Multi-degree-of-freedom crawler wheel walking device for improving cross-country passing performance

Abstract

The invention discloses a multi-degree-of-freedom crawler wheel walking device capable of improving cross-country passing performance. The multi-degree-of-freedom crawler wheel walking device comprises a front loading wheel assembly, a rear loading wheel assembly, a middle loading wheel assembly, a driving wheel disc assembly, a front swing arm, a rear swing arm, a hub motor and a crawler belt. The upper end of the front swing arm and the upper end of the rear swing arm are hinged to the front side and the rear side of the driving wheel disc respectively, the lower end of the front swing arm is hinged to the front loading wheel assembly, the lower end of the rear swing arm is hinged to the rear loading wheel assembly, and the middle loading wheel assembly is hinged to the front end of the rear loading wheel assembly to jointly form multiple degrees of freedom. The driving wheel disc assembly is arranged on the upper portion, the front loading wheel assembly, the rear loading wheel assembly and the middle loading wheel assembly are arranged on the lower portion to jointly support the crawler belt, and the driving wheel disc assembly provides driving force for the crawler belt through a hub motor. According to the invention, high-maneuverability driving of the vehicle under cross-country road conditions can be realized, and the high-maneuverability and high-trafficability performance of the vehicle is greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of the action system of high-speed off-road vehicles, and particularly relates to a multi-degree-of-freedom track wheel walking device for improving off-road passing performance. Background Art

[0002] Compared with wheeled vehicles, the biggest advantage of the track wheel walking device is the small ground contact pressure and good landing performance. In soft road conditions such as muddy, sandy, swampy, and snowy terrains, vehicle platforms often adopt the method of replacing the wheeled walking device with a track wheel walking device to improve the off-road passing performance of the vehicle platform and prevent sinking in soft road conditions.

[0003] There are two structural schemes for traditional triangular track wheels: Scheme 1, as shown in Figure 1 , the load wheel system is directly connected to the lower support arm, and the load wheels have no up and down floating stroke. Scheme 2, as shown in Figure 2 , the load wheel system adopts two groups of balance arms to adapt to the grounding performance of the track wheel. Each group of balance arms is hinged to the lower support arm. A single group of balance arms can rotate around the hinge point to achieve the up and down floating of the load wheels, with a vertical floating stroke h. Each single hinge point is regarded as one degree of freedom, and Scheme 2 has two degrees of freedom. In addition, neither of the above two traditional triangular track wheel schemes has a buffer and shock absorption device.

[0004] Scheme 1, as shown in Figure 3 , in the convex condition, after the first load wheel at the front end contacts the convexity, the second and third load wheels are suspended, and the load of the track wheel is only borne by the first and fourth load wheels; in the undulating condition, the load wheels are also suspended. Therefore, Scheme 1 has poor grounding performance, poor load distribution of the load wheels, insufficient passing performance and adhesion traction drive performance of the track wheel. When subjected to ground excitation impact, the load wheels are approximately subjected to rigid impacts and do not have high-mobility off-road driving performance.

[0005] Scheme 2, as shown in Figure 4 , in the convex condition, after the first load wheel in the middle front end contacts the convexity, the front balance arm rotates clockwise, and the second and fourth load wheels are grounded, but the third load wheel will still be suspended; in the undulating condition, due to the action of the balance arm, the grounding performance of the load wheels and the problem of load wheel suspension are improved to a certain extent. There are only two degrees of freedom in Scheme 2, the vertical floating stroke of the load wheels is relatively small, and the vibration shock absorption and energy dissipation ability of the track wheel is insufficient, which cannot ensure the high-mobility off-road driving of the vehicle platform.

[0006] In summary, the vehicle platforms equipped with the two traditional triangular track wheel schemes can only pass through the above various soft road conditions at a relatively low speed, and it is urgent to optimize and upgrade the existing traditional triangular track wheels to meet the requirements of high-mobility off-road driving. Summary of the Invention

[0007] In view of this, a multi-degree-of-freedom crawler wheel walking device for improving cross-country passing performance provided by the present invention realizes high-maneuverability driving of a vehicle under cross-country road conditions, and greatly improves the high-maneuverability and high-passing performance of the vehicle.

