Crawler vehicle chassis with variable wheelbase

Abstract

The application relates to a variable-axle-distance tracked vehicle chassis, and relates to the technical field of tracked vehicles.The application solves the problem that the existing fixed-chassis-length tracked vehicle is difficult to meet the passability of the vehicle in complex terrains, the stability under different loads and the adaptability to diversified operation scenes.The front and rear frame compartments are arranged below the axle-distance adjusting mechanism, two groups of tracked adjusting mechanisms are arranged on the two sides of the axle-distance adjusting mechanism, the axle-distance adjusting executing assembly is arranged at the lower end of the bottom plate, the axle-distance adjusting executing assembly is connected with two connecting plates, the front and rear frame compartments are arranged at the lower ends of the two connecting plates, the axle-distance adjusting executing assembly drives the front and rear frame compartments to move inwards or outwards at the same time, the adjustment of the axle distance of the vehicle chassis is realized, and the driving wheel and the driven wheel transmission executing assembly are arranged in the front and rear compartments respectively.The axle distance can be flexibly adjusted according to the actual working condition, the chassis length can be changed, and the tracked vehicle can be used for adapting to various complex operation environments and task requirements.

Description

Technical Field

[0001] This invention relates to the field of tracked vehicle technology, and more specifically to a tracked vehicle chassis with variable wheelbase. Background Technology

[0002] Currently, most tracked vehicle chassis are of fixed length, and the wheelbase between the drive wheels and driven wheels is not adjustable. These tracked vehicles are widely used in specific environments and work scenarios, especially in large, flat, and open engineering sites. With their stable driving performance and strong load-bearing capacity, they can efficiently complete tasks such as material transport.

[0003] Different operational scenarios require different chassis lengths for tracked vehicles. For example, small-scale municipal engineering projects in city streets require smaller vehicles to minimize traffic disruption, while larger chassis are needed for large-scale infrastructure construction in the field to improve operational efficiency and load-bearing capacity. Traditionally, various vehicles with different wheelbases are required for different operational scenarios, increasing the costs of equipment procurement, maintenance, and management. Furthermore, traditional tracked vehicles with fixed chassis lengths are insufficient to meet the needs of these diverse operational scenarios.

[0004] Current methods for adjusting track tension primarily rely on height adjustment, typically employing telescopic support rods or sliding adjustment mechanisms to raise or lower the track's support point. However, this method has the following limitations:

[0005] Limited by wheel diameter: The tension 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 large range of adjustment.

[0006] Complex structure and uneven stress: Lifting structures often require additional support mechanisms to ensure stability, which increases the complexity of the mechanical structure and may lead to excessive local stress, thereby affecting the service life of the tracks. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing tracked vehicles with fixed chassis lengths, which struggle to meet the requirements for maneuverability in complex terrain, stability under varying loads, and adaptability to diverse operational scenarios. This invention provides a tracked vehicle chassis with a variable wheelbase. Through innovative structural design and control methods, the vehicle can quickly and flexibly adjust its chassis wheelbase according to different operating environments and task requirements, thereby significantly improving its maneuverability in complex terrain, stability under varying loads, and adaptability to diverse operational scenarios.

[0008] The technical solution of this invention is:

[0009] This invention proposes a variable wheelbase tracked vehicle chassis, comprising a wheelbase adjustment mechanism 4, a track adjustment mechanism 1, a front frame box 2, and a rear frame box 3. The front frame box 2 and rear frame box 3 are arranged side-by-side at the front and rear ends below the wheelbase adjustment mechanism 4, respectively. There are two sets of track adjustment mechanisms 1, symmetrically arranged on the left and right sides of the wheelbase adjustment mechanism 4. The wheelbase adjustment mechanism 4 includes a base plate 41, a wheelbase adjustment actuator, and two connecting plates 44. The wheelbase adjustment actuator is installed at the lower end of the base plate 41, and its two movable ends are connected to the upper ends of the two side-by-side connecting plates 44. The front frame box 2 and rear frame box 3 are respectively installed at the lower ends of the two connecting plates 44. The wheelbase adjustment actuator drives the front frame box 2 and rear frame box 3 to move simultaneously inward or outward. This allows for adjustment of the vehicle chassis wheelbase. The front frame box 2 includes a front box 26 and a drive wheel drive actuator installed inside the front box 26. The rear frame box 3 includes a rear box 31 and a driven wheel drive actuator installed inside the rear box 31. Each track adjustment mechanism 1 includes a drive wheel set 11, a driven wheel set 12, a track support wheel set 13, a track 15, and an adjustment device 14. The front box 26 has a drive wheel set 11 at one end, and the rear box 31 has a driven wheel set 12 movably connected to the drive wheel set 11 at one end. A track support wheel set 13 is provided between the drive wheel set 11 and the driven wheel set 12 and is driven by the track 15. The track support wheel set 13 is connected to the adjustment device 14. When the wheelbase changes, the position of the track support wheel set 13 can be precisely adjusted by the adjustment device 14 to ensure that the track 15 length remains constant.

