Tracked vehicle chassis with variable wheelbase

Abstract

The invention discloses a track-type vehicle chassis with a variable wheelbase, and relates to the technical field of track-type vehicles. The problems that an existing crawler with a fixed chassis length cannot meet the trafficability in complex terrains, the stability under different loads and the adaptability to diversified operation scenes are solved. A front frame compartment and a rear frame compartment are arranged below a wheel base adjusting mechanism, two crawler belt adjusting mechanisms are arranged on the two sides of the wheel base adjusting mechanism respectively, a wheel base adjusting executing assembly is installed at the lower end of a bottom plate and connected with two connecting plates, and the front frame compartment and the rear frame compartment are installed at the lower ends of the two connecting plates. The axle distance adjusting execution assembly drives the front frame compartment and the rear frame compartment to move inwards or outwards at the same time, the axle distance of a vehicle chassis is adjusted, and the driving wheel transmission execution assembly and the driven wheel transmission execution assembly are installed in the front compartment body and the rear compartment body respectively. The wheel base can be flexibly adjusted to change the length of the chassis according to actual working conditions, and various complex working environments and task requirements are met.

Description

Technical Field

[0001] The invention relates to the technical field of tracked vehicles, and in particular to a tracked vehicle chassis with a variable wheelbase. Background Art

[0002] At present, the common crawler vehicle chassis is usually of fixed length, and the wheelbase between the crawler driving wheel and the driven wheel cannot be adjusted. This type of crawler vehicle is widely used in specific environments and working scenarios, especially in flat and open large-scale engineering sites. With its stable driving performance and strong carrying capacity, it can efficiently complete tasks such as material transportation.

[0003] Different operating scenarios have different requirements for the chassis length of crawler vehicles. For example, when conducting small municipal projects on city streets, smaller vehicles are needed to reduce the impact on traffic; when conducting large-scale infrastructure construction in the field, a larger chassis helps improve operating efficiency and carrying capacity. Traditionally, vehicles with a variety of different wheelbases are often required for different operating scenarios, which increases the procurement, maintenance and management costs of equipment. And traditional fixed chassis length crawler vehicles are difficult to meet the needs of these diverse operating scenarios.

[0004] The current track tension range adjustment method mainly relies on height adjustment, usually using a retractable support rod or a sliding adjustment mechanism to raise or lower the support point of the track. However, this method has the following limitations:

[0005] Limited by wheel diameter: The tensioning range of the track is affected by the height adjustment of the support rod, and the height adjustment range is usually limited by the diameter of the track wheel, making it difficult to achieve a wide range of adjustment.

[0006] Complex structure and uneven force: The lifting structure often requires additional supporting mechanisms to ensure stability, which increases the complexity of the mechanical structure and may cause excessive local force, thus affecting the service life of the track. Summary of the invention

[0007] The purpose of the present invention is to solve the problem that the existing fixed chassis length crawler vehicles have difficulty in satisfying the vehicle's passability in complex terrain, stability under different loads, and adaptability to diverse operating scenarios, and thus provide a crawler vehicle chassis with a variable wheelbase. Through innovative structural design and control methods, the vehicle can quickly and flexibly adjust the chassis wheelbase according to different operating environments and task requirements, thereby significantly improving the vehicle's passability in complex terrain, stability under different loads, and adaptability to diverse operating scenarios.

[0008] The technical solution of the present invention is:

[0009] The present invention proposes a tracked vehicle chassis with a variable wheelbase, which comprises a wheelbase adjustment mechanism 4, a track adjustment mechanism 1, a front frame compartment 2 and a rear frame compartment 3. The front and rear ends below the wheelbase adjustment mechanism 4 are respectively provided with the front frame compartment 2 and the rear frame compartment 3 arranged side by side. The track adjustment mechanism 1 has two groups, and the two groups of track adjustment mechanisms 1 are respectively symmetrically arranged on the left and right sides of the wheelbase adjustment mechanism 4; the wheelbase adjustment mechanism 4 comprises a bottom plate 41, a wheelbase adjustment execution assembly and two connecting plates 44. The wheelbase adjustment execution assembly is installed at the lower end of the bottom plate 41. The two movable ends of the wheelbase adjustment execution assembly are respectively connected to the upper ends of the two connecting plates 44 arranged side by side front and back. The front frame compartment 2 and the rear frame compartment 3 are respectively installed at the lower ends of the two connecting plates 44. The wheelbase adjustment execution assembly drives the front frame compartment 2 and the rear frame compartment 3 to move inward or outward at the same time. , thereby realizing the adjustment of the wheelbase of the vehicle chassis; the front frame compartment 2 includes a front compartment body 26 and a driving wheel driving execution assembly installed inside the front compartment body 26, and the rear frame compartment 3 includes a rear compartment body 31 and a driven wheel transmission execution assembly installed inside the rear compartment body 31; each track adjustment mechanism 1 includes a driving wheel group 11, a driven wheel group 12, a support roller group 13, a track 15 and an adjusting device 14, a driving wheel group 11 is provided at the end of the front compartment body 26, a driven wheel group 12 movably connected to the driving wheel group 11 is provided at the end of the rear compartment body 31, a support roller group 13 is provided between the driving wheel group 11 and the driven wheel group 12 and is connected through the track 15, and the support roller group 13 is connected to the adjusting device 14, and when the wheelbase changes, the position of the support roller group 13 can be accurately adjusted through the adjusting device 14 to ensure that the length of the track 15 remains constant.