[0008] The present invention is realized through the following technical solutions: A multi-degree-of-freedom crawler wheel walking device for improving cross-country passing performance includes a front idler assembly, a rear idler assembly, a middle idler assembly, a drive wheel disc assembly, a front swing arm, a rear swing arm, a hub motor, and a crawler; the upper ends of the front swing arm and the rear swing arm are respectively hinged to the front and rear sides of the drive wheel disc, the lower end of the front swing arm is hinged to the front idler assembly, the lower end of the rear swing arm is hinged to the rear idler assembly, and the middle idler assembly is hinged to the front end of the rear idler assembly; the front swing arm and the rear swing arm respectively rotate with the hinge points with the drive wheel disc assembly as the fulcrums, the front idler assembly rotates with the hinge point with the front swing arm as the fulcrum, the rear idler assembly rotates with the hinge point with the rear swing arm as the fulcrum, and the middle idler assembly rotates with the hinge point with the rear idler assembly as the fulcrum, jointly constituting multiple degrees of freedom; the drive wheel disc assembly is on the upper side, and the front idler assembly, the rear idler assembly, and the middle idler assembly are on the lower side to jointly support the crawler, and the drive wheel disc assembly provides driving force for the crawler through the hub motor.

[0009] Further, the front idler assembly includes a front idler bracket, two sets of idler wheel groups, and one set of tensioner wheel groups; the front idler bracket is provided with a tension connection hole, a front idler connection hole I, a front bracket connection hole, and a front idler connection hole II from front to back; the center connection line of the front idler connection hole I, the front bracket connection hole, and the front idler connection hole II is an isosceles triangle, and the front bracket connection hole is located at the vertex; the front idler bracket is hinged to the front swing arm through the front bracket connection hole; the two sets of idler wheel groups are respectively rotationally connected to the front idler bracket through the front idler connection hole I and the front idler connection hole II; the tension connection hole is a long slot-shaped hole, and the tensioner wheel group is rotationally connected to the front idler bracket through the tension connection hole, and the tensioner wheel group can slide along the length direction of the tension connection hole to relax or tension the crawler.

[0010] Further, the rear idler assembly includes a rear idler bracket and one set of idler wheel groups, and the rear idler bracket is provided with a rear bracket pin hole, a rear bracket connection hole, and a rear idler connection hole from front to back; the rear bracket pin hole is used for hinging with the middle idler assembly; the rear idler bracket is hinged to the rear swing arm through the rear bracket connection hole; the idler wheel group is rotationally connected to the rear idler bracket through the rear idler connection hole.

[0011] Furthermore, the middle road wheel assembly includes a middle road wheel bracket and two groups of road wheel assemblies. The middle road wheel bracket is provided with a middle road wheel connecting hole I, a middle road wheel connecting hole II and a middle bracket connecting hole whose center connecting line is an isosceles triangle, and the middle bracket connecting hole is located at the vertex; the two groups of road wheel assemblies are rotatably connected to the road wheel bracket through the middle road wheel connecting hole I and the middle road wheel connecting hole II respectively, and the middle road wheel bracket is hinged to the pin shaft hole of the rear bracket through the middle bracket connecting hole.

[0012] Furthermore, it also includes a shock absorber, and two ends of the shock absorber are respectively fixed to the upper end of the front swing arm and the upper end of the rear swing arm.

[0013] Furthermore, the driving wheel assembly includes a driving sprocket, a driving seat, a rotating shaft and a connecting plate; the driving sprocket is a hollow cylindrical structure, a back plate is provided at one end of the hollow cylindrical structure, and teeth are provided on the outer peripheral surface of the driving sprocket to cooperate with the track; the driving seat is coaxially nested in the driving sprocket, the driving seat is provided with a center hole, the rotating shaft passes through the center hole of the driving seat and rotates with the driving seat, one end of the rotating shaft is fixedly connected to the back plate, and the other end of the rotating shaft is fixedly connected to the hub motor through the connecting plate; the hub motor drives the rotating shaft to rotate and drive the driving sprocket to rotate, thereby driving the track to rotate; two cantilevers are provided at the end of the driving seat away from the back plate, and the cantilevers are respectively located on both sides of the connecting plate for articulation with the front swing arm and the rear swing arm.