[0010] Furthermore, the wheelbase adjustment actuator includes a bidirectional forward and reverse toothed ball screw mechanism, linear guides, and a wheelbase adjustment drive assembly; the bidirectional forward and reverse toothed ball screw mechanism, arranged along the length of the vehicle chassis, is mounted on the lower end of the base plate 41. The bidirectional forward and reverse toothed ball screw mechanism includes left and right helical screws 49, two screw sliders 48, and two screw bearing seats. The two ends of the left and right helical screws 49 are rotatably mounted on the two screw bearing seats, which are mounted on the lower end of the base plate 41. The different helical ends of the left and right helical screws 49 are threadedly connected to the two screw sliders 48; the side of the bidirectional forward and reverse toothed ball screw mechanism is provided with parallel linear guides. The guide rail includes a guide rail 42 and two guide rail sliders 43. The guide rail 42 is mounted on 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 the two lead screw sliders 48 through two connecting plates 44 respectively. The bidirectional positive and negative tooth ball screw mechanism is provided with a wheelbase adjustment drive assembly at the end. The wheelbase adjustment drive assembly includes a motor support 45, a wheelbase adjustment motor 46 and a lead screw coupling 47. One end of the left and right helical lead screws 49 is connected to the output shaft of the wheelbase adjustment motor 46 through the lead 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.

[0011] Furthermore, the drive wheel drive actuator includes a motor bracket 22, two drive wheel rotating motors 21, two shaft couplings 23, two drive wheel shafts 24, and two shaft bearing seats 25. The front body 26 is a cuboid shell. Two drive wheel shaft mounting holes are machined on the left and right side panels of the front body 26, respectively. Inside the front body 26, two drive wheel shafts 24 are arranged coaxially along the length of the body. One end of each drive wheel shaft 24 is connected to the output shaft of the two drive wheel rotating motors 21 through the two shaft couplings 23. The two drive wheel rotating motors 21 are mounted on the motor bracket 22, and the motor bracket 22 is mounted on the front body 26. The middle parts of the two drive wheel shafts 24 are rotatably connected to the two shaft bearing seats 25, respectively. The two shaft bearing seats 25 are fixedly connected to the front body 26, respectively. The other ends of the two drive wheel shafts 24 pass through the two drive wheel shaft mounting holes and extend to the outside of the front body 26.

[0012] Furthermore, the driven wheel drive actuator includes a fixed bearing housing 32, a driven wheel shaft 34, and two support bearing housings 33. The rear compartment 31 is a rectangular shell. Two driven wheel shaft mounting holes are machined coaxially on the left and right side panels of the rear compartment 31. The rear compartment 31 has a driven wheel shaft 34 coaxially arranged along the length 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 housing 32. Two support bearing housings 33 are symmetrically arranged on the left and right sides of the fixed bearing housing 32. The two support bearing housings 33 are rotatably connected to the driven wheel shaft 34. The fixed bearing housing 32 and the two support bearing housings 33 are all mounted on the rear compartment 31.

[0013] Furthermore, the drive wheel assembly 11 includes a drive wheel 111, two drive wheel brackets 112, two drive limiting washers, and two drive limiting nuts 113. The two drive wheel brackets 112 are arranged vertically side by side, and the drive wheel 111 is arranged vertically between the two drive wheel brackets 112. The fixed ends of the two drive wheel brackets 112 are rotatably connected to the drive wheel 111. The drive wheel 111 is mounted on the other end of the drive wheel shaft 24. The other end of the drive wheel shaft 24 is fixed to the drive wheel 111 by a key. Two drive limiting washers are coaxially arranged between the drive wheel 111 and the drive wheel brackets 112 on both sides. Both drive limiting washers are mounted on the drive wheel shaft 24. The end of the drive wheel shaft 24 is machined with external threads. Two drive limiting nuts 113 are respectively provided on the outer side of the two drive wheel brackets 112. The two drive limiting nuts 113 are threaded onto the drive wheel shaft 24.

[0014] Furthermore, the driven wheel assembly 12 includes a driven wheel 121, two driven wheel supports 122, two driven limit washers, and two driven limit nuts 123. The two driven wheel supports 122 are arranged vertically side by side, and the driven wheel 121 is arranged vertically between the two driven wheel supports 122. The fixed ends of the two driven wheel supports 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 driven limit washers are coaxially arranged between the driven wheel 121 and the driven wheel supports 122 on both sides. Both driven limit washers are installed on the driven wheel shaft 34. The end of the driven wheel shaft 34 is machined with external threads. Two driven limit nuts 123 are respectively provided on the outer side of the two driven wheel supports 122. The two driven limit nuts 123 are threaded onto the driven wheel shaft 34.

[0015] Furthermore, the wheelbase adjustment mechanism 4 also includes a worm gear shaft 145, and the movable ends of the drive wheel bracket 112 and the driven wheel bracket 122 are respectively rotatably connected to the worm gear shaft 145.

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

[0017] Furthermore, the track 15 is mounted around the drive wheel 111, driven wheel 121 and track support wheel 131.

