A variable ground ratio tracked chassis arrangement

Abstract

The application provides a variable ground contact pressure tracked chassis device, which comprises a tracked group, a frame structure, an adjusting mechanism group and a circuit control group; the tracked group, the adjusting mechanism group and the circuit control group are respectively installed on the frame structure; the tracked group comprises a track and a plurality of pressure sensors, the pressure sensors are arranged on the track and are used for detecting the pressure of the track given by the ground and transmitting the pressure to the circuit control group; the frame structure comprises an upper frame and a chassis arranged in an up-down manner; the circuit control group is connected with the pressure sensors and the electric cylinder device respectively; the circuit control group compares the pressure signal detected by the pressure sensors with a preset value, controls the extension amount of the electric cylinder device when the pressure signal exceeds the preset value, adjusts the distance between the upper frame and the chassis, thereby driving the height of the pressure rod to adjust the height of the guide wheel and changing the contact area of the track and the ground. The application improves the driving speed, flexibility and self-adaptability.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of tracked chassis, and particularly relates to a tracked chassis device with variable ground contact pressure ratio. BACKGROUND

[0002] The tracked chassis is a walking device widely used in complex road surfaces. The current tracked chassis mainly comprises a walking mechanism, a track, a driving wheel, a track roller, a supporting roller, a tensioning device, a power device and a guide wheel. The supporting roller, the driving wheel, the track roller, the guide wheel and the tensioning device are all installed on the walking mechanism, and the track cooperates with these wheels. The power device drives the rotation of the driving wheel, and the teeth on the driving wheel are engaged with the track chain to continuously wind the track from the rear. The track in contact with the ground exerts a backward force on the ground, and the ground correspondingly exerts a forward reaction force on the track, which is the driving force for driving the machine to move forward. The conventional ordinary tracked chassis cannot change the track ground contact area, has a low running speed, a large self weight and an uneven track-ground contact pressure, which can cause great damage to the road surface. Therefore, in order to effectively improve the flexibility and self-adaptability of the tracked chassis, the structure of the tracked chassis needs to be upgraded.

[0003] The current design of tracked chassis mainly includes: a Chinese invention patent with the application publication number CN111361645A and the name of "all-terrain four-tracked chassis and agricultural machinery" discloses an all-terrain four-tracked chassis, which comprises a vehicle frame, a flat track walking mechanism, a vehicle body leveling mechanism and a steering mechanism. The number of flat track walking mechanisms is four, which are distributed in a rectangular shape. Each flat track walking mechanism is installed on the vehicle frame through a set of vehicle body leveling mechanisms. The steering mechanism is located between the rear two flat track walking mechanisms and drives the rear two flat track walking mechanisms to perform synchronous steering. After adopting this structure, the center of gravity of the whole machine tends to the geometric center of the vehicle body, so that the vehicle body is more stable on a terrain with a large slope, the vehicle frame is horizontal and vertical, effectively preventing the machine body from tilting, and better operation can be achieved. A deformable tracked chassis with the application publication number CN116729513A discloses a deformable tracked chassis based on double-drive motors and double-rudder control, which is applied to the obstacle crossing of a low-crouching tracked robot chassis and comprises a front track group, a rear track group, a deformation clutch and a vehicle frame. The front track group and the rear track group directly contact the ground to realize basic movement; the deformation clutch is used to change the front track group between the first clutch position, the second clutch position and the third clutch position, so as to change the shape of the chassis to adapt to different terrains; the vehicle frame is used to fix the front track group, the rear track group and the deformation clutch. The deformable tracked chassis of the present application solves the problems of large space occupation of the traditional high-passability tracked chassis and low load capacity of the traditional deformable tracked chassis, realizes simple installation and simple working principle analysis of the tracked chassis, and realizes high-performance obstacle crossing of the low-height tracked robot chassis with a more simplified and reliable structure.

