High-trafficability self-walking crawler-type chassis for mountainous terrain

Abstract

The invention relates to the technical field of crawler belt chassis, and discloses a mountainous terrain high trafficability self-walking crawler belt type chassis which comprises a chassis body, crawler wheels arranged on the chassis body and crawler belt assemblies arranged on the crawler wheels in a sleeving mode, and each crawler belt assembly is composed of a plurality of crawler belt plates hinged end to end to form a closed loop. The dynamic synchronous cleaning mechanism comprises guide assemblies fixed to the two sides of the chassis, a cleaning assembly doing closed-loop circulating motion along the guide assemblies and a driving mechanism used for driving the cleaning assembly to move; the driving mechanism is configured to drive the cleaning assembly to move at the same linear speed as the track assembly; when the track shoes rotate to the side along with the track wheels, the gaps between the adjacent track shoes can be expanded due to bending. At the moment, under the action of the guide groove, the cleaning plate just extends outwards and extends into the gap which is just opened, hard foreign matters such as stones and soil which are clamped in the gap are directly pushed out, and the problem that the foreign matters are clamped in the gap of the track shoe is solved.

Description

Technical Field

[0001] This invention belongs to the field of tracked chassis technology, specifically relating to a self-propelled tracked chassis with high passability in mountainous terrain. Background Technology

[0002] Tracked chassis, as a special type of locomotive, are the preferred choice for ensuring high mobility in complex and rugged terrains such as mountains, forests, and mines due to their large ground contact area and low specific pressure. The core advantage lies in the raised structures on the track plates, which create an effective "tooth-like" engagement with the ground, providing powerful traction.

[0003] However, in practical applications, especially in mountainous environments filled with gravel, mud, and vegetation, existing tracked chassis face a severe and common technical problem: the problem of foreign objects getting stuck in the gaps between the track plates.

[0004] The aforementioned problems arise primarily because, during operation, the upper part of the track sags unevenly due to its own weight, resulting in a wedge-shaped gap between adjacent track plates—narrow in the middle and wide at both ends. Angular gravel or stones, common in mountainous areas, easily get caught in this gap. As the track continues to move, these foreign objects are firmly clamped by the strong compressive force of the track plates on both sides, forming a difficult-to-release "mechanically engaged" state. Because the hinge shafts of the track plates are rigid, they cannot release the foreign objects through their own deformation, causing them to remain stuck in the gap for a long time. This degrades the effective contact between the track and the ground from the designed "tooth-like" engagement to an ineffective "planar" contact. This directly causes a sharp decrease in chassis traction, making it extremely easy to slip when climbing slopes, severely reducing braking efficiency when descending slopes, and even causing sideslip when cornering, greatly threatening the operational safety and efficiency of the equipment.

[0005] Existing solutions typically employ a fixed-track brush or scraper for reciprocating cleaning. This method has fundamental flaws. For example, the movement trajectory of the cleaning components is fixed and cannot dynamically and precisely follow the opening and closing of the track shoe gaps. Therefore, it is difficult to reach and remove hard, stuck-in foreign objects from narrow gaps, nor can it effectively peel off flexible debris tightly adhered to the track surface. This severely limits the reliability and off-road capability of tracked chassis in extremely complex terrain. Summary of the Invention

[0006] This invention provides a self-propelled tracked chassis with high passability in mountainous terrain, solving the technical problem in related technologies where uneven bending of the upper part of the track due to gravity during track movement causes mud and stones to mix and become embedded and locked in the gaps between adjacent track plates, which is difficult to remove, resulting in a decrease in the coefficient of friction between the track and the ground, weakened grip, and affected driving stability.

[0007] This invention provides a self-propelled tracked chassis with high passability in mountainous terrain, including a chassis, multiple track wheels mounted on the chassis, and two track assemblies mounted on the track wheels. Each track assembly consists of multiple track plates hinged end to end to form a closed loop. It also includes a dynamic synchronous cleaning mechanism, which includes guide components fixed to both sides of the chassis, cleaning components that perform closed-loop cyclic movement along the guide components, and a drive mechanism for driving the movement of the cleaning components.

[0008] The drive mechanism is configured to drive the cleaning assembly to move at the same linear velocity as the track assembly, so that the cleaning assembly and the track pads remain synchronized.

[0009] The guide component is provided with a guide structure for converting the circumferential motion of the cleaning component into radial telescopic motion;

[0010] The cleaning assembly includes a radially retractable cleaning plate configured to extend and insert into the gap between adjacent track plates simultaneously to remove foreign objects.

[0011] In a preferred embodiment, the guiding assembly includes a cover plate and a guide plate fixed to the inner wall of the cover plate. The guide plate is in the shape of an arc coaxial with the track wheel. The connecting block of the cleaning assembly and the cleaning plate are slidably connected to the guide plate.

[0012] In a preferred embodiment, the cleaning component includes multiple connecting blocks, with two slide rods fixedly connected to one side of each connecting block, and a limit plate fixedly connected to the end of each slide rod away from the connecting block.

[0013] In a preferred embodiment, the guide structure includes a guide groove formed on the guide plate, and the cleaning plate is provided with protrusions that mate with the guide groove.