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

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

[0020] 1. Wide adaptability to various operating scenarios: Different operating scenarios have different requirements for vehicle wheelbase. The chassis of this invention can quickly adjust the wheelbase to meet the requirements. In the past, multiple wheelbase vehicles were required to deal with different scenarios. With this invention, only one vehicle is needed, 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 precisely adjusts the position of the track support rollers 131 via the adjustment device 14 when the wheelbase changes, maintaining a constant track length 15. This prevents the track 15 from being too loose or too tight, extending the service life of the track 15 and each wheel, and reducing maintenance costs. The front and rear frame structures 3 work in conjunction with the wheelbase adjustment mechanism 4 to ensure stable and efficient power transmission from the wheelbase adjustment motor 46 to the drive wheels 111 and driven wheels 121. Even with frequent wheelbase adjustments, the power transmission system can still operate reliably, improving vehicle operational stability.

[0022] 3. Simple and easy to operate: The wheelbase adjustment operation of this invention is user-friendly. The wheelbase can be adjusted by simply operating the knob 141 or the button, which reduces the skill requirements of the operator and reduces the error rate.

[0023] 4. This invention uses a worm gear mechanism to adjust the rotation angle of the support rod, thereby adjusting the track tension range. The main innovations are as follows:

[0024] (1) Rotation adjustment, overcoming height limitations:

[0025] This invention drives the support rod to rotate through a worm gear mechanism, rather than directly adjusting the height of the support rod. This allows the track tension range to be limited only by the wheelbase between the two wheels, and not by the wheel diameter, thus enabling a wider range of adjustments.

[0026] (2) The self-locking characteristic of the worm gear improves tension stability:

[0027] The worm gear mechanism used in this invention has a self-locking function, which can stabilize the support rod at different angle positions, avoid loosening or deformation of the tension due to external forces, and improve the reliability of the track.

[0028] Traditional adjustment methods usually require additional locking mechanisms, while this invention simplifies the structural design and makes the adjustment more stable and reliable.

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

[0030] This invention enables more precise track tension adjustment by changing the transmission ratio of the worm gear, meeting the needs of track systems in different scenarios, such as off-road walking and heavy-load climbing.

[0031] Traditional height adjustment methods may result in insufficient precision in tension adjustment, while this invention provides higher precision track tension adjustment through angle fine-tuning.

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

[0033] The worm gear mechanism of this invention can be arranged on the axis of the support rod and integrated with the track structure, occupying less space and not affecting the overall layout of the track.

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

[0035] 5. Applicable Scenarios and Advantages:

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

[0037] (2) This invention improves track life and avoids premature track damage caused by excessive or insufficient tension.

[0038] (3) This invention can be combined with an automatic adjustment system to realize intelligent track tension adjustment, for example, by controlling the angle of the worm gear by a motor to realize automatic track tension compensation. Attached Figure Description

[0039] Figure 1 This is an axonometric drawing of the variable wheelbase tracked vehicle chassis of the present invention;

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

[0041] Figure 3 This is an isometric view of the track adjustment mechanism of the present invention;

[0042] Figure 4 This is a top view of the track adjustment mechanism of the present invention after the tracks have been removed;

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

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

[0045] Figure 7 This is an isometric view of the front body of the present invention;

[0046] Figure 8 This is an isometric view of the rear compartment of the present invention.

[0047] In the diagram: 1. Track adjustment mechanism; 2. Front frame box; 3. Rear frame box; 4. Wheelbase adjustment mechanism; 11. Drive wheel assembly; 12. Driven wheel assembly; 13. Track support wheel assembly; 14. Adjustment device; 15. Track; 21. Drive wheel rotation motor; 22. Motor bracket; 23. Shaft coupling; 24. Drive wheel shaft; 25. Shaft bearing seat; 26. Front box; 31. Rear box; 32. Fixed bearing seat; 33. Support bearing seat; 34. Driven wheel shaft; 41. Base plate; 42. Guide rail; 43. Guide rail slide. 44. Connecting plate; 45. Motor support; 46. Wheelbase adjustment motor; 47. Screw coupling; 48. Screw slider; 49. Left and right helical screws; 111. Drive wheel; 112. Drive wheel bracket; 113. Drive limit nut; 121. Driven wheel; 122. Driven wheel bracket; 123. Driven limit nut; 131. Belt roller; 132. Belt roller bracket; 133. Belt roller shaft; 141. Knob; 142. Worm; 143. Worm wheel; 144. Worm shaft; 145. Worm wheel shaft. Detailed Implementation

[0048] 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 drawings are only some embodiments of the invention and are provided for reference and explanation only. 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 indicators such as up, down, left, right, front, back, vertical, horizontal, and center, then the directional indicators are only used to describe and explain the relative positional relationship and movement of the components in a specific posture (as shown in the attached figure). If the specific posture changes, the directional indicators will also change accordingly, and therefore should not be construed as a limitation of the present invention.

[0050] It should be noted that the terms "setting," "connecting," "linking," and "socketing" used in the embodiments of this invention should be interpreted broadly. For example, "connecting" can refer to a fixed connection, a mechanical connection, or an electrical connection, and its specific meaning should be understood according to the specific circumstances.