[0010] Furthermore, the wheelbase adjustment execution component includes a bidirectional positive and negative thread ball screw mechanism, a linear guide and a wheelbase adjustment drive component; a bidirectional positive and negative thread ball screw mechanism arranged along the length direction of the vehicle chassis is installed at the lower end of the base plate 41, and the bidirectional positive and negative thread ball screw mechanism includes left and right spiral screws 49, two screw sliders 48 and two screw bearing seats, and the two ends of the left and right spiral screws 49 are respectively rotatably installed on the two screw bearing seats, and the two screw bearing seats are installed at the lower end of the base plate 41, and the different rotation ends of the left and right spiral screws 49 are respectively threadedly connected to the two screw sliders 48; the side of the bidirectional positive and negative thread ball screw mechanism is provided with a linear guide arranged side by side, and the linear The guide rail includes a guide rail 42 and two guide rail sliders 43. The guide rail 42 is installed at the lower end of the base plate 41. The two guide rail sliders 43 are movably connected to the guide rail 42. The two guide rail sliders 43 are fixedly connected to two screw sliders 48 through two connecting plates 44 respectively; a wheelbase adjustment drive assembly is provided at the end of the bidirectional positive and negative tooth ball screw mechanism, and the wheelbase adjustment drive assembly includes a motor support 45, a wheelbase adjustment motor 46 and a screw coupling 47. One end of the left and right spiral screws 49 is connected to the output shaft of the wheelbase adjustment motor 46 through the screw coupling 47, and the wheelbase adjustment motor 46 is installed on the motor support 45, and the motor support 45 is installed at the lower end of the base plate 41.

[0011] Furthermore, the driving wheel drive execution assembly includes a motor bracket 22, two driving wheel rotating motors 21, two rotating shaft couplings 23, two driving wheel rotating shafts 24 and two rotating shaft bearing seats 25. The front compartment 26 is a rectangular shell. The left and right side compartment plates of the front compartment 26 are respectively processed with two coaxially arranged driving wheel rotating shaft mounting holes. The front compartment 26 is provided with two driving wheel rotating shafts 24 coaxially arranged along the length direction of the compartment. One end of the two driving wheel rotating shafts 24 is respectively connected to the output shafts of the two driving wheel rotating motors 21 through two rotating shaft couplings 23. The two driving wheel rotating motors 21 are installed on the motor bracket 22, and the motor bracket 22 is installed on the front compartment 26. The middle parts of the two driving wheel rotating shafts 24 are respectively rotatably connected to the two rotating shaft bearing seats 25. The two rotating shaft bearing seats 25 are respectively fixedly connected to the front compartment 26. The other ends of the two driving wheel rotating shafts 24 respectively pass through the two driving wheel rotating shaft mounting holes and extend to the outside of the front compartment 26.

[0012] Furthermore, the driven wheel transmission actuator assembly includes a fixed bearing seat 32, a driven wheel shaft 34 and two supporting bearing seats 33. The rear compartment 31 is a rectangular shell. The left and right side compartment plates of the rear compartment 31 are respectively processed with two coaxially arranged driven wheel shaft mounting holes. The rear compartment 31 is provided with a driven wheel shaft 34 coaxially arranged along the length direction of the compartment. The two ends of the driven wheel shaft 34 respectively pass through the two driven wheel shaft mounting holes and extend to the outside of the rear compartment 31. The middle part of the driven wheel shaft 34 is rotatably connected to the fixed bearing seat 32. Two symmetrically arranged supporting bearing seats 33 are respectively provided on the left and right sides of the fixed bearing seat 32. The two supporting bearing seats 33 are respectively rotatably connected to the driven wheel shaft 34. The fixed bearing seat 32 and the two supporting bearing seats 33 are both installed on the rear compartment 31.

[0013] Furthermore, the driving wheel group 11 includes a driving wheel 111, two driving wheel brackets 112, two driving limit washers and two driving limit nuts 113. The two driving wheel brackets 112 are arranged vertically side by side, and the driving wheel 111 is arranged vertically between the two driving wheel brackets 112. The fixed ends of the two driving wheel brackets 112 are rotatably connected to the driving wheel 111. The driving wheel 111 is installed at the other end of the driving wheel shaft 24. The other end of the driving wheel shaft 24 is fixed to the driving wheel 111 by a key connection. Two coaxially arranged driving limit washers are respectively provided between the driving wheel 111 and the driving wheel brackets 112 on both sides. The two driving limit washers are both installed on the driving wheel shaft 24. The end of the driving wheel shaft 24 is processed with external threads. Two driving limit nuts 113 are respectively provided on the outer sides of the two driving wheel brackets 112. The two driving limit nuts 113 are threadedly installed on the driving wheel shaft 24.

[0014] Furthermore, the driven wheel group 12 includes a driven wheel 121, two driven wheel brackets 122, two driven limit washers and two driven limit nuts 123. The two driven wheel brackets 122 are arranged vertically side by side, the driven wheel 121 is arranged vertically between the two driven wheel brackets 122, the fixed ends of the two driven wheel brackets 122 are rotatably connected to the driven wheel 121, the driven wheel 121 is installed at both ends of the driven wheel shaft 34, and the two ends of the driven wheel shaft 34 are rotatably connected to the driven wheel 121. Two coaxially arranged driven limit washers are respectively provided between the driven wheel 121 and the driven wheel brackets 122 on both sides, the two driven limit washers are both installed on the driven wheel shaft 34, and the ends of the driven wheel shaft 34 are processed with external threads. Two driven limit nuts 123 are respectively provided on the outer sides of the two driven wheel brackets 122, and the two driven limit nuts 123 are threadedly installed on the driven wheel shaft 34.

[0015] Furthermore, the wheelbase adjustment mechanism 4 further includes a worm gear shaft 145 , and a movable end of the driving wheel bracket 112 and a movable end of the driven wheel bracket 122 are rotationally connected to the worm gear shaft 145 respectively.

[0016] Furthermore, the tape roller group 13 includes a tape roller 131, a tape roller shaft and two tape roller brackets 132. The two tape roller brackets 132 are vertically arranged side by side, and the tape roller 131 is vertically arranged between the two tape roller brackets 132. One end of the two tape roller brackets 132 is rotatably connected to the tape roller 131 through the tape roller shaft, and the other end of the two tape roller brackets 132 is fixedly connected to the worm gear shaft 145.

[0017] Furthermore, the crawler belt 15 is installed around the driving wheel 111 , the driven wheel 121 and the support wheel 131 .

[0018] Furthermore, the adjusting device 14 includes a worm wheel 143, a worm 142, a worm shaft 144 and a knob 141. The worm wheel 143 is fixedly connected to the worm wheel shaft 145, the worm 142 is fixedly connected to the worm shaft 144, the worm 142 is meshed with the worm wheel 143, and one end of the worm 142 passes through one of the driving wheel brackets 112 and is threadedly connected to the knob 141.

