rack in the gear rack assembly (1041) are meshed, the rack can move up and down, and the gear is connected to the wireless generator (1043) through the gear transmission mechanism (1042); the wireless generator (1043) is wirelessly connected to the wireless flexible pressure sensor; the gear rack assembly When the crawler track (101) is rolled over, pressure is generated, causing the telescopic shaft (1045) to shorten, the spring (1044) to compress, and the rack to move downward, driving the gear to rotate, causing the gear transmission mechanism (1042) to rotate, transferring kinetic energy to the wireless generator (1043) to generate electricity, and wirelessly outputting the electric energy to the pressure sensor (102); when the pressure is over, the spring (1044) rebounds, driving the telescopic shaft (1045) to extend, the rack to move upward, driving the gear to rotate, causing the gear transmission mechanism (1042) to rotate, transferring kinetic energy to the wireless generator (1043) to generate electricity, and wirelessly outputting the electric energy to the pressure sensor (102).

5. The crawler chassis device with variable ground contact pressure ratio according to claim 1, characterized in that: The crawler track (101) is a rubber crawler track.

6. The crawler chassis device with variable ground contact pressure ratio according to claim 1, characterized in that: The frame structure (2) also includes a belt-supporting roller device (201), a load-bearing wheel (202), a tensioning wheel device (203), a driving wheel (205) and a power device (206); The track roller device (201), the tensioning wheel device (203), the driving wheel (205) and the power device (206) are respectively installed on the upper layer (208) of the frame, and the load-bearing wheel (202) is installed on the frame chassis (209); the track roller device (201), the load-bearing wheel (202) and the driving wheel (205) are respectively in contact with the inner side of the crawler track (101), and the track roller device (201) and the driving wheel (205) are located above the load-bearing wheel (202); the driving wheel (205) is connected to the output shaft of the power device (206) and is used to drive the crawler track (101) to rotate; the tensioning wheel device (203) is located above the crawler track (101) and is used to provide tensioning force to the crawler track (101).

7. The crawler chassis device with variable ground contact pressure ratio according to claim 1, characterized in that: The vehicle frame structure (2) also includes a control box (210); the circuit control group (4) is installed in the control box (210).

8. The crawler chassis device with variable ground contact pressure ratio according to claim 1, characterized in that: The frame structure (2) further comprises an optical axis (204); the optical axis (204) is mounted on an upper layer (208) of the frame, and one end of the pressure rod (307) is rotatably connected to the upper layer (208) of the frame via the optical axis (204).

9. The crawler chassis device with variable ground contact pressure ratio according to claim 6, characterized in that: The electric cylinder device comprises a first electric cylinder device (309), a second electric cylinder device (310) and a third electric cylinder device (311); the first electric cylinder device (309) is installed at one end of the frame structure (2), and the second electric cylinder device (310) and the third electric cylinder device (311) are installed at the other end of the frame structure (2); one end of the first electric cylinder device (309) is connected to the upper layer of the frame (208), and the other end is connected to the frame chassis (209); one end of the second electric cylinder device (310) is connected to the power device (206), and the other end is connected to the frame chassis (209); one end of the third electric cylinder device (311) is connected to the upper layer of the frame (208), and the other end is connected to the frame chassis (209).

10. The crawler chassis device with variable ground contact pressure ratio according to claim 1, characterized in that: The circuit control group (4) comprises a single chip microcomputer (401), a data acquisition card (402), a direct current power supply (403) and a protection resistor (404); the direct current power supply (403) and the circuit protection resistor (404) are connected in series in the circuit; the pressure sensor (102) is connected to the data acquisition card (402), and the data acquisition card (402) is connected to the single chip microcomputer (401); the pressure sensor (102) outputs real-time data to the data acquisition card (402), and the data acquisition card (402) transmits the data to the single chip microcomputer (401); the single chip microcomputer (401) is connected to the electric cylinder device, and the extension and retraction of the electric cylinder device is controlled according to the signal of the pressure sensor (102), so as to change the contact area between the crawler and the ground.

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