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

[0052] Specific implementation method one: Combining Figures 1 to 8This embodiment describes a variable wheelbase tracked vehicle chassis, comprising a wheelbase adjustment mechanism 4, a track adjustment mechanism 1, a front frame box 2, and a rear frame box 3. The front frame box 2 and rear frame box 3 are arranged side-by-side at the front and rear ends of the wheelbase adjustment mechanism 4. Two sets of track adjustment mechanisms 1 are symmetrically arranged on the left and right sides of the wheelbase adjustment mechanism 4. The wheelbase adjustment mechanism 4 includes a base plate 41, a wheelbase adjustment actuator, and two connecting plates 44. The wheelbase adjustment actuator is mounted on the lower end of the base plate 41. The two movable ends of the wheelbase adjustment actuator are connected to the upper ends of the two side-by-side connecting plates 44. The front frame box 2 and rear frame box 3 are mounted on the lower ends of the two connecting plates 44. The wheelbase adjustment actuator drives the front frame box 2 and rear frame box 3 to move inward or outward simultaneously. The vehicle chassis wheelbase is adjusted by moving outwards. The front frame box 2 includes a front box 26 and a drive wheel drive actuator installed inside the front box 26. The rear frame box 3 includes a rear box 31 and a driven wheel drive actuator installed inside the rear box 31. Each track adjustment mechanism 1 includes a drive wheel set 11, a driven wheel set 12, a track support wheel set 13, a track 15, and an adjustment device 14. The front box 26 has a drive wheel set 11 at one end, and the rear box 31 has a driven wheel set 12 that is movably connected to the drive wheel set 11 at one end. The track support wheel set 13 is provided between the drive wheel set 11 and the driven wheel set 12 and is driven by the track 15. The track support wheel set 13 is connected to the adjustment device 14. When the wheelbase changes, the position of the track support wheel set 13 can be precisely adjusted by the adjustment device 14 to ensure that the length of the track 15 remains constant.

[0053] Different operating scenarios have different requirements for vehicle chassis wheelbase. The variable wheelbase tracked vehicle chassis of this invention can quickly and flexibly adjust the wheelbase to meet the needs of various operating scenarios.

[0054] Traditionally, different vehicles with varying wheelbases are needed for different work scenarios, increasing the costs of equipment procurement, maintenance, and management. The variable wheelbase design of this invention allows a single vehicle to adapt to multiple scenarios, reducing investment in vehicle equipment for businesses or work units, improving equipment utilization, and lowering overall operating costs.

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

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

[0057] Specific Implementation Method Two: Combining Figures 1 to 8 This embodiment describes a wheelbase adjustment actuator comprising a bidirectional forward and reverse toothed ball screw mechanism, a linear guide, and a wheelbase adjustment drive assembly. The bidirectional forward and reverse toothed ball screw mechanism, arranged along the length of the vehicle chassis, is mounted on the lower end of the base plate 41. The mechanism includes left and right helical screws 49, two screw sliders 48, and two screw bearing seats. The two ends of the left and right helical screws 49 are rotatably mounted on the two screw bearing seats, which are mounted on the lower end of the base plate 41. The different helical ends of the left and right helical screws 49 are threadedly connected to the two screw sliders 48. A linear guide is arranged side-by-side on the side of the bidirectional forward and reverse toothed ball screw mechanism. The guide rail, specifically the linear guide rail, includes a guide rail 42 and two guide rail sliders 43. The guide rail 42 is mounted on the lower end of the base plate 41, and the two guide rail sliders 43 are movably connected to the guide rail 42. The two guide rail sliders 43 are respectively fixedly connected to two lead screw sliders 48 via two connecting plates 44. The bidirectional positive and negative toothed ball screw mechanism has a wheelbase adjustment drive assembly at its end. The wheelbase adjustment drive assembly includes a motor support 45, a wheelbase adjustment motor 46, and a lead screw coupling 47. One end of the left and right helical lead screws 49 is connected to the output shaft of the wheelbase adjustment motor 46 via the lead screw coupling 47. The wheelbase adjustment motor 46 is mounted on the motor support 45, which is mounted on the lower end of the base plate 41. With this configuration, when the wheelbase adjustment motor 46 drives the left and right helical lead screws 49 to rotate, the two connecting plates 44 will drive the front frame box 2 and the rear frame box 3 to move inward or outward simultaneously, thereby realizing the adjustment of the tracked chassis wheelbase. The wheelbase adjustment range is determined by the length of the left and right helical lead screws 49. Other components and connections are the same as in Specific Implementation Method 1.

[0058] The guide rail 42 is fixed to the base plate 41 by guide rail connecting bolts. The guide rail 42 is a high-precision linear guide rail 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 coefficient of friction and improve movement flexibility. The left and right helical screws 49 are fixed by 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 helical 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 is a stepper motor, which can precisely control the rotation angle and speed. The output shaft of the wheelbase adjustment motor 46 is connected to one end of the left and right helical screws 49 through the screw coupling 47, so that the wheelbase adjustment motor 46 drives the left and right helical screws 49 to rotate; the screw sliders 48 are located at the different helical ends of the left and right helical screws 49 respectively, and the screw sliders 48 are connected to the guide rail sliders 43 through the connecting plate 44. The connecting plate 44 is connected to the front frame box 2 and the rear frame box 3 respectively by screws.