[0014] Furthermore, the driving wheel assembly also includes a sliding sleeve and a limit baffle. The sliding sleeve is nested in the center hole of the driving seat and is located between the driving seat and the rotating shaft. The limit baffle is fixed to the end of the driving seat away from the back plate and is used for axial limitation of the sliding sleeve.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention articulates the front swing arm and the rear swing arm with the driving wheel assembly independently without interfering with each other, and the front road wheel assembly, the heavy road wheel assembly and the rear road wheel assembly adopt a multi-degree-of-freedom design, so that the vertical floating stroke of the road wheel is greatly increased, and the vibration energy absorption reserve and the buffering and vibration reduction capabilities are enhanced.

[0017] 2. The center line of the front road wheel connecting hole I, the front bracket connecting hole, and the front road wheel connecting hole II of the present invention forms an isosceles triangle, and the front bracket connecting hole is located at the vertex, ensuring that on an undulating road surface, the front road wheel bracket rotates around the hinge point with the front swing arm, and the two sets of road wheels can reduce vibration and ensure driving stability.

[0018] 3. The rear idler wheel bracket of the present invention is hinged to the rear swing arm, and the middle idler wheel bracket is hinged to the rear idler wheel bracket, enabling the idler wheels of the rear idler wheel assembly and the middle idler wheel assembly to rotate around the hinge point with the rear swing arm, and the idler wheels of the rear idler wheel assembly and the middle idler wheel assembly do not affect each other. When driving on rough off-road roads, all idler wheels can be in contact with the ground simultaneously, ensuring effective ground adhesion, which is of great help in improving the steering stability of the vehicle platform and the traction driving force of the driving wheels.

[0019] 4. The present invention is provided with shock absorbers, further improving the buffer and shock absorption performance of the crawler wheel walking device. Brief Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of the traditional triangular crawler wheel in Scheme 1, where (a) is the front view of Scheme 1 and (b) is the axonometric view of Scheme 1.

[0021] Figure 2 It is a schematic structural diagram of the traditional triangular crawler wheel in Scheme 2, where (a) is the front view of Scheme 2 and (b) is the axonometric view of Scheme 2.

[0022] Figure 3 It is a schematic diagram of the triangular crawler wheel in Scheme 1 driving under different working conditions, where (a) is the driving diagram of Scheme 1 in the convex working condition and (b) is the driving diagram of Scheme 1 in the undulating working condition.

[0023] Figure 4 It is a schematic diagram of the triangular crawler wheel in Scheme 2 driving under different working conditions, where (a) is the driving diagram of Scheme 2 in the convex working condition and (b) is the driving diagram of Scheme 2 in the undulating working condition.

[0024] Figure 5 It is a schematic exploded view of the crawler wheel structure of the present invention.

[0025] Figure 6 It is a schematic diagram of the degree of freedom distribution of the crawler wheel of the present invention.

[0026] Figure 7 It is a schematic diagram of the front idler wheel assembly of the present invention, where (a) is the structural diagram of the front idler wheel assembly and (b) is the structural diagram of the front idler wheel bracket.

[0027] Figure 8 It is a schematic diagram of the rear idler wheel assembly of the present invention, where (a) is the structural diagram of the rear idler wheel assembly and (b) is the structural diagram of the rear idler wheel bracket.

[0028] Figure 9 It is a schematic diagram of the middle idler wheel assembly of the present invention, where (a) is the structural diagram of the middle idler wheel assembly and (b) is the structural diagram of the middle idler wheel bracket.

[0029] Figure 10Schematic diagram of the driving wheel disc assembly of the present invention, where (a) is the structural diagram of the driving wheel disc assembly, (b) is the longitudinal sectional view of the driving wheel disc assembly, and (c) is the structural diagram of the driving seat.

[0030] Figure 11 Schematic diagram of the swing arm of the present invention.

[0031] Figure 12 Schematic diagram of the shock absorber of the present invention.

[0032] Figure 13 Schematic diagram of the track wheel of the present invention traveling under different working conditions, where (a) is the traveling diagram under the convex working condition and (b) is the traveling diagram under the undulating working condition.

[0033] Figure 14 Schematic diagram of the working of the shock absorber spring of the present invention, where (a) is the stretching diagram of the spring and (b) is the compression diagram of the spring.