[0019] Compared with the prior art, the present invention has the following effects:

[0020] 1. Wide adaptability to operating scenarios: Different operating scenarios have different requirements for vehicle wheelbases. The chassis of the present invention can quickly adjust the wheelbase to meet the requirements. In the past, vehicles with multiple wheelbases were required to cope with different scenarios. The present invention only requires one vehicle, which reduces equipment procurement costs, maintenance and management costs, and improves equipment utilization.

[0021] 2. Precise track adjustment and high reliability: The unique track adjustment mechanism 1 can accurately adjust the position of the support roller 131 through the adjustment device 14 when the wheelbase changes, keep the length of the track 15 unchanged, avoid the track 15 being too loose or too tight, extend the service life of the track 15 and each wheel, and reduce maintenance costs. The front and rear frame compartments 3 structure cooperate with the wheelbase adjustment mechanism 4 to ensure that the power of the wheelbase adjustment motor 46 is stably and efficiently transmitted to the driving wheel 111 and the driven wheel 121. Even if the wheelbase is adjusted frequently, the power transmission system can still work reliably, and the vehicle operation stability is improved.

[0022] 3. Easy to operate: The vehicle chassis wheelbase adjustment operation design of the present invention is user-friendly. The wheelbase adjustment can be completed by simply operating the knob 141 or a button, which reduces the skill requirements of the operator and the error rate of operation.

[0023] 4. The present invention adopts a worm gear mechanism to adjust the rotation angle of the support rod to adjust the track tensioning range. The main innovations are as follows:

[0024] (1) Rotation adjustment to break through the height limit:

[0025] The present invention drives the support rod to rotate by a worm gear mechanism instead of directly adjusting the height of the support rod, so that the tensioning range of the track is only limited by the wheelbase of the two wheels and is not restricted by the wheel diameter, thereby achieving a wider range of adjustment.

[0026] (2) The self-locking characteristics of the worm gear improve the tensioning stability:

[0027] The worm gear mechanism adopted in the present invention has a self-locking function, which can stabilize the support rod at different angles, avoid loosening or deformation of the tensioned state due to external force, and improve the reliability of the crawler track.

[0028] Traditional adjustment methods usually require an additional locking mechanism, but the present invention can simplify the structural design and make the adjustment more stable and reliable.

[0029] (3) Precisely control track tension to meet different application requirements:

[0030] The present invention can achieve more precise track tensioning adjustment by changing the transmission ratio of the worm gear, thereby meeting the needs of the track system in different scenarios, such as off-road walking, heavy-load climbing, etc.

[0031] The conventional height adjustment method may result in insufficient precision in the tension adjustment, while the present invention can provide a higher precision track tension adjustment through angle fine-tuning.

[0032] (4) Compact structure, reducing extra space occupation:

[0033] The worm gear mechanism of the present invention can be arranged on the axis of the support rod and is designed to be integrated with the crawler structure, so it occupies less space and does not affect the overall layout of the crawler.

[0034] Compared with the traditional hydraulic or screw-type height adjustment, the present invention reduces the additional telescopic components, making the overall structure more compact.

[0035] 5. Applicable scenarios and advantages:

[0036] (1) The present invention is applicable to different track systems, such as robots, unmanned vehicles, track transport equipment, etc., and can flexibly adjust the track tension state in complex terrain to improve the passability.

[0037] (2) The present invention increases the life of the crawler track and avoids premature damage to the crawler track due to excessive or insufficient tensioning.

[0038] (3) The present invention can be combined with an automatic adjustment system to achieve intelligent track tension adjustment, for example, by controlling the angle of the worm gear through a motor to achieve automatic track tension compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is an axonometric view of a variable wheelbase crawler vehicle chassis of the present invention;

[0040] Figure 2 is a bottom view of the wheelbase adjustment mechanism of the present invention;

[0041] Figure 3 is an axonometric view of the crawler adjustment mechanism of the present invention;

[0042] Figure 4 is a top view of the crawler adjustment mechanism of the present invention without the crawler;

[0043] Figure 5 is a side view of the crawler adjustment mechanism of the present invention in a wide wheelbase state;

[0044] Figure 6 is a side view of the crawler adjustment mechanism of the present invention in a narrow wheelbase state;

[0045] Figure 7 is an axonometric view of the front compartment of the present invention;

[0046] Figure 8 It is an axonometric view of the rear compartment body of the present invention.

[0047] In the figure: 1. track adjustment mechanism; 2. front frame compartment; 3. rear frame compartment; 4. wheelbase adjustment mechanism; 11. driving wheel group; 12. driven wheel group; 13. support roller group; 14. adjustment device; 15. track; 21. driving wheel rotating motor; 22. motor bracket; 23. shaft coupling; 24. driving wheel shaft; 25. shaft bearing seat; 26. front compartment; 31. rear compartment; 32. fixed bearing seat; 33. supporting bearing seat; 34. driven wheel shaft; 41. bottom plate; 42. guide rail; 43. guide rail slide Block; 44, connecting plate; 45, motor support; 46, wheelbase adjustment motor; 47, screw coupling; 48, screw slider; 49, left and right spiral screws; 111, driving wheel; 112, driving wheel bracket; 113, driving limit nut; 121, driven wheel; 122, driven wheel bracket; 123, driven limit nut; 131, support roller; 132, support roller bracket; 133, support roller shaft; 141, knob; 142, worm; 143, worm wheel; 144, worm shaft; 145, worm wheel shaft. DETAILED DESCRIPTION

[0048] In order to further understand the content of the present invention, the technical solutions in the embodiments of the present invention are described in conjunction with the accompanying drawings. The embodiments in the accompanying drawings are only part of the embodiments of the invention and are only provided for reference and illustration. The protection scope of the present invention is not limited to the following embodiments.

[0049] It should be noted that if the embodiments of the present invention involve directional indications such as up, down, left, right, front, back, vertical, horizontal, and middle, such directional indications are only used to describe and explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly, and therefore cannot be understood as a limitation on the present invention.

[0050] It should be noted that the words "set", "connect", "connected", "socketed" and the like in the embodiments of the present invention should be understood in a broad sense. For example, "connection" can be a fixed connection, a mechanical connection or an electrical connection, and the specific meaning should be understood according to the specific situation.