[0004] The above invention patents all optimize and improve the structure of the track chassis, to some extent, improve the stability of the track chassis in driving, but cannot solve the problems of ground damage and low driving speed caused by excessive ground contact pressure and uneven ground contact pressure. The present application can change the ground contact area of the track according to different ground environments, thereby reducing the damage to the ground and improving the driving speed, and enhancing the adaptability and flexibility of the whole machine. SUMMARY

[0005] In view of the above technical problems, the present application provides a variable ground contact pressure track chassis device to improve driving speed, flexibility and self-adaptability.

[0006] The present application utilizes the working characteristics of the track chassis, and overcomes the problems of ground damage and low driving speed caused by excessive ground contact pressure and uneven ground contact pressure in the working process of the track chassis by combining with the ground contact pressure principle. After realizing the function of self-adapting to different soil environments, the machine can dynamically adjust the ground contact area and ground contact pressure of the track according to the specific soil conditions. The variable ground contact pressure track chassis device of the present application can increase the ground contact area and reduce the pressure on soft land to prevent sinking and reduce ground damage, and can reduce the ground contact area and increase the grip on hard ground, not only improving the driving speed, but also effectively improving the flexibility and self-adaptability of the whole machine.

[0007] Note that the description of these objects does not hinder the existence of other objects. One embodiment of the present application does not need to achieve all the above-mentioned objects. The objects other than the above-mentioned objects can be extracted from the description, drawings and claims.

[0008] The present application realizes the above technical objects by the following technical means.

[0009] The specific technical scheme of the present application is a variable ground contact pressure track chassis device, which comprises a track 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 track group comprises a track and a plurality of pressure sensors, the pressure sensors are arranged on the track, and are used for detecting the pressure of the ground on the track and transmitting to the circuit control group.

[0012] The frame structure comprises an upper frame and a frame chassis arranged in an upper and lower manner.

[0013] The adjusting mechanism group comprises a guide wheel, a fixed wheel, a rear swing wheel, a V-shaped rod, a swing rod, a connecting rod, a pressing rod, a connecting rod, and a plurality of electric cylinder devices; one end of the pressing rod is rotationally connected to the upper layer of the vehicle frame, and the other end is rotationally connected to one end of the connecting rod; the other end of the connecting rod is rotationally connected to one end of the swing rod; one end of the connecting rod is coaxially connected to the connection between the pressing rod and the connecting rod, and the other end of the connecting rod is rotationally connected to one end of the V-shaped rod; the other end of the V-shaped rod is connected to the guide wheel, the guide wheel is in contact with the inner side of the track of the track group, and the fixed wheel is installed at the middle bottom end of the V-shaped rod; the rear swing wheel is in contact with 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 vehicle frame chassis; the electric cylinder device is installed between the upper layer of the vehicle frame and the vehicle frame chassis, and is used for adjusting the distance between the upper layer of the vehicle frame and the vehicle frame chassis.

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

[0015] In the above scheme, when the pressure signal detected by the pressure sensor is less than the preset value, the extension amount of the electric cylinder device controlled by the circuit control group is increased, the distance between the upper layer of the vehicle frame and the vehicle frame chassis is increased, the height of the guide wheel is lowered by the pressing rod, and the contact area of the track with the ground is increased;

[0016] When the pressure signal detected by the pressure sensor is greater than the preset value, the extension amount of the electric cylinder device controlled by the circuit control group is reduced, the distance between the upper layer of the vehicle frame and the vehicle frame chassis is reduced, the height of the guide wheel is increased by the pressing rod, and the contact area of the track with the ground is reduced.

[0017] In the above scheme, the track group further comprises a wireless power generation device; the wireless power generation device is installed in the pattern protruding 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 with the pressure sensor, and the wireless flexible pressure sensor is wirelessly charged; the wireless flexible pressure sensor is fixed in the middle part of the protruding pattern in sequence.