[0034] Among them, 1 - front idler assembly, 2 - rear idler assembly, 3 - middle idler assembly, 4 - driving wheel disc assembly, 5 - swing arm, 6 - shock absorber, 7 - hub motor, 8 - track, 101 - front idler bracket, 102 - idler wheel, 103 - tensioning wheel, 1011 - front bracket connection hole, 1012 - tensioning connection hole, 1013 - front idler connection hole I, 1014 - front idler connection hole II, 201 - rear idler bracket, 2011 - rear bracket pin hole, 2012 - rear bracket connection hole, 2013 - rear idler connection hole, 301 - middle idler bracket, 3011 - middle bracket connection hole, 3012 - middle idler connection hole I, 3013 - middle idler connection hole II, 401 - driving gear disc, 402 - driving seat, 403 - sliding shaft sleeve, 404 - limit baffle, 405 - rotating shaft, 406 - connecting disc, 4021 - driving seat shaft, 501 - upper pin hole, 502 - middle pin hole, 503 - lower pin hole, 601 - shock absorber pin hole, 602 - shock absorber pin hole. Detailed implementation manners

[0035] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] The present invention provides a multi-degree-of-freedom track wheel walking device for improving off-road passing performance, as Figure 5 shown, the device includes a front idler assembly 1, a rear idler assembly 2, a middle idler assembly 3, a driving wheel disc assembly 4, a swing arm 5, a hub motor 7 and a track 8.

[0037] The swing arm 5 is divided into a front swing arm and a rear swing arm, and their structures are the same. The upper end of the front swing arm and the upper end of the rear swing arm are respectively hinged to the front side and the rear side of the drive wheel disc assembly 4. The lower end of the front swing arm is hinged to the front idler assembly 1, the lower end of the rear swing arm is hinged to the rear idler assembly 2, and the middle idler assembly 3 is hinged to the front end of the rear idler assembly 2. As Figure 6 shown, the front idler assembly 1 rotates with the hinge point with the front swing arm as the fulcrum as the first degree of freedom, the middle idler assembly 3 rotates with the hinge point with the rear idler assembly 2 as the fulcrum as the second degree of freedom, the rear idler assembly 2 rotates with the hinge point with the rear swing arm as the fulcrum as the third degree of freedom, the front swing arm rotates with the hinge point with the drive wheel disc assembly 4 as the fulcrum as the fourth degree of freedom, and the rear swing arm rotates with the hinge point with the drive wheel disc assembly 4 as the fulcrum as the fifth degree of freedom, so that the overall device constitutes a tracked wheel walking device with multiple degrees of freedom.

[0038] The drive wheel disc assembly 4, the front idler assembly 1, the rear idler assembly 2, and the middle idler assembly 3 jointly support the crawler 8. Among them, the drive wheel disc assembly 4 is located at the top, and the front idler assembly 1, the rear idler assembly 2, and the middle idler assembly 3 are located at the bottom. The drive wheel disc assembly 4 provides driving force for the crawler 8 through the hub motor 7. The front idler assembly 1, the rear idler assembly 2, and the middle idler assembly 3 are driven mechanisms, so that the crawler 8 rotates under the joint support of the drive wheel disc assembly 4, the front idler assembly 1, the rear idler assembly 2, and the middle idler assembly 3.

[0039] As Figure 7 shown, the front idler assembly 1 includes a front idler bracket 101, two sets of idler wheel groups and one set of tension wheel groups. The front idler bracket 101 is provided with a tension connection hole 1012, a front idler connection hole Ⅰ 1013, a front bracket connection hole 1011, and a front idler connection hole Ⅱ 1014 from front to back. Each set of idler wheel groups is composed of two idler wheels 102 and an axle connecting the two idler wheels 102. Each set of tension wheel groups is composed of two tension wheels 103 and an axle connecting the two tension wheels 103. The structure and size of the tension wheel 103 are the same as those of the idler wheel 102.

[0040] The central connection lines of the front idler wheel connection hole Ⅰ 1013, the front support connection hole 1011, and the front idler wheel connection hole Ⅱ 1014 form an isosceles triangle, and the front support connection hole 1011 is located at the vertex; the two groups of idler wheel sets are respectively rotatably connected to the front idler wheel support 101 through the front idler wheel connection hole Ⅰ 1013 and the front idler wheel connection hole Ⅱ 1014; the tensioning connection hole 1012 is a long slot-shaped hole, and the tensioning wheel set is rotatably connected to the front idler wheel support 101 through the tensioning connection hole 1012 and can slide along the length direction of the tensioning connection hole 1012. The tensioning wheel set slides along the length direction of the tensioning connection hole 1012 to make the tensioning wheel 103 approach or move away from the idler wheel 102, thereby relaxing or tensioning the crawler belt 8. The front idler wheel support 101 is hinged to the lower end of the front swing arm through the front support connection hole 1011, that is, the two groups of idler wheel sets and a group of tensioning wheel sets connected to the front idler wheel support 101 swing around the hinge point at the lower end of the front swing arm, increasing the up and down floating stroke of the overall crawler wheel during driving.