[0051] In the present invention, the tracked vehicle chassis with a variable wheelbase can adapt to a variety of complex working conditions, and its specific design requirements revolve around flexible adjustment of the wheelbase, stable driving and reliable operation.

[0052] Specific implementation method 1: Combination Figures 1 to 8The present embodiment is described. The present embodiment is a crawler vehicle chassis with a variable wheelbase, which includes a wheelbase adjustment mechanism 4, a crawler adjustment mechanism 1, a front frame compartment 2 and a rear frame compartment 3. The front and rear ends below the wheelbase adjustment mechanism 4 are respectively provided with a front frame compartment 2 and a rear frame compartment 3 arranged side by side. There are two groups of crawler adjustment mechanisms 1, and the two groups of crawler adjustment mechanisms 1 are respectively symmetrically arranged on the left and right sides of the wheelbase adjustment mechanism 4; the wheelbase adjustment mechanism 4 includes a bottom plate 41, a wheelbase adjustment actuator assembly and two connecting plates 44. The wheelbase adjustment actuator assembly is installed at the lower end of the bottom plate 41. The two movable ends of the wheelbase adjustment actuator assembly are respectively connected to the upper ends of the two connecting plates 44 arranged side by side front and back. The front frame compartment 2 and the rear frame compartment 3 are respectively installed at the lower ends of the two connecting plates 44. The wheelbase adjustment actuator assembly drives the front frame compartment 2 and the rear frame compartment 3 to move inward or outward at the same time. Move outward, so as to adjust the wheelbase of the vehicle chassis; the front frame compartment 2 includes a front compartment body 26 and a driving wheel driving execution component installed inside the front compartment body 26, and the rear frame compartment 3 includes a rear compartment body 31 and a driven wheel transmission execution component installed inside the rear compartment body 31; each track adjustment mechanism 1 includes a driving wheel group 11, a driven wheel group 12, a support roller group 13, a crawler track 15 and an adjusting device 14, a driving wheel group 11 is provided at the end of the front compartment body 26, a driven wheel group 12 movably connected to the driving wheel group 11 is provided at the end of the rear compartment body 31, a support roller group 13 is provided between the driving wheel group 11 and the driven wheel group 12 and is connected through the crawler track 15, and the support roller group 13 is connected to the adjusting device 14, and when the wheelbase changes, the position of the support roller group 13 can be accurately adjusted through the adjusting device 14 to ensure that the length of the crawler track 15 remains constant.

[0053] Different operating scenarios have different requirements for the wheelbase of the vehicle chassis. Through the variable wheelbase crawler vehicle chassis of the present invention, the wheelbase can be adjusted quickly and flexibly to meet the needs of various operating scenarios.

[0054] Traditionally, different operating scenarios often require vehicles with different wheelbases, which increases the cost of equipment procurement, maintenance and management. The variable wheelbase design of the present invention enables one vehicle to adapt to multiple scenarios, reduces the investment of enterprises or operating units in vehicle equipment, improves equipment utilization, and reduces comprehensive operating costs.

[0055] The unique crawler adjustment mechanism 1 of the present invention can accurately adjust the position of the track roller 131 through the adjustment device 14 when the wheelbase changes, ensuring that the length of the crawler 15 remains unchanged. This design effectively avoids the problem of uneven tightness of the crawler 15 caused by the change of wheelbase, ensuring that the crawler 15 and each wheel always maintain good contact and transmission, thereby extending the service life of the crawler 15 and each wheel, and reducing the maintenance frequency and cost of the equipment.

[0056] The structural design of the front frame compartment 2 and the rear frame compartment 3 of the present invention and their coordinated work with the wheelbase adjustment mechanism 4 ensure that the power of the wheelbase adjustment motor 46 can be stably and efficiently transmitted to the driving wheel 111 and the driven wheel 121, ensuring the smooth operation of the vehicle. Even in the case of frequent wheelbase adjustments, the power transmission system can still work reliably, providing a strong guarantee for the normal driving of the vehicle under various working conditions.

[0057] Specific implementation method 2: Combination Figures 1 to 8 The present embodiment is described. The wheelbase adjustment actuator of the present embodiment includes a bidirectional positive and negative thread ball screw mechanism, a linear guide rail and a wheelbase adjustment drive assembly. A bidirectional positive and negative thread ball screw mechanism arranged along the length direction of the vehicle chassis is installed at the lower end of the base plate 41. The bidirectional positive and negative thread ball screw mechanism includes a left and right spiral screw 49, two screw sliders 48 and two screw bearing seats. The two ends of the left and right spiral screws 49 are respectively rotatably installed on the two screw bearing seats. The two screw bearing seats are installed at the lower end of the base plate 41. The left and right spiral screws 49 with different rotation directions are respectively threadedly connected to the two screw sliders 48. The side of the bidirectional positive and negative thread ball screw mechanism is provided with a linear guide rail arranged side by side. The guide rail, the linear guide rail includes a guide rail 42 and two guide rail sliders 43, the guide rail 42 is installed at the lower end of the base plate 41, the two guide rail sliders 43 are movably connected to the guide rail 42, and the two guide rail sliders 43 are fixedly connected to two screw sliders 48 through two connecting plates 44 respectively; the end of the bidirectional positive and negative tooth ball screw mechanism is provided with a wheelbase adjustment drive assembly, the wheelbase adjustment drive assembly includes a motor support 45, a wheelbase adjustment motor 46 and a screw coupling 47, one end of the left and right spiral screws 49 is connected to the output shaft of the wheelbase adjustment motor 46 through the screw coupling 47, and the wheelbase adjustment motor 46 is installed on the motor support 45, and the motor support 45 is installed at the lower end of the base plate 41. In this arrangement, when the wheelbase adjustment motor 46 drives the left and right spiral screws 49 to rotate, the two connecting plates 44 will drive the front frame compartment 2 and the rear frame compartment 3 to move inward or outward at the same time, thereby realizing the adjustment of the wheelbase of the crawler chassis; the adjustment range of the wheelbase is determined by the length of the left and right spiral screws 49. Other components and connection relationships are the same as those in the first specific implementation mode.