[0059] When the wheelbase adjustment motor 46 drives the left and right helical screws 49 to rotate, the two connecting plates 44 drive the front frame box 2 and the rear frame box 3 to move inward or outward simultaneously, thereby adjusting the wheelbase of the tracked chassis. For example, when the wheelbase adjustment motor 46 rotates forward, the left and right helical screws 49 drive the screw sliders 48 to move in opposite directions, and the connecting plates 44 push the front and rear frame boxes 3 inward to shorten the wheelbase; when the wheelbase adjustment motor 46 rotates in reverse, the screw sliders 48 move in opposite directions, and the connecting plates 44 pull the front and rear frame boxes 3 outward to increase the wheelbase.

[0060] Specific implementation method three: Combining Figures 1 to 8This embodiment describes a drive wheel drive actuator that includes a motor bracket 22, two drive wheel rotating motors 21, two shaft couplings 23, two drive wheel shafts 24, and two shaft bearing seats 25. The front body 26 is a rectangular shell. Two drive wheel shaft mounting holes are machined on the left and right side panels of the front body 26, respectively. Inside the front body 26, two drive wheel shafts 24 are arranged coaxially along the length of the body. One end of each drive wheel shaft 24 is connected to the output shaft of the two drive wheel rotating motors 21 via the two shaft couplings 23. The two drive wheel rotating motors 21 are mounted on the motor bracket 22, which is mounted on the front body 26. The middle parts of the two drive wheel shafts 24 are rotatably connected to the two shaft bearing seats 25, and the two shaft bearing seats 25 are fixedly connected to the front body 26. The other ends of the two drive wheel shafts 24 pass through the two drive wheel shaft mounting holes and extend to the outside of the front body 26. With this configuration, the drive wheel rotation motor 21 drives the drive wheel shaft 24 to rotate, the drive wheel 111 drives the track 15 to rotate, and the track 15 drives the driven wheel 121 to rotate around the driven wheel shaft 34. Other components and connections are the same as in specific embodiments one or two.

[0061] The motor bracket 22 is fixed to the front body 26 via motor bracket connecting bolts, and the shaft bearing seat 25 is fixed to the front body 26 via bearing seat connecting bolts. The drive wheel rotating motor 21 is fixed to the motor bracket 22 via screws. The middle portions of the two drive wheel shafts 24 are respectively connected to the two shaft bearing seats 25 via two bearings. The drive wheel rotating motor 21 is a high-torque, low-speed DC motor, which can provide stable power output. The motor bracket 22 is made of high-strength aluminum alloy and is formed by die casting to ensure the stability of the connection with the drive wheel rotating motor 21 and the front body 26. The output shaft of the drive wheel rotating motor 21 is tightly connected to the drive wheel shaft 24 via a shaft coupling 23 to ensure efficient power transmission. The drive wheel shaft 24 is made of high-quality alloy steel and is heat-treated to improve its comprehensive mechanical properties. The other end of the drive wheel shaft 24 is fixed to the drive wheel 111 via a key connection, so that the drive wheel rotating motor 21 drives the drive wheel 111 to rotate. For example, the key connection uses a standard flat key to ensure that the drive wheel 111 rotates synchronously with the drive wheel shaft 24 and transmits sufficient torque.

[0062] Specific implementation method four: Combination Figures 1 to 8This embodiment describes a driven wheel drive actuator comprising a fixed bearing housing 32, a driven wheel shaft 34, and two supporting bearing housings 33. The rear compartment 31 is a rectangular shell. Two coaxial driven wheel shaft mounting holes are machined on the left and right side panels of the rear compartment 31. The rear compartment 31 contains a driven wheel shaft 34 coaxially arranged along its length. Both 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 of the driven wheel shaft 34 is rotatably connected to the fixed bearing housing 32. Two symmetrically arranged supporting bearing housings 33 are provided on the left and right sides of the fixed bearing housing 32, and each supporting bearing housing 33 is rotatably connected to the driven wheel shaft 34. The fixed bearing housing 32 and the two supporting bearing housings 33 are all mounted on the rear compartment 31. Other components and connections are the same as in specific embodiments one, two, or three.

[0063] The fixed bearing housing 32 and the supporting bearing housing 33 are connected to the rear housing 31 via bearing housing connecting bolts. The driven wheel shaft 34 is connected to the fixed bearing housing 32 via a bearing in the middle. The two supporting bearing housings 33 are each connected to the driven wheel shaft 34 via two bearings. The fixed bearing housing 32 and the supporting bearing housing 33 are made of cast steel and are machined to ensure their installation accuracy and fit accuracy with the driven wheel shaft 34. The driven wheel shaft 34 is made of alloy steel and is precision machined to ensure its dimensional accuracy and surface quality.