[0041] The center line of the tensioning connection hole 1012 is higher than the front idler wheel connection hole Ⅰ 1013, so that the front part of the bottom of the crawler belt 8 has an upward angle. While facilitating the tensioning of the crawler belt 8, the idler wheel 102 of the front idler wheel assembly 1 preferentially contacts the undulating road surface and rotates around the hinge point at the lower end of the front swing arm, making the load of the idler wheel 102 evenly distributed and achieving good ground adhesion.

[0042] As Figure 8 shown, the rear idler wheel assembly 2 includes a rear idler wheel support 201 and a group of idler wheel sets. The rear idler wheel support 201 is provided with a rear support pin hole 2011, a rear support connection hole 2012, and a rear idler wheel connection hole 2013 from front to back; the rear support pin hole 2011 is used for hinging with the middle idler wheel assembly 3; the rear idler wheel support 201 is hinged to the lower end of the rear swing arm 5 through the rear support connection hole 2012; the idler wheel set is rotatably connected to the rear idler wheel support 201 through the rear idler wheel connection hole 2013.

[0043] As Figure 9 shown, the middle idler wheel assembly 3 includes a middle idler wheel support 301 and two groups of idler wheel sets. The middle idler wheel support 301 is provided with a middle idler wheel connection hole Ⅰ 3012, a middle idler wheel connection hole Ⅱ 3013, and a middle support connection hole 3011 whose central connection lines form an isosceles triangle, and the middle support connection hole 3011 is located at the vertex; the two groups of idler wheels 102 are respectively rotatably connected to the idler wheel support 301 through the middle idler wheel connection hole Ⅰ 3012 and the middle idler wheel connection hole Ⅱ 3013, and the middle idler wheel support 301 is hinged to the rear support pin hole 2011 through the middle support connection hole 3011.

[0044] The road wheels 102 in the rear road wheel assembly 2 and the middle road wheel assembly 3 can swing together around the lower end of the rear swing arm through the rear road wheel bracket 201; the road wheels 102 of the middle road wheel assembly 3 can swing around the hinge point of the rear road wheel assembly 2 through the middle road wheel bracket 301, and the road wheels 102 of the rear road wheel assembly 2 and the middle road wheel assembly 3 are not affected by each other. When driving on off-road undulating roads, all road wheels 102 can contact the ground at the same time, and the vertical load is evenly distributed, and there will be no phenomenon of a wheel hanging in the air, which directly guarantees the effective ground adhesion of the road wheels 102, which is of great help to improve the handling stability of the vehicle platform during steering and the traction driving force of the driving wheels.

[0045] like Figure 10 As shown, the driving wheel assembly 4 includes a driving sprocket 401, a driving seat 402, a rotating shaft 405 and a connecting plate 406. The driving sprocket 401 is a hollow cylindrical structure, one end of which is provided with a back plate, and the outer peripheral surface of the driving sprocket 401 is provided with teeth to cooperate with the track 8; the driving seat 402 is coaxially nested inside the driving sprocket 401, and the driving seat 402 is provided with a center hole; the rotating shaft 405 is used to transmit power and transmit it to the driving sprocket 401 to drive the track 8. Specifically, the rotating shaft 405 passes through the center hole of the driving seat 402 to rotate with it, one end of the rotating shaft 405 is fixedly connected to the back plate, and the other end of the rotating shaft 405 is fixedly connected to the wheel hub motor 7 through the connecting plate 406; the wheel hub motor 7 drives the rotating shaft 405 to rotate and drive the driving sprocket 401 to rotate, thereby driving the track 8 to move. The driving wheel assembly 4 also includes a sliding sleeve 403 and a limit baffle 404; the sliding sleeve 403 is nested inside the center hole of the driving seat 402 and is located between the driving seat 402 and the rotating shaft. The limit baffle 404 is fixed to the end of the driving seat 402 away from the back plate and is used for axial limitation of the sliding sleeve 403.