[0058] Among them, the guide rail 42 is fixed to the base plate 41 by guide rail connecting bolts. The guide rail 42 adopts a high-precision linear guide to ensure straightness and stability during movement. The guide rail slider 43 is nested on the guide rail 42 and moves. The guide rail slider 43 is made of self-lubricating material to reduce the friction coefficient and improve movement flexibility. The left and right spiral screws 49 are fixed by the screw bearing seats at both ends. The screw bearing seats are fixed to the base plate 41 by bearing seat connecting bolts. The left and right spiral screws 49 are made of high-strength alloy steel and are precision ground to ensure pitch accuracy. The motor support 45 is fixed to the base plate 41 by screws, and the wheelbase adjustment motor 46 is fixed to the motor support 45 by screws. The wheelbase adjustment motor 46 uses a stepper motor, which can accurately control the rotation angle and rotation speed. The output shaft of the wheelbase adjustment motor 46 is connected to one end of the left and right spiral screws 49 through a screw coupling 47, so that the wheelbase adjustment motor 46 drives the left and right spiral screws 49 to rotate; the screw sliders 48 are respectively located at different rotation ends of the left and right spiral screws 49, and the screw sliders 48 are connected to the guide rail sliders 43 through a connecting plate 44, and the connecting plate 44 is respectively connected to the front frame compartment 2 and the rear frame compartment 3 through screws.

[0059] When the wheelbase adjustment motor 46 drives the left and right screw rods 49 to rotate, the two connecting plates 44 drive the front frame compartment 2 and the rear frame compartment 3 to move inward or outward at the same time, so as to adjust the wheelbase of the crawler chassis. For example, when the wheelbase adjustment motor 46 rotates forward, the left and right screw rods 49 drive the screw sliders 48 to move toward each other, and the connecting plates 44 push the front and rear frame compartments 3 to move inward, shortening the wheelbase; when the wheelbase adjustment motor 46 rotates reversely, the screw sliders 48 move in opposite directions, and the connecting plates 44 pull the front and rear frame compartments 3 to move outward, increasing the wheelbase.

[0060] Specific implementation method three: Combination Figures 1 to 8To illustrate this embodiment, the driving wheel driving execution component of this embodiment includes a motor bracket 22, two driving wheel rotating motors 21, two rotating shaft couplings 23, two driving wheel rotating shafts 24 and two rotating shaft bearing seats 25. The front compartment 26 is a rectangular shell. The left and right side compartment plates of the front compartment 26 are respectively processed with two coaxially arranged driving wheel rotating shaft mounting holes. The front compartment 26 is provided with two driving wheel rotating shafts 24 coaxially arranged along the length direction of the compartment. One end of the two driving wheel rotating shafts 24 is connected to the output shafts of the two driving wheel rotating motors 21 through two rotating shaft couplings 23 respectively. The two driving wheel rotating motors 21 are mounted on the motor bracket 22, and the motor bracket 22 is mounted on the front compartment 26. The middle parts of the two driving wheel rotating shafts 24 are respectively rotatably connected to the two rotating shaft bearing seats 25, and the two rotating shaft bearing seats 25 are respectively fixedly connected to the front compartment 26. The other ends of the two driving wheel rotating shafts 24 respectively pass through the two driving wheel rotating shaft mounting holes and extend to the outside of the front compartment 26. In this configuration, the driving wheel rotating motor 21 drives the driving wheel shaft 24 to rotate, the driving wheel 111 drives the crawler belt 15 to rotate, and the crawler belt 15 drives the driven wheel 121 to rotate around the driven wheel shaft 34. Other components and connection relationships are the same as those of the first or second specific embodiments.

[0061] Among them, the motor bracket 22 is fixed to the front compartment 26 by the motor bracket connecting bolts, the shaft bearing seat 25 is fixed to the front compartment 26 by the bearing seat connecting bolts, the driving wheel rotating motor 21 is fixed to the motor bracket 22 by screws, and the middle of the two driving wheel rotating shafts 24 are connected to the two rotating shaft bearing seats 25 by two bearings respectively. The driving wheel rotating motor 21 uses a high-torque, low-speed DC motor to provide stable power output. The motor bracket 22 is made of high-strength aluminum alloy and is formed by a die-casting process to ensure the stability of the connection with the driving wheel rotating motor 21 and the front compartment 26. The output shaft of the driving wheel rotating motor 21 is tightly connected to the driving wheel rotating shaft 24 through the shaft coupling 23 to ensure the high efficiency of power transmission. The driving wheel rotating shaft 24 is made of high-quality alloy steel and has been tempered to improve its comprehensive mechanical properties. The other end of the driving wheel rotating shaft 24 is fixed to the driving wheel 111 by a key connection, so that the driving wheel rotating motor 21 drives the driving wheel 111 to rotate. For example, the key connection uses a standard flat key to ensure that the driving wheel 111 and the driving wheel shaft 24 rotate synchronously and transmit sufficient torque.

[0062] Specific implementation method four: Combination Figures 1 to 8To explain this embodiment, the driven wheel transmission actuator assembly of this embodiment includes a fixed bearing seat 32, a driven wheel shaft 34 and two supporting bearing seats 33. The rear compartment 31 is a rectangular shell. The left and right side compartment plates of the rear compartment 31 are respectively processed with two coaxially arranged driven wheel shaft mounting holes. The rear compartment 31 is provided with a driven wheel shaft 34 coaxially arranged along the length direction of the compartment. The two ends of the driven wheel shaft 34 pass through the two driven wheel shaft mounting holes and extend to the outside of the rear compartment 31. The middle part of the driven wheel shaft 34 is rotatably connected to the fixed bearing seat 32. The left and right sides of the fixed bearing seat 32 are respectively provided with two symmetrically arranged supporting bearing seats 33. The two supporting bearing seats 33 are respectively rotatably connected to the driven wheel shaft 34. The fixed bearing seat 32 and the two supporting bearing seats 33 are both installed on the rear compartment 31. Other components and connection relationships are the same as those of the specific embodiments one, two or three.