[0064] Specific Implementation Method Five: Combining Figures 1 to 8 This embodiment describes a drive wheel assembly 11 comprising a drive wheel 111, two drive wheel supports 112, two drive limiting washers, and two drive limiting nuts 113. The two drive wheel supports 112 are arranged vertically side by side, and the drive wheel 111 is arranged vertically between the two drive wheel supports 112. The fixed ends of the two drive wheel supports 112 are rotatably connected to the drive wheel 111. The drive wheel 111 is mounted on the other end of the drive wheel shaft 24, and the other end of the drive wheel shaft 24 is fixedly connected to the drive wheel 111 by a key. Two drive limiting washers are coaxially arranged between the drive wheel 111 and the drive wheel supports 112 on both sides. Both drive limiting washers are mounted on the drive wheel shaft 24. The end of the drive wheel shaft 24 is machined with external threads. Two drive limiting nuts 113 are respectively provided on the outer side of the two drive wheel supports 112, and the two drive limiting nuts 113 are threaded onto the drive wheel shaft 24. With this configuration, one end of the drive wheel shaft 24 is connected to the output shaft of the drive wheel rotation motor 21 via a shaft coupling 23, and the other end of the drive wheel shaft 24 is fixedly connected to the drive wheel 111 via a key, ensuring that the drive wheel rotation motor 21 drives the drive wheel 111 to rotate. Other components and connections are the same as in specific embodiments one, two, three, or four.

[0065] The drive wheel 111 is made of high-strength, wear-resistant material, and its teeth undergo a special heat treatment process to enhance the meshing stability with the track 15. The drive wheel bracket 112 is made of cast steel, and high-precision machining ensures the positional accuracy of the bolt connection holes, guaranteeing the coaxiality of the connection with the drive wheel 111. The drive wheel bracket 112 is separated from the drive wheel 111 by a drive limit washer and is axially positioned by a drive limit nut 113, allowing it to rotate around the drive wheel shaft 24.

[0066] Specific Implementation Method Six: Combination Figures 1 to 8 This embodiment describes a driven wheel assembly 12 comprising a driven wheel 121, two driven wheel supports 122, two driven limit washers, and two driven limit nuts 123. The two driven wheel supports 122 are arranged vertically side by side, and the driven wheel 121 is arranged vertically between the two driven wheel supports 122. The fixed ends of the two driven wheel supports 122 are rotatably connected to the driven wheel 121. The driven wheel 121 is mounted at both ends of a driven wheel shaft 34, and both ends of the driven wheel shaft 34 are rotatably connected to the driven wheel 121. Two driven limit washers are coaxially arranged between the driven wheel 121 and the driven wheel supports 122 on both sides. Both driven limit washers are mounted on the driven wheel shaft 34. The end of the driven wheel shaft 34 is machined with external threads. Two driven limit nuts 123 are respectively provided on the outer side of the two driven wheel supports 122, and the two driven limit nuts 123 are threaded onto the driven wheel shaft 34. Other components and connections are the same as in specific implementation methods one, two, three, four, or five.

[0067] The driven wheel shaft 34 is connected to the driven wheel 121 at both ends via driven wheel bearings. The driven wheel 121 is designed to work well with the drive wheel 111, ensuring strength while optimizing its surface finish to reduce frictional wear with the track 15. The driven wheel bracket 122 is also made of cast steel and undergoes processing to ensure reliable 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, allowing it to rotate around the driven wheel shaft 34.

[0068] Specific implementation method seven: Combining Figures 1 to 8 In this embodiment, the wheelbase adjustment mechanism 4 further includes a worm gear shaft 145, and the movable ends of the drive wheel bracket 112 and the driven wheel bracket 122 are respectively rotatably connected to the worm gear shaft 145. Other components and connections are the same as in specific embodiments one, two, three, four, five, or six.

[0069] The movable end of the drive wheel bracket 112 is rotatably connected to the worm gear shaft 145 via a worm bearing, and the movable end of the driven wheel bracket 122 is rotatably connected to the worm gear shaft 145 via a worm bearing.

[0070] Specific implementation method eight: Combination Figures 1 to 8 This embodiment describes a pulley assembly 13 comprising a pulley 131, a pulley shaft, and two pulley supports 132. The two pulley supports 132 are arranged vertically side-by-side, with the pulley 131 vertically positioned between the two supports 132. One end of each support 132 is rotatably connected to the pulley 131 via the pulley shaft, and the other end is fixedly connected to the worm gear shaft 145. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, or seven.

[0071] The track support roller 131 is connected to the track support roller shaft via a track support roller bearing, and the track support roller shaft is connected to the track support roller bracket 132 via screws. The track support roller bracket 132 is fixed to the worm gear shaft 145 via a locking screw. The track support roller 131 is made of lightweight alloy material, reducing its own weight while ensuring load-bearing capacity. The track support roller bracket 132 is formed by precision forging, ensuring a firm connection with the track support roller shaft and allowing for flexible rotation.

[0072] Specific Implementation Method Nine: Combining Figures 1 to 8 In this embodiment, the track 15 is mounted around the drive wheel 111, driven wheel 121, and track support wheel 131. With this configuration, the drive wheel 111 drives the driven wheel 121 and track support wheel 131 to rotate via the track 15. Other components and connections are the same as in specific embodiments one, two, three, four, five, six, seven, or eight.