[0046] The drive seat 402 is provided with two cantilevers at one end away from the back plate. The cantilevers are respectively located on both sides of the connection plate 406 and are used to be hinged with the upper ends of the front swing arm and the rear swing arm. Specifically, a groove is provided above the cantilever, and a drive seat shaft 4021 is provided on the inner wall of the groove away from the connection plate 406. The drive seat shaft 4021 is a cylindrical structure, and the axis of the cylindrical structure is parallel to the axis of the rotating shaft 405. Figure 11As shown, the swing arm 5 is an L-shaped structure, with the top of the vertical part of the L-shaped structure being the upper end of the swing arm 5, an upper pin hole 501 being provided on the top end face of the vertical part, a middle pin hole 502 being provided on the outer side of the top of the vertical part (the side away from the horizontal part of the L-shaped structure), and a lower pin hole 503 being provided on the bottom of the horizontal part of the L-shaped structure; the middle pin hole 502 is rotatably connected to the drive seat shaft 4021 to realize the hinge connection between the swing arm 5 and the drive seat 402; the lower pin hole 503 of the front swing arm is rotatably connected to the front bracket connecting hole 1011 of the front road wheel bracket 101 through a pin shaft to realize the hinge connection between the front road wheel assembly 1 and the front swing arm; the lower pin hole 503 of the rear swing arm is rotatably connected to the rear bracket connecting hole 2011 of the rear road wheel bracket 201 through a pin shaft to realize the hinge connection between the rear road wheel assembly 2 and the rear swing arm.

[0047] The device further comprises a shock absorber 6, the two ends of which are respectively fixedly connected to the upper end of the front swing arm and the upper end of the rear swing arm. Figure 12 As shown, a spring shock absorber is used, and shock absorber pin hole I 601 and shock absorber pin hole II 602 are provided at both ends of the spring shock absorber, which are respectively used to connect with the upper pin hole 501 of the front swing arm and the upper pin hole 501 of the rear swing arm through a pin shaft. The shock absorber 6 is used for buffering and vibration reduction when the crawler wheel walking device is traveling.

[0048] The working mechanism of this device is as follows:

[0049] like Figure 13 As shown, in the raised condition, after the front first group of road wheels 102 of the front road wheel assembly 1 contacts the raised condition, the front road wheel bracket 101 rotates around the front bracket connection hole 1011, and the front swing arm adaptively rotates and adjusts around the middle pin hole 502 so that the front road wheel assembly 1 can be better grounded. At the same time, since the rear swing arm is not affected by the front swing arm, the middle road wheel assembly 3 and the rear road wheel assembly 2 can also be well in contact with the ground. Therefore, the present invention can ensure good grounding under the raised condition and realize the uniform distribution of the load of each road wheel 102, and the buffering vibration reduction and adhesion traction performance are also greatly improved.

[0050] like Figure 14 As shown, under undulating conditions, the front road wheel assembly 1 can rotate freely around the front bracket connection hole 1011 to adapt to changes in ground conditions, and the middle road wheel assembly 3 and the rear road wheel assembly 2 can rotate freely around the rear bracket connection hole 2012, so that the road wheel 102 has an up and down floating stroke. Due to the increase in the coordinated operation of multiple degrees of freedom, the swing arm 5 can also rotate and swing around the middle pin hole 502, that is, the up and down floating stroke of the road wheel 102 is further increased, and each road wheel 102 can adapt well to the undulating changes of the ground; each road wheel 102 is well grounded and the load is evenly distributed, ensuring that the entire walking device has good buffering and vibration reduction performance, good adhesion and traction performance, and the vibration absorption and energy storage capacity is further improved, so that the driving speed can be greatly improved.

[0051] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom crawler wheel walking device for improving cross-country passing performance, characterized in that It includes a front idler assembly, a rear idler assembly, a middle idler assembly, a drive sprocket assembly, a front swing arm, a rear swing arm, a hub motor, and a crawler track; The upper end of the front swing arm and the upper end of the rear swing arm are respectively hinged to the front and rear sides of the drive sprocket. The lower end of the front swing arm is hinged to the front idler assembly, and the lower end of the rear swing arm is hinged to the rear idler assembly. The middle idler assembly is hinged to the front end of the rear idler assembly. The front swing arm and the rear swing arm rotate respectively with the hinge points with the drive sprocket assembly as the fulcrums, the front idler assembly rotates with the hinge point with the front swing arm as the fulcrum, the rear idler assembly rotates with the hinge point with the rear swing arm as the fulcrum, and the middle idler assembly rotates with the hinge point with the rear idler assembly as the fulcrum, jointly constituting multiple degrees of freedom; The drive sprocket assembly is on the upper side, and the front idler assembly, the rear idler assembly, and the middle idler assembly are on the lower side to jointly support the crawler track. The drive sprocket assembly provides driving force for the crawler track through the hub motor.