[0063] Among them, the fixed bearing seat 32 and the supporting bearing seat 33 are connected to the rear compartment 31 through the bearing seat connecting bolts, the middle of the driven wheel shaft 34 is connected to the fixed bearing seat 32 through a bearing, and the two supporting bearing seats 33 are connected to the driven wheel shaft 34 through two bearings respectively. The fixed bearing seat 32 and the supporting bearing seat 33 are made of cast steel, and their installation accuracy and matching accuracy with the driven wheel shaft 34 are guaranteed through processing. The driven wheel shaft 34 is made of alloy steel, and its dimensional accuracy and surface quality are guaranteed through fine processing.

[0064] Specific implementation method five: Combination Figures 1 to 8 To illustrate this embodiment, the driving wheel group 11 of this embodiment includes a driving wheel 111, two driving wheel brackets 112, two driving limit washers and two driving limit nuts 113. The two driving wheel brackets 112 are arranged vertically side by side, and the driving wheel 111 is arranged vertically between the two driving wheel brackets 112. The fixed ends of the two driving wheel brackets 112 are rotatably connected to the driving wheel 111. The driving wheel 111 is installed at the other end of the driving wheel shaft 24. The other end of the driving wheel shaft 24 is fixed to the driving wheel 111 by a key connection. Two coaxially arranged driving limit washers are respectively provided between the driving wheel 111 and the driving wheel brackets 112 on both sides. The two driving limit washers are both installed on the driving wheel shaft 24. The end of the driving wheel shaft 24 is processed with an external thread. Two driving limit nuts 113 are respectively provided on the outer sides of the two driving wheel brackets 112. The two driving limit nuts 113 are threadedly installed on the driving wheel shaft 24. In this configuration, one end of the driving wheel shaft 24 is connected to the output shaft of the driving wheel rotating motor 21 through the shaft coupling 23, and the other end of the driving wheel shaft 24 is fixed to the driving wheel 111 through a key connection, ensuring that the driving wheel rotating motor 21 drives the driving wheel 111 to rotate. Other components and connection relationships are the same as those of the specific embodiments one, two, three or four.

[0065] The driving wheel 111 is made of high-strength wear-resistant material, and its gear teeth are subjected to a special heat treatment process to enhance the meshing stability with the crawler 15. The driving wheel bracket 112 is made of cast steel, and the position accuracy of the bolt connection hole is ensured through a high-precision processing process to ensure the coaxiality of the connection with the driving wheel 111. The driving wheel bracket 112 is separated from the driving wheel 111 by a driving limit washer, and is axially positioned by a driving limit nut 113, and can rotate around the driving wheel shaft 24.

[0066] Specific implementation method six: Combination Figures 1 to 8 To illustrate this embodiment, the driven wheel group 12 of this embodiment includes a driven wheel 121, two driven wheel brackets 122, two driven limit washers and two driven limit nuts 123. The two driven wheel brackets 122 are arranged vertically side by side, and the driven wheel 121 is arranged vertically between the two driven wheel brackets 122. The fixed ends of the two driven wheel brackets 122 are rotatably connected to the driven wheel 121. The driven wheel 121 is installed at both ends of the driven wheel shaft 34. The two ends of the driven wheel shaft 34 are rotatably connected to the driven wheel 121. Two coaxially arranged driven limit washers are respectively provided between the driven wheel 121 and the driven wheel brackets 122 on both sides. The two driven limit washers are both installed on the driven wheel shaft 34. The end of the driven wheel shaft 34 is processed with external threads. Two driven limit nuts 123 are respectively provided on the outer sides of the two driven wheel brackets 122. The two driven limit nuts 123 are threadedly installed on the driven wheel shaft 34. The other components and connection relationships are the same as those in the first, second, third, fourth or fifth specific embodiments.

[0067] The two ends of the driven wheel shaft 34 are connected to the driven wheel 121 through the driven wheel bearings. The design of the driven wheel 121 focuses on the cooperation with the driving wheel 111, while ensuring the strength, optimizing its surface finish, and reducing the friction loss with the track 15. The driven wheel bracket 122 is also made of cast steel, and is processed to ensure the reliability of the connection. The driven wheel bracket 122 is separated from the driven wheel 121 by a driven limit washer, and is axially positioned by a driven limit nut 123, and can rotate around the driven wheel shaft 34.

[0068] Specific implementation method seven: Combination Figures 1 to 8 To explain this embodiment, the wheelbase adjustment mechanism 4 of this embodiment further includes a worm gear shaft 145, and the active ends of the driving wheel bracket 112 and the driven wheel bracket 122 are respectively rotatably connected to the worm gear shaft 145. Other components and connection relationships are the same as those of the first, second, third, fourth, fifth or sixth embodiments.

[0069] The movable end of the driving wheel bracket 112 is rotationally connected to the worm gear shaft 145 through a turbine bearing, and the movable end of the driven wheel bracket 122 is rotationally connected to the worm gear shaft 145 through a turbine bearing.

[0070] Specific implementation method eight: Combination Figures 1 to 8 To explain this embodiment, the support roller set 13 of this embodiment includes a support roller 131, a support roller shaft and two support roller brackets 132, the two support roller brackets 132 are arranged vertically side by side, the support roller 131 is arranged vertically between the two support roller brackets 132, one end of the two support roller brackets 132 is rotatably connected to the support roller 131 through the support roller shaft, and the other end of the two support roller brackets 132 is fixedly connected to the worm gear shaft 145. Other components and connection relationships are the same as those of the specific embodiments one, two, three, four, five, six or seven.

[0071] The support roller 131 is connected to the support roller shaft through the support roller bearing, and the support roller shaft is connected to the support roller bracket 132 through screws; the support roller bracket 132 is fixed to the worm shaft 145 through a set screw. The support roller 131 is made of light alloy material to reduce its own weight while ensuring the bearing capacity. The support roller bracket 132 is formed by a precision forging process to ensure that the connection with the support roller shaft is firm and can rotate flexibly.

[0072] Specific implementation method nine: Combination Figures 1 to 8 To explain this embodiment, the crawler belt 15 of this embodiment is installed around the driving wheel 111, the driven wheel 121 and the supporting roller 131. In this way, the driving wheel 111 drives the driven wheel 121 and the supporting roller 131 to rotate through the crawler belt 15. Other components and connection relationships are the same as those of the specific embodiments one, two, three, four, five, six, seven or eight.