[0018] Further, the wireless power generation device comprises a gear and rack assembly, a gear transmission mechanism, a generator, a telescopic shaft and a spring; the telescopic shaft and the gear and rack assembly are vertically installed, and the spring is sleeved on the telescopic shaft; the gear and the rack in the gear and rack assembly are engaged, the rack can move up and down, and the gear is connected with the wireless generator through the gear transmission mechanism; the wireless generator is wirelessly connected with the wireless flexible pressure sensor; when the track roller is rolled, the gear and rack assembly generates pressure to make the telescopic shaft shorten, the spring compress, the rack move down, drive the gear rotate, make the gear transmission mechanism rotate, transmit kinetic energy to the wireless generator to generate electricity, and wirelessly output electric energy to the pressure sensor; after the pressure, the spring rebounds, drives the telescopic shaft to lengthen, the rack to move up, and the gear to rotate, so that the gear transmission mechanism rotates, kinetic energy is transmitted to the wireless generator to generate electricity, and electric energy is wirelessly output to the pressure sensor.

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

[0020] In the above scheme, the vehicle frame structure further comprises a belt supporting wheel device, a supporting wheel, a tensioning wheel device, a driving wheel and a power device.

[0021] The belt supporting wheel device, the tensioning wheel device, the driving wheel and the power device are respectively installed on the upper layer of the vehicle frame, and the supporting wheel is installed on the chassis of the vehicle frame; the belt supporting wheel device, the supporting wheel and the driving wheel respectively contact the inner side of the track, and the belt supporting wheel device and the driving wheel are located above the supporting wheel; the driving wheel is connected with the output shaft of the power device for driving the track to rotate; the tensioning wheel device is located above the track for providing tension to the track.

[0022] In the above scheme, the vehicle frame structure further comprises a control box; the circuit regulation and control group is installed in the control box.

[0023] In the above scheme, the vehicle frame structure further comprises an optical shaft; the optical shaft is installed on the upper layer of the vehicle frame, and one end of the pressure rod is rotatably connected with the upper layer of the vehicle frame through the optical shaft.

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

[0025] In the scheme, the circuit regulation group comprises a single-chip microcomputer, a data acquisition card, a direct current power supply and a protection resistor; the direct current power supply and the circuit protection resistor are connected in series in the circuit, the pressure sensor is connected with the data acquisition card, and the data acquisition card is connected with 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 with the electric cylinder device, and the extension and retraction of the electric cylinder device are controlled according to the signal of the pressure sensor to change the contact area of the track and the ground.

[0026] Compared with the prior art, the present application has the following advantages:

[0027] The present application can solve the poor passability problem of the traditional chassis in different wet, rotten and soft soil environments, such as road, beach, field and other sections, and has the self-adaptive function to improve the versatility and working efficiency of the whole machine.

[0028] In the process of the track roller compaction, the wireless power generation device inside the track can provide power for the wireless flexible pressure sensor at any time without additional supplement, saving time and improving work efficiency.

[0029] In the process of walking, when the track passes through the road with different soil hardness, the pressure signal detected by the pressure sensor in the track is less than the preset value, the extension and retraction amount of the electric cylinder device controlled by the circuit regulation group is large, the distance between the upper layer of the vehicle frame and the chassis is increased, the height of the guide wheel is lowered by the pressure rod, and the contact area of the track and the ground is increased; when the pressure signal detected by the pressure sensor is greater than the preset value, the extension and retraction amount of the electric cylinder device controlled by the circuit regulation group is small, the distance between the upper layer of the vehicle frame and the chassis is reduced, the height of the guide wheel is increased by the pressure rod, and the contact area of the track and the ground is reduced, so as to realize the stability of the chassis and improve the overall passability, smoothness and stability.

[0030] Note that the description of these effects does not preclude the existence of other effects. One embodiment of the present application does not necessarily have all the above-mentioned effects. Effects other than the above-mentioned effects can be clearly seen and extracted from the description, drawings, claims and the like. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a variable ground pressure ratio track chassis device according to an embodiment of the present application.

[0032] Figure 2 is a schematic diagram of a track structure according to an embodiment of the present application.

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

[0034] Figure 4 isFigure 3 A-A cross-sectional view.

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

[0036] Figure 6 is a schematic diagram of a wireless power generation device structure according to an embodiment of the present application.

[0037] Figure 7 is a schematic diagram of a wireless power generation device structure according to an embodiment of the present application.

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

[0039] Figure 9 is a schematic diagram of a circuit control group according to an embodiment of the present application.

[0040] Figure 10 is a schematic diagram of an adjustment mechanism group height reduction guide wheel according to an embodiment of the present application.