2. The multi-degree-of-freedom crawler wheel walking device for improving cross-country passing performance according to claim 1, wherein The front idler assembly includes a front idler bracket, two sets of idler wheel groups, and one set of tensioning wheel groups; the front idler bracket is provided with a tensioning connection hole, a front idler connection hole I, a front bracket connection hole, and a front idler connection hole II from front to back; The central connection line of the front idler connection hole I, the front bracket connection hole, and the front idler connection hole II is an isosceles triangle, and the front bracket connection hole is located at the vertex; the front idler bracket is hinged to the front swing arm through the front bracket connection hole; the two sets of idler wheel groups are respectively rotationally connected to the front idler bracket through the front idler connection hole I and the front idler connection hole II; The tensioning connection hole is a long slot-shaped hole, and the tensioning wheel group is rotationally connected to the front idler bracket through the tensioning connection hole. The tensioning wheel group can slide along the length direction of the tensioning connection hole to relax or tension the crawler track.

3. The multi-degree-of-freedom crawler wheel walking device for improving cross-country passing performance according to claim 2, characterized in that, The rear idler assembly includes a rear idler bracket and one set of idler wheel groups. The rear idler bracket is provided with a rear bracket pin hole, a rear bracket connection hole, and a rear idler connection hole from front to back; The rear bracket pin hole is used for hinging with the middle idler assembly; the rear idler bracket is hinged to the rear swing arm through the rear bracket connection hole; the idler wheel group is rotationally connected to the rear idler bracket through the rear idler connection hole.

4. The multi-degree-of-freedom crawler wheel walking device for improving cross-country passing performance according to claim 3, wherein The middle idler assembly includes a middle idler bracket and two sets of idler wheel groups. The middle idler bracket is provided with a middle idler connection hole I, a middle idler connection hole II, and a middle bracket connection hole whose central connection line is an isosceles triangle, and the middle bracket connection hole is located at the vertex; The two sets of idler wheel groups are respectively rotationally connected to the idler bracket through the middle idler connection hole I and the middle idler connection hole II. The middle idler bracket is hinged to the rear bracket pin hole through the middle bracket connection hole.

5. The multi-degree-of-freedom crawler wheel walking device for improving cross-country passing performance according to any one of claims 1-4, characterized in that, It also includes a shock absorber, and both ends of the shock absorber are fixedly connected to the upper ends of the front swing arm and the rear swing arm respectively.

6. The multi-degree-of-freedom crawler wheel walking device for improving cross-country passing performance according to any one of claims 1-4, characterized in that, The drive sprocket assembly includes a drive sprocket, a drive seat, a rotating shaft, and a connection disk; The drive sprocket is a hollow cylindrical structure. One end of the hollow cylindrical structure is provided with a back plate. The outer peripheral surface of the drive sprocket is provided with teeth for cooperating with the crawler track; the drive seat is coaxially nested inside the drive sprocket. The drive seat is provided with a central hole. The rotating shaft passes through the central hole of the drive seat and is rotationally matched with the drive seat. One end of the rotating shaft is fixedly connected to the back plate, and the other end of the rotating shaft is fixedly connected to the hub motor through the connection disk; the hub motor drives the rotating shaft to rotate, driving the drive sprocket to rotate, thereby driving the crawler track to rotate; Two cantilevers are arranged at one end of the driving seat away from the back plate, and the cantilevers are respectively located at both sides of the connecting plate for being hinged with the front swing arm and the rear swing arm.

7. The multi-degree-of-freedom crawler wheel walking device for improving cross-country passing performance according to claim 6, wherein The driving wheel assembly also includes a sliding sleeve and a limit baffle. The sliding sleeve is nested in the center hole of the driving seat and is located between the driving seat and the rotating shaft. The limit baffle is fixed to the end of the driving seat away from the back plate and is used for axial limitation of the sliding sleeve.

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