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

[0074] Specific Implementation Method Ten: Combining Figures 1 to 8 This embodiment describes an adjustment device 14 comprising a worm gear 143, a worm 142, a worm shaft 144, and a knob 141. The worm gear 143 is fixedly connected to the worm shaft 145, and the worm 142 is fixedly connected to the worm shaft 144. The worm 142 meshes with the worm gear 143, and one end of the worm 142 passes through one of the drive wheel brackets 112 and is threadedly connected to the knob 141. With this configuration, when the wheelbase changes, the operator rotates the knob 141, causing the worm shaft 144 to rotate, which in turn causes the worm 142 to rotate. Due to the meshing action between the worm 142 and the worm gear 143, the worm gear 143 drives the worm shaft 145 to rotate, thus changing the positions of the drive wheel bracket 112, the driven wheel bracket 122, and the track support roller bracket 132, thereby adjusting the position of the track support roller 131 and ensuring that the length of the track 15 remains constant. Other components and connections are the same as those in embodiments one, two, three, four, five, six, seven, eight, or nine.

[0075] The worm gear 142 is connected to the worm shaft 144 via a locking screw, and the worm shaft 144 is connected to the knob 141 via a thread. When the wheelbase changes, the position of the track support roller 131 can be adjusted via the knob 141 to ensure that the length of the track 15 remains constant. The worm wheel 143 and the worm gear 142 are made of high-precision machined alloy steel to ensure the accuracy and stability of the transmission.

[0076] Working principle

[0077] Combination Figures 1 to 8 The working principle of the variable wheelbase tracked vehicle chassis of this invention is explained as follows: The variable wheelbase tracked vehicle chassis proposed in this invention, through the unique coordinated design of the track adjustment mechanism 1, the wheelbase adjustment mechanism 4, and the front and rear frame boxes 3, can flexibly adjust the chassis wheelbase according to different operating environments and task requirements. In complex terrain, the wheelbase can be shortened to improve passability; under heavy load conditions, the wheelbase can be increased to improve stability. Simultaneously, the careful selection of materials and design of each component ensures the reliability and durability of the vehicle chassis. When the wheelbase adjustment motor 46 drives the left and right helical screws 49 to rotate, the two connecting plates 44 will drive the front frame box 2 and the rear frame box 3 to move inward or outward simultaneously, thereby realizing the adjustment of the tracked chassis wheelbase. When the wheelbase changes, the position of the track roller 131 can be precisely adjusted through the adjustment device 14 to ensure that the length of the track 15 remains constant.

[0078] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tracked vehicle chassis with variable wheelbase, characterized in that: It includes a wheelbase adjustment mechanism (4), a track adjustment mechanism (1), a front frame box (2), and a rear frame box (3). The front frame box (2) and the rear frame box (3) are arranged side by side at the front and rear ends of the wheelbase adjustment mechanism (4). There are two sets of track adjustment mechanisms (1), which are symmetrically arranged on the left and right sides of the wheelbase adjustment mechanism (4). The wheelbase adjustment mechanism (4) includes a base plate (41), a wheelbase adjustment actuator, and two connecting plates (44). The wheelbase adjustment actuator is installed at the lower end of the base plate (41). The two movable ends of the wheelbase adjustment actuator are connected to the upper ends of the two connecting plates (44) arranged side by side. The front frame box (2) and the rear frame box (3) are installed at the lower ends of the two connecting plates (44). The wheelbase adjustment actuator drives the front frame box (2) and the rear frame box (3) to move inward or outward at the same time, thereby realizing the adjustment of the vehicle chassis wheelbase. The frame box (2) includes a front box body (26) and a drive wheel drive execution assembly installed inside the front box body (26). The rear frame box (3) includes a rear box body (31) and a driven wheel drive execution assembly installed inside the rear box body (31). Each track adjustment mechanism (1) includes a drive wheel set (11), a driven wheel set (12), a track support wheel set (13), a track (15), and an adjustment device (14). The front box body (26) is provided with a drive wheel set (11) at the end, and the rear box body (31) is provided with a driven wheel set (12) that is movably connected to the drive wheel set (11). The drive wheel set (11) and the driven wheel set (12) are connected by a track support wheel set (13) through the track (15). The track support wheel set (13) is connected to the adjustment device (14). When the wheelbase changes, the position of the track support wheel set (13) can be precisely adjusted by the adjustment device (14) to ensure that the track (15) length remains constant.

2. The tracked vehicle chassis with variable wheelbase according to claim 1, characterized in that: The wheelbase adjustment actuator includes a bidirectional forward and reverse toothed ball screw mechanism, a linear guide, and a wheelbase adjustment drive assembly; the lower end of the base plate (41) is equipped with a bidirectional forward and reverse toothed ball screw mechanism arranged along the length of the vehicle chassis. The bidirectional forward and reverse toothed ball screw mechanism includes left and right helical screws (49), two screw sliders (48), and two screw bearing seats. The two ends of the left and right helical screws (49) are respectively rotatably mounted on the two screw bearing seats. The two screw bearing seats are installed at the lower end of the base plate (41). The different helical ends of the left and right helical screws (49) are respectively threaded to the two screw sliders (48); the side of the bidirectional forward and reverse toothed ball screw mechanism is provided with a linear guide arranged side by side. The linear guide includes a guide rail (42) and two guide rails. The guide rail (42) is installed on the lower end of the base plate (41). Two guide rail sliders (43) are movably connected on the guide rail (42). The two guide rail sliders (43) are fixedly connected to the two lead screw sliders (48) through two connecting plates (44). The end of the bidirectional positive and negative tooth ball screw mechanism is provided with a shaft distance adjustment drive assembly. The shaft distance adjustment drive assembly includes a motor support (45), a shaft distance adjustment motor (46), and a lead screw coupling (47). One end of the left and right helical lead screws (49) is connected to the output shaft of the shaft distance adjustment motor (46) through the lead screw coupling (47). The shaft distance adjustment motor (46) is installed on the motor support (45), and the motor support (45) is installed on the lower end of the base plate (41).