[0073] Among them, the track 15 adopts a composite structure of high-strength rubber and metal reinforcement ribs, and has good wear resistance and tear resistance.

[0074] Specific implementation method ten: Combination Figures 1 to 8 The present embodiment is described, and the adjusting device 14 of the present embodiment includes a worm wheel 143, a worm 142, a worm shaft 144 and a knob 141. The worm wheel 143 is fixedly connected to the worm shaft 145, the worm 142 is fixedly connected to the worm shaft 144, the worm 142 is meshed with the worm wheel 143, and one end of the worm 142 passes through one of the driving wheel brackets 112 and is threadedly connected to the knob 141. In this way, when the wheelbase changes, the operator rotates the knob 141 to drive the worm shaft 144 to rotate, thereby causing the worm 142 to rotate. Due to the meshing action of the worm 142 and the worm wheel 143, the worm wheel 143 drives the worm shaft 145 to rotate, so that the positions of the driving wheel bracket 112, the driven wheel bracket 122 and the support roller bracket 132 change, thereby adjusting the position of the support roller 131, and achieving the same length of the crawler 15. The other components and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiment.

[0075] The worm 142 is connected to the worm shaft 144 through a set screw, and the worm shaft 144 is connected to the knob 141 through a thread; when the wheelbase changes, the position of the support wheel 131 can be adjusted by the knob 141 to ensure that the length of the crawler 15 remains constant. The worm wheel 143 and the worm 142 are made of high-precision alloy steel to ensure the accuracy and stability of the transmission.

[0076] How it works

[0077] Combination Figures 1 to 8 The working principle of the crawler vehicle chassis with a variable wheelbase of the present invention is described as follows: The crawler vehicle chassis with a variable wheelbase proposed by the present invention can flexibly adjust the chassis wheelbase according to different working environments and task requirements through the coordinated design of the unique crawler adjustment mechanism 1, the wheelbase adjustment mechanism 4 and the front and rear frame compartments 3. In complex terrain, the wheelbase can be shortened to improve passability; under heavy load conditions, the wheelbase can be increased to improve stability. At the same time, the careful selection and design of each component ensure the reliability and durability of the vehicle chassis. When the wheelbase adjustment motor 46 drives the left and right screw rods 49 to rotate, the two connecting plates 44 will drive the front frame compartment 2 and the rear frame compartment 3 to move inward or outward at the same time, thereby realizing the adjustment of the wheelbase of the crawler chassis. When the wheelbase changes, the position of the track roller 131 can be accurately adjusted through the adjustment device 14 to ensure that the length of the crawler 15 remains unchanged.

[0078] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A crawler vehicle chassis with a variable wheelbase, characterized in that: The invention comprises a wheelbase adjustment mechanism (4), a track adjustment mechanism (1), a front frame compartment (2) and a rear frame compartment (3); the front and rear ends of the wheelbase adjustment mechanism (4) are respectively provided with a front frame compartment (2) and a rear frame compartment (3) arranged side by side; the track adjustment mechanism (1) comprises two groups, and the two groups of track adjustment mechanisms (1) are respectively arranged symmetrically on the left and right sides of the wheelbase adjustment mechanism (4); the wheelbase adjustment mechanism (4) comprises a bottom plate (41), a wheelbase adjustment actuator assembly and two connecting plates (44); the wheelbase adjustment actuator assembly is installed at the lower end of the bottom plate (41); the two movable ends of the wheelbase adjustment actuator assembly are respectively connected to the upper ends of the two connecting plates (44) arranged side by side in the front and rear; the lower ends of the two connecting plates (44) are respectively installed with the front frame compartment (2) and the rear frame compartment (3); the wheelbase adjustment actuator assembly drives the front frame compartment (2) and the rear frame compartment (3) to move inward or outward at the same time, thereby realizing the adjustment of the vehicle chassis wheelbase; the front frame compartment (41) is arranged side by side. The frame (2) comprises a front frame body (26) and a driving wheel driving actuator assembly installed inside the front frame body (26); the rear frame (3) comprises a rear frame body (31) and a driven wheel transmission actuator assembly installed inside the rear frame body (31); each track adjustment mechanism (1) comprises a driving wheel group (11), a driven wheel group (12), a support roller group (13), a track (15) and an adjustment device (14); the driving wheel group (11) is provided at the end of the front frame body (26); the driven wheel group (12) movably connected to the driving wheel group (11) is provided at the end of the rear frame body (31); a support roller group (13) is provided between the driving wheel group (11) and the driven wheel group (12) and is connected to the track (15) by transmission; the support roller group (13) is connected to the adjustment device (14); when the wheelbase changes, the position of the support roller group (13) can be accurately adjusted by the adjustment device (14) to ensure that the length of the track (15) remains constant.

2. The variable wheelbase crawler vehicle chassis according to claim 1, characterized in that: The wheelbase adjustment actuator assembly comprises a bidirectional positive and negative thread ball screw mechanism, a linear guide rail and a wheelbase adjustment drive assembly; a bidirectional positive and negative thread ball screw mechanism arranged along the length direction of the vehicle chassis is installed at the lower end of the base plate (41); the bidirectional positive and negative thread ball screw mechanism comprises a left and right spiral screw (49), two screw sliders (48) and two screw bearing seats; the two ends of the left and right spiral screws (49) are respectively rotatably installed on the two screw bearing seats; the two screw bearing seats are installed at the lower end of the base plate (41); the left and right spiral screws (49) are respectively threadedly connected to the two screw sliders (48) at different rotation directions; a linear guide rail arranged side by side is provided on the side of the bidirectional positive and negative thread ball screw mechanism; the linear guide rail comprises a guide rail (42) and two guide rails A guide rail (42) is mounted on the lower end of the base plate (41); two guide rail slide blocks (43) are movably connected to the guide rail (42); the two guide rail slide blocks (43) are respectively fixedly connected to two screw rod slide blocks (48) through two connecting plates (44); a wheelbase adjustment drive assembly is provided at the end of the bidirectional positive and negative tooth ball screw mechanism; the wheelbase adjustment drive assembly comprises a motor support (45), a wheelbase adjustment motor (46) and a screw coupling (47); one end of the left and right spiral screw rods (49) is connected to the output shaft of the wheelbase adjustment motor (46) through the screw coupling (47); the wheelbase adjustment motor (46) is mounted on the motor support (45); and the motor support (45) is mounted on the lower end of the base plate (41).