[0041] Figure 11 is a schematic diagram of an adjustment mechanism group height increase guide wheel according to an embodiment of the present application.

[0042] In the figure, 1. track group, 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 pulley device, 202. load wheel, 203. tension pulley device, 204. optical axis, 205. drive wheel, 206. power device, 207. bearing seat, 208. upper layer of frame, 209. chassis, 210. control box, 3. adjustment mechanism group, 301. guide wheel, 302. fixed wheel, 303. rear swing wheel, 304. V-shaped rod, 305. rear swing rod, 306. connecting rod, 307. pressing 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 application are described in detail below with reference to the attached drawings, which show by way of example, embodiments in which like numerals indicate like elements or elements having the same or similar function throughout the several views. The embodiments described below are examples intended to explain the present application, and should not be understood as limiting the present application.

[0044] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, 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", "second" can be explicitly or implicitly included one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited. In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0045] Figures 1-4 The variable ground pressure track chassis device is shown as a preferred embodiment, which comprises a track group 1, a frame structure 2, an adjusting mechanism group 3 and a circuit control group 4; the track group 1, the adjusting mechanism group 3 and the circuit control group 4 are respectively mounted on the frame structure 2.

[0046] The track group 1 comprises a track 101 and a plurality of pressure sensors 102, the pressure sensors 102 are arranged on the track 101, used for detecting the pressure of the ground to the track 101, and transmitting to the circuit control group 4; preferably, the installation place of the pressure sensor 102 is sealed to prevent foreign matters such as dust and moisture from entering the installation place of the pressure sensor 102 inside the track 101.

[0047] The frame structure 2 comprises a frame upper layer 208 and a frame chassis 209 arranged in an up-down manner; the adjusting mechanism group 3 comprises a guide wheel 301, a fixed wheel 302, a rear swing wheel 303, a V-shaped rod 304, a swing rod 305, a connecting rod 306, a pressing rod 307, a connecting rod 308, and a plurality of electric cylinder devices; one end of the pressing rod 307 is rotationally connected with the frame upper layer 208, and the other end is rotationally connected with one end of the connecting rod 306; the other end of the connecting rod 306 is rotationally connected with one end of the swing rod 305; one end of the connecting rod 308 is coaxially connected with the connection position of the pressing rod 307 and the connecting rod 306, and the other end of the connecting rod 308 is rotationally connected with one end of the V-shaped rod 304; the other end of the V-shaped rod 304 is connected with the guide wheel 301; the guide wheel 301 is in contact with the inner side of the track 101 of the track group 1, provides guidance for the movement of the track group 1, and ensures the accuracy of the movement track; the fixed wheel 302 is installed at the middle bottom end of the V-shaped rod 304; the rear swing wheel 303 is in contact with the inner side of the track 101 and is connected with the other end of the swing rod 305 through a bearing seat 207; the bearing seat 207 is installed on the frame chassis 209; the electric cylinder devices are installed between the frame upper layer 208 and the frame chassis 209, and are used for adjusting the distance between the frame upper layer 208 and the frame chassis 209.

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

[0049] The circuit control group 4 is connected with the pressure sensor 102 and the electric cylinder devices respectively; the circuit control group 4 compares the pressure signal detected by the pressure sensor 102 with a preset value, controls the extension amount of the electric cylinder devices when the preset value is exceeded, adjusts the distance between the frame upper layer 208 and the frame chassis 209, drives the pressing rod 307 to adjust the height of the guide wheel 301, changes the contact area of the track 101 with the ground, and improves the advancing 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 the preset value, the circuit control group 4 controls the electric cylinder devices to have a larger extension amount, increases the distance between the frame upper layer 208 and the frame chassis 209, drives the pressing rod 307 to lower the height of the guide wheel 301, and increases the contact area of the track 101 with 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 be smaller, thereby reducing the distance between the upper layer 208 of the frame and the chassis 209 of the frame, driving the pressure rod 307 to raise the height of the guide wheel 301, and reducing the contact area between the track 101 and the ground.