3. The tracked vehicle chassis with variable wheelbase according to claim 2, characterized in that: The drive wheel drive actuator includes a motor bracket (22), two drive wheel rotation motors (21), two shaft couplings (23), two drive wheel shafts (24), and two shaft bearing seats (25). The front box (26) is a rectangular shell. The left and right side panels of the front box (26) are respectively machined with two coaxially arranged drive wheel shaft mounting holes. The interior of the front box (26) is provided with two drive wheel shafts (24) arranged coaxially along the length of the box. One end of each drive wheel shaft (24) passes through two shafts. The coupling (23) is connected to the output shaft of the two drive wheel rotating motors (21). The two drive wheel rotating motors (21) are mounted on the motor bracket (22). The motor bracket (22) is mounted on the front box (26). The middle part of the two drive wheel shafts (24) is rotatably connected to the two shaft bearing seats (25). The two shaft bearing seats (25) are fixedly connected to the front box (26). The other end of the two drive wheel shafts (24) passes through the two drive wheel shaft mounting holes and extends to the outside of the front box (26).

4. The variable wheelbase tracked vehicle chassis according to claim 1 or 3, characterized in that: The driven wheel drive actuator includes a fixed bearing housing (32), a driven wheel shaft (34), and two support bearing housings (33). The rear compartment (31) is a rectangular shell. Two driven wheel shaft mounting holes are machined on the left and right side panels of the rear compartment (31). The rear compartment (31) is provided with a driven wheel shaft (34) arranged coaxially along the length 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 housing (32). Two support bearing housings (33) are symmetrically arranged on the left and right sides of the fixed bearing housing (32). The two support bearing housings (33) are rotatably connected to the driven wheel shaft (34). The fixed bearing housing (32) and the two support bearing housings (33) are all installed on the rear compartment (31).

5. The variable wheelbase tracked vehicle chassis according to claim 4, characterized in that: The drive wheel assembly (11) includes a drive wheel (111), two drive wheel brackets (112), two drive limit washers, and two drive limit nuts (113). The two drive wheel brackets (112) are arranged vertically side by side, and the drive wheel (111) is arranged vertically between the two drive wheel brackets (112). The fixed ends of the two drive wheel brackets (112) are rotatably connected to the drive wheel (111). The drive wheel (111) is mounted on the other end of the drive wheel shaft (24). The other end is fixed to the drive wheel (111) by a key. Two drive limit shims are provided between the drive wheel (111) and the drive wheel brackets (112) on both sides. The two drive limit shims are installed on the drive wheel shaft (24). The drive wheel shaft (24) is machined with external threads. Two drive limit nuts (113) are provided on the outside of the two drive wheel brackets (112). The two drive limit nuts (113) are threaded on the drive wheel shaft (24).

6. The tracked vehicle chassis with variable wheelbase according to claim 5, characterized in that: The driven wheel assembly (12) includes a driven wheel (121), two driven wheel supports (122), two driven limit washers, and two driven limit nuts (123). The two driven wheel supports (122) are arranged vertically side by side, and the driven wheel (121) is arranged vertically between the two driven wheel supports (122). The fixed ends of the two driven wheel supports (122) are rotatably connected to the driven wheel (121). The driven wheel (121) is mounted on the driven wheel shaft (…). 34) At both ends, there are two driven limit shims arranged coaxially between the driven wheel (121) and the driven wheel brackets (122) on both sides. Both driven limit shims are installed on the driven wheel shaft (34). The driven wheel shaft (34) is machined with external threads at its end. Two driven limit nuts (123) are provided on the outside of the two driven wheel brackets (122). The two driven limit nuts (123) are threaded onto the driven wheel shaft (34).

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

8. The tracked vehicle chassis with variable wheelbase according to claim 7, characterized in that: The pulley assembly (13) includes a pulley (131), a pulley shaft, and two pulley brackets (132). The two pulley brackets (132) are arranged vertically side by side, and the pulley (131) is arranged vertically between the two pulley brackets (132). One end of the two pulley brackets (132) is rotatably connected to the pulley (131) through the pulley shaft, and the other end of the two pulley brackets (132) is fixedly connected to the worm gear shaft (145).

9. The tracked vehicle chassis with variable wheelbase according to claim 8, characterized in that: Tracks (15) are mounted around the drive wheel (111), driven wheel (121) and track roller (131).

10. The variable wheelbase tracked vehicle chassis according to claim 9, characterized in that: 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 shaft (145), the worm (142) is fixedly connected to the worm shaft (144), the worm (142) meshes with the worm wheel (143), and one end of the worm (142) passes through one of the drive wheel brackets (112) and is threadedly connected to the knob (141).

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