3. The variable wheelbase crawler vehicle chassis according to claim 2, characterized in that: The driving wheel driving execution assembly comprises a motor bracket (22), two driving wheel rotating motors (21), two rotating shaft couplings (23), two driving wheel rotating shafts (24) and two rotating shaft bearing seats (25); the front compartment (26) is a rectangular parallelepiped shell; the left and right side compartment plates of the front compartment (26) are respectively processed with two driving wheel rotating shaft mounting holes arranged coaxially; the front compartment (26) is provided with two driving wheel rotating shafts (24) coaxially arranged along the length direction of the compartment; one end of the two driving wheel rotating shafts (24) is respectively connected to the two rotating shafts The coupling (23) is connected to the output shafts of the two driving wheel rotating motors (21), the two driving wheel rotating motors (21) are mounted on the motor bracket (22), the motor bracket (22) is mounted on the front compartment (26), the middle parts of the two driving wheel rotating shafts (24) are respectively rotatably connected to the two rotating shaft bearing seats (25), the two rotating shaft bearing seats (25) are respectively fixedly connected to the front compartment (26), and the other ends of the two driving wheel rotating shafts (24) respectively pass through the two driving wheel rotating shaft mounting holes and extend to the outside of the front compartment (26).

4. The variable wheelbase crawler vehicle chassis according to claim 1 or 3, characterized in that: The driven wheel transmission actuator assembly comprises a fixed bearing seat (32), a driven wheel shaft (34) and two supporting bearing seats (33); the rear compartment (31) is a rectangular parallelepiped shell; two driven wheel shaft mounting holes arranged coaxially are respectively processed on the left and right side compartment plates of the rear compartment (31); a driven wheel shaft (34) coaxially arranged along the length direction of the compartment is arranged inside the rear compartment (31); two ends of the driven wheel shaft (34) respectively pass through the two driven wheel shaft mounting holes and extend to the outside of the rear compartment (31); the middle part of the driven wheel shaft (34) is rotatably connected to the fixed bearing seat (32); two supporting bearing seats (33) symmetrically arranged are respectively arranged on the left and right sides of the fixed bearing seat (32); the two supporting bearing seats (33) are respectively rotatably connected to the driven wheel shaft (34); the fixed bearing seat (32) and the two supporting bearing seats (33) are both mounted on the rear compartment (31).

5. The variable wheelbase crawler vehicle chassis according to claim 4, characterized in that: The driving wheel assembly (11) comprises a driving wheel (111), two driving wheel brackets (112), two driving limit washers and two driving limit nuts (113), the two driving wheel brackets (112) are arranged vertically side by side, the driving wheel (111) is arranged vertically between the two driving wheel brackets (112), the fixed ends of the two driving wheel brackets (112) are rotatably connected to the driving wheel (111), the driving wheel (111) is mounted on the other end of the driving wheel shaft (24), and the driving wheel shaft (24) is connected to the driving wheel shaft (24). ) is connected and fixed to the driving wheel (111) at the other end by a key connection. Two driving limit washers arranged coaxially are respectively provided between the driving wheel (111) and the driving wheel brackets (112) on both sides. The two driving limit washers are both mounted on the driving wheel shaft (24). The end of the driving wheel shaft (24) is processed with an external thread. Two driving limit nuts (113) are respectively provided on the outer sides of the two driving wheel brackets (112). The two driving limit nuts (113) are threadedly mounted on the driving wheel shaft (24).

6. The variable wheelbase crawler vehicle chassis according to claim 5, characterized in that: The driven wheel assembly (12) comprises a driven wheel (121), two driven wheel brackets (122), two driven limiting washers and two driven limiting nuts (123), the two driven wheel brackets (122) are arranged vertically side by side, the driven wheel (121) is arranged vertically between the two driven wheel brackets (122), the fixed ends of the two driven wheel brackets (122) are rotatably connected to the driven wheel (121), the driven wheel (121) is mounted on both ends of the driven wheel rotating shaft (34), and the driven wheel rotating shaft (34 ) are connected to the driven wheel (121) at both ends through rotation, and two driven limit washers arranged coaxially are respectively provided between the driven wheel (121) and the driven wheel brackets (122) on both sides, and the two driven limit washers are both mounted on the driven wheel rotating shaft (34), and the end of the driven wheel rotating shaft (34) is processed with external threads, and two driven limit nuts (123) are respectively provided on the outer sides of the two driven wheel brackets (122), and the two driven limit nuts (123) are threadedly mounted on the driven wheel rotating shaft (34).

7. The variable wheelbase crawler vehicle chassis according to claim 6, characterized in that: The wheelbase adjustment mechanism (4) also includes a worm gear rotating shaft (145), and the movable end of the driving wheel bracket (112) and the movable end of the driven wheel bracket (122) are respectively rotatably connected to the worm gear rotating shaft (145).

8. The variable wheelbase crawler vehicle chassis according to claim 7, characterized in that: The support roller assembly (13) comprises a support roller (131), a support roller rotating shaft and two support roller brackets (132); the two support roller brackets (132) are arranged vertically side by side; the support roller (131) is arranged vertically between the two support roller brackets (132); one end of the two support roller brackets (132) is rotatably connected to the support roller (131) via the support roller rotating shaft; and the other end of the two support roller brackets (132) is fixedly connected to the worm gear rotating shaft (145).

9. The variable wheelbase crawler vehicle chassis according to claim 8, characterized in that: The crawler belt (15) is installed around the driving wheel (111), the driven wheel (121) and the support wheel (131).

10. The variable wheelbase crawler vehicle chassis according to claim 9, characterized in that: The adjusting device (14) comprises a worm wheel (143), a worm (142), a worm shaft (144) and a knob (141); the worm wheel (143) is fixedly connected to the worm shaft (145); the worm (142) is fixedly connected to the worm shaft (144); the worm (142) is meshed with the worm wheel (143); one end of the worm (142) passes through one of the driving wheel brackets (112) and is threadedly connected to the knob (141).

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