[0052] This invention utilizes the pressure value detected by the pressure sensor 102 to control the adjustment mechanism 3, thereby changing the contact area between the track 101 and the ground in real time to adapt to different application scenarios. By changing the contact area between the track 101 and the ground, not only is wear on the track 101 and ground power consumption reduced, but the travel speed is also significantly improved. This invention can flexibly adjust the contact area between the track 101 and the ground, thereby changing the ground pressure, increasing the overall travel speed of the machine, and possessing versatility in different terrains, making it a widely viable replacement for existing tracked chassis devices on the market.

[0053] In this embodiment, preferably, the track assembly 1 further includes a wireless power generation device 104; the wireless power generation device 104 is installed sequentially in the raised 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 sensor 102 is fixed sequentially in the middle part of the raised pattern.

[0054] like Figures 5-7 As shown, in this embodiment, the wireless power generation device 104 is a mechanical power generation device, including a gear and 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 and rack assembly 1041 are vertically installed, and the spring 1044 is sleeved on the telescopic shaft 1045; the gear and rack in the gear and rack assembly 1041 mesh, and the rack can move up and down; 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 rolls over the gear and rack assembly 1041, the pressure generated causes 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 released, the spring 1044 rebounds, causing 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 electrical energy to the pressure sensor 102.

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

[0056] likeFigure 8 As shown in the figure, in the embodiment, the frame structure 2 further comprises a carrier pulley device 201, a load wheel 202, a tension pulley device 203, a driving wheel 205 and a power device 206;

[0057] The carrier pulley device 201, the tension pulley 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 wheel 202 is installed on the chassis 209 of the frame; the carrier pulley device 201, the load wheel 202 and the driving wheel 205 respectively contact the inner side of the track 101, and the carrier pulley device 201 and the driving wheel 205 are located above the load wheel 202; the driving wheel 205 is connected with the output shaft of the power device 206, for driving the track 101 to rotate; the tension pulley device 203 is located above the track 101, for providing tension to the track 101.

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

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

[0060] In the embodiment, preferably, 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 with the upper layer 208 of the frame, and the other end is connected with the chassis 209 of the frame; one end of the second electric cylinder device 310 is connected with the power device 206, and the other end is connected with the chassis 209 of the frame; one end of the third electric cylinder device 311 is connected with the upper layer 208 of the frame, and the other end is connected with the chassis 209 of the frame. The first electric cylinder device 309, the second electric cylinder device 310 and the third electric cylinder device 311 are installed between the upper layer 208 of the frame and the chassis 209 of the frame, for adjusting the distance between the upper layer 208 of the frame and the chassis 209 of the frame.

[0061] As Figure 9As shown, in the embodiment, 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 provides power supply for the system, and is connected in series with the circuit protection resistor 404 in the circuit, which can effectively prevent damage to the single-chip microcomputer 401 caused by excessive current; the pressure sensor 102 is connected with the data acquisition card 402, and the data acquisition card 402 is connected with 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; the single-chip microcomputer 401 is connected with the electric cylinder device, and the single-chip microcomputer 401 as the core of the entire circuit control group can control the stretching and retracting of the electric cylinder device according to the wireless output signal of the pressure sensor 102, so as to change the contact area of the track and the ground to adapt to the needs of different working environments. Specifically, the single-chip microcomputer 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 of the single-chip microcomputer 401, the first electric cylinder device 309, the second electric cylinder device 310 and the third electric cylinder device 311 lift and lower the upper layer 208 of the vehicle frame, so as to change the ground contact area of the track group 1 and realize the adjustment of the variable ground contact pressure ratio.

[0062] In combination Figure 10 and 11 As shown, the working process of the present application is as follows:

[0063] The pressure sensor 102 detects the pressure of the ground on the track 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 stretching and retracting amount of the electric cylinder device to be large, reduces the distance between the upper layer 208 of the vehicle frame and the vehicle frame chassis 209, drives the pressure rod 307 to lower the height of the guide wheel 301, and then adjusts the angle between the section of the V-shaped rod 304 between the guide wheel 301 and the fixed wheel 302 and the horizontal plane, preferably, which can be increased to 35° at the maximum, and the contact area of the track 101 and the ground is increased, as shown in Figure 10 ;

[0065] When the pressure signal detected by the pressure sensor 102 is greater than the preset value, the circuit control group 4 controls the stretching and retracting amount of the electric cylinder device to be small, reduces the distance between the upper layer 208 of the vehicle frame and the vehicle frame chassis 209, drives the pressure rod 307 to increase the height of the guide wheel 301, and reduces the contact area of the track 101 and the ground, as shown in Figure 11 .

[0066] It should be understood that although the present specification is described in terms of various embodiments, each of which describes only one implementation, the specification is intended to cover all possible implementations that are within the scope of the application. One of ordinary skill in the art will readily recognize that the concepts described herein can be employed in a variety of embodiments other than the specific implementations described and / or illustrated herein.

[0067] The foregoing detailed description has set forth various embodiments of the devices and / or processes via the use of specific terminology. However, embodiments thereof can be practiced without the specific details (e.g., dimensions, locations, orientations, relative positioning of parts, and the like) that are described herein. It is to be understood that the foregoing detailed description is by way of illustration and not by way of limitation.

Claims

1. A variable ground ratio track chassis apparatus, characterized by, The track group (1), the frame structure (2), the adjustment mechanism group (3) and the circuit control group (4) are arranged on the frame structure (2) respectively. The track group (1), the adjustment mechanism group (3) and the circuit control group (4) are arranged on the frame structure (2) respectively. The track group (1) comprises a track (101) and a plurality of pressure sensors (102), the pressure sensors (102) are arranged on the track (101) and are used for detecting the pressure of the ground on the track (101) and transmitting the pressure to the circuit control group (4). The frame structure (2) comprises an upper frame (208) and a chassis (209) arranged in a top-bottom manner. The adjustment mechanism group (3) comprises a guide wheel (301), a fixed wheel (302), a rear swing wheel (303), a V-shaped rod (304), a swing rod (305), a connecting rod (306), a pressing rod (307), a connecting rod (308) and a plurality of electric cylinder devices; one end of the pressing rod (307) is rotationally connected with the upper frame (208), the other end of the pressing rod (307) is rotationally connected with one end of the connecting rod (306), the other end of the connecting rod (306) is rotationally connected with one end of the swing rod (305); one end of the connecting rod (308) is coaxially connected with the connection position of the pressing rod (307) and the connecting rod (306), the other end of the connecting rod (308) is rotationally connected with one end of the V-shaped rod (304), the other end of the V-shaped rod (304) is connected with the guide wheel (301), the guide wheel (301) is in contact with the inner side of the track (101) of the track group (1), the fixed wheel (302) is arranged at the middle bottom end of the V-shaped rod (304); the rear swing wheel (303) is in contact with the inner side of the track (101) and is connected with the other end of the swing rod (305) through a bearing seat (207), the bearing seat (207) is arranged on the chassis (209); the electric cylinder devices are arranged between the upper frame (208) and the chassis (209) and are used for adjusting the distance between the upper frame (208) and the chassis (209). The circuit control group (4) is connected with the pressure sensors (102) and the electric cylinder devices respectively; the circuit control group (4) compares the pressure signal detected by the pressure sensors (102) with a preset value, controls the extension amount of the electric cylinder devices when the pressure signal exceeds the preset value, adjusts the distance between the upper frame (208) and the chassis (209), drives the pressing rod (307) to adjust the height of the guide wheel (301) and changes the contact area of the track (101) with the ground.

2. The variable ground ratio track chassis device of claim 1, wherein, When the pressure signal detected by the pressure sensors (102) is less than the preset value, the circuit control group (4) controls the extension amount of the electric cylinder devices to be larger, increases the distance between the upper frame (208) and the chassis (209), drives the pressing rod (307) to lower the height of the guide wheel (301) and increases the contact area of the track (101) with the ground. When the pressure signal detected by the pressure sensor (102) is greater than the preset value, the circuit regulation group (4) controls the extension and retraction amount of the electric cylinder device to be small, reduces the distance between the upper layer of the vehicle frame (208) and the vehicle chassis (209), drives the pressure rod (307) to increase the height of the guide wheel (301), and reduces the contact area of the track (101) with the ground.

3. The variable ground ratio track chassis device of claim 1, wherein, The track group (1) further comprises wireless power generation devices (104); the wireless power generation devices (104) are installed in the protruding patterns on the outer surface of the track (101) in sequence, the pressure sensor (102) is a wireless flexible pressure sensor, the wireless power generation device (104) is wirelessly connected with the pressure sensor (102), and the wireless flexible pressure sensor is wirelessly charged; the pressure sensor (102) is fixed in the middle part of the protruding pattern in sequence.

4. The variable ground ratio track chassis apparatus of claim 3, wherein, The wireless power generation device (104) comprises a gear and rack assembly (1041), a gear transmission mechanism (1042), a wireless generator (1043), a spring (1044) and an extension shaft (1045); the extension shaft (1045) and the gear and rack assembly (1041) are vertically installed, and the spring (1044) is sleeved on the extension shaft (1045); the gear and the rack in the gear and rack assembly (1041) are engaged, the rack can move up and down, and the gear is connected with the wireless generator (1043) through the gear transmission mechanism (1042); the wireless generator (1043) is wirelessly connected with the wireless flexible pressure sensor; when the gear and rack assembly (1041) generates pressure during track (101) rolling, the extension shaft (1045) is shortened, the spring (1044) is compressed, and the rack moves downward, driving the gear to rotate, so that the gear transmission mechanism (1042) rotates, kinetic energy is transmitted to the wireless generator (1043) to generate electricity, and electric energy is wirelessly output to the pressure sensor (102); after the pressure, the spring (1044) rebounds, driving the extension shaft (1045) to elongate, the rack moves upward, driving the gear to rotate, so that the gear transmission mechanism (1042) rotates, kinetic energy is transmitted to the wireless generator (1043) to generate electricity, and electric energy is wirelessly output to the pressure sensor (102).

5. The variable ground ratio track chassis device of claim 1, wherein, The track (101) is a rubber track.

6. The variable ground ratio track chassis device of claim 1, wherein, The vehicle frame structure (2) further comprises a belt supporting wheel device (201), a load wheel (202), a tensioning wheel device (203), a driving wheel (205) and a power device (206); The supporting wheel 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 wheel (202) is installed on the chassis (209) of the frame; the supporting wheel device (201), the load wheel (202) and the driving wheel (205) are respectively in contact with the inner side of the track (101), and the supporting wheel device (201) and the driving wheel (205) are located above the load wheel (202); the driving wheel (205) is connected with the output shaft of the power device (206) for driving the track (101) to rotate; the tensioning wheel device (203) is located above the track (101) for providing tensioning force to the track (101).

7. The variable ground ratio track chassis device of claim 1, wherein, The frame structure (2) further comprises a control box (210); the circuit regulation group (4) is installed in the control box (210).

8. The variable ground ratio track chassis device of claim 1, wherein, The frame structure (2) further comprises an optical shaft (204); the optical shaft (204) is installed on the upper layer (208) of the frame, and one end of the pressing rod (307) is rotatably connected with the upper layer (208) of the frame through the optical shaft (204).

9. The variable ground ratio track chassis device of claim 6, wherein, 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), 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 with the upper layer (208) of the frame, and the other end is connected with the chassis (209) of the frame; one end of the second electric cylinder device (310) is connected with the power device (206), and the other end is connected with the chassis (209) of the frame; one end of the third electric cylinder device (311) is connected with the upper layer (208) of the frame, and the other end is connected with the chassis (209) of the frame.

10. The variable ground ratio track chassis device of claim 1, wherein, The circuit regulation 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 with the data acquisition card (402), and the data acquisition card (402) is connected with the single-chip microcomputer (401); the pressure sensor (102) outputs real-time data to the data acquisition card (402), the data acquisition card (402) transmits data to the single-chip microcomputer (401), the single-chip microcomputer (401) is connected with the electric cylinder device, and the extension and retraction of the electric cylinder device are controlled according to the signal of the pressure sensor (102) to change the contact area of the track and the ground.

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