[0014] In a preferred embodiment, a limiting groove is also formed on the surface of the guide plate. The limiting groove has a T-shaped cross-section and is a closed-loop channel surrounding the surface of the guide plate. A limiting block is fixedly connected to the side of the connecting block near the guide plate. The limiting block is located inside the limiting groove, and the limiting block and the limiting groove form a sliding guide fit.

[0015] In a preferred embodiment, the limiting block is T-shaped, and a protrusion is fixedly connected to the side of the cleaning plate near the guide plate. The protrusion is located inside the guide groove and forms a sliding guide engagement with the guide groove. The cross-section of the guide groove is rectangular, and the guide groove is a closed-loop channel surrounding the surface of the guide plate.

[0016] In a preferred embodiment, the axis of the slide rod is parallel to the axis of the guide plate, the length of the slide rod is less than the width of the guide plate, and two sliding holes are opened in the middle of the cleaning plate. The slide rod is located inside the sliding holes and forms a sliding guide engagement with the sliding holes.

[0017] In a preferred embodiment, the drive mechanism includes a motor, two sprockets and a chain. The motor is fixedly connected to the cover plate, and the drive end of the motor is fixedly connected to one of the sprockets. The two sprockets are rotatably connected to the upper and lower sides of the cover plate, respectively. The chain is sleeved on the outer periphery of the cover plate and meshes with the two sprockets. The end of the connecting block away from the slide bar is fixedly connected to one side of the chain.

[0018] In a preferred embodiment, the track assembly further includes a plurality of fixing plates I, a plurality of fixing plates II, and a baffle. The plurality of fixing plates I are fixedly connected to one side of the track plate, the plurality of fixing plates II are fixedly connected to the other side of the track plate, and the two ends of the baffle are respectively fixedly connected to two adjacent track plates.

[0019] In a preferred embodiment, the length of fixing plate one is the same as the length of fixing plate two, and multiple fixing plates one and multiple fixing plates two are arranged alternately, with multiple rotating grooves opened on both sides of the track plate.

[0020] The beneficial effects of this invention are as follows:

[0021] 1. This invention solves the problem of foreign objects getting stuck in the track plate gaps by bending when the track plate rotates to the side (such as the top or bottom of the track wheel) with the track wheel. At this time, under the action of the guide groove, the cleaning plate extends outward and enters this newly opened gap, acting like a "push rod" to push out hard foreign objects such as stones and mud stuck inside.

[0022] 2. This invention achieves a dual cleaning effect of first lifting and then scraping by using the linkage structure of fixing plate one, fixing plate two and baffle, in conjunction with the scraping action of the cleaning component. It lifts hard foreign objects (such as small stones) stuck near the hinge shaft away from the core area, and breaks the tight adhesion between mud, grass and other debris on the baffle surface and the track surface, lifting them so that they are no longer flat and attached. This not only removes hard stuck foreign objects, but also peels off sticky debris, ensuring the track's grip on muddy slopes and gravel roads in mountainous areas, and greatly enhancing the passability of mountainous terrain. Attached Figure Description

[0023] Figure 1 This is an overall schematic diagram of the present invention.

[0024] Figure 2 This is a cross-sectional view of the cover plate of the present invention.

[0025] Figure 3 This is a cross-sectional view of the guide plate of the present invention.

[0026] Figure 4 This is a cross-sectional view of the guide groove of the present invention.

[0027] Figure 5This is a schematic diagram of the limiting plate of the present invention.

[0028] Figure 6 This is a schematic diagram of the limiting block of the present invention.

[0029] Figure 7 This is a schematic diagram of the cleaning plate of the present invention.

[0030] Figure 8 This is a schematic diagram of the chain of the present invention.

[0031] Figure 9 This is the invention Figure 8 Enlarged view of point A in the middle.

[0032] Figure 10 This is the invention Figure 8 Enlarged view of point B in the middle.

[0033] Figure 11 This is a cross-sectional view of the track plate of the present invention.

[0034] Figure 12 This is a schematic diagram of the track plate of the present invention.

[0035] Figure 13 This is a schematic diagram of the limiting groove of the present invention.

[0036] Figure 14 This is a schematic diagram of the guide groove of the present invention.

[0037] In the diagram: 1. Chassis; 2. Track rollers; 3. Track assembly; 31. Track pads; 311. Fixed plate one; 312. Fixed plate two; 313. Rotating groove; 32. Baffle; 4. Dynamic synchronous cleaning mechanism; 41. Cover plate; 42. Guide plate; 421. Limiting groove; 422. Guide groove; 43. Cleaning assembly; 431. Connecting block; 432. Sliding rod; 433. Limiting plate; 434. Cleaning plate; 4341. Sliding hole; 435. Protrusion; 436. Limiting block; 5. Drive mechanism; 51. Motor; 52. Sprocket; 53. Chain. Detailed Implementation

[0038] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0039] like Figure 1 , Figure 2 and Figure 3As shown, a high-traffic self-propelled tracked chassis for mountainous terrain includes a chassis 1, multiple track wheels 2 mounted on the chassis 1, and two track assemblies 3 mounted on the track wheels 2. Each track assembly 3 consists of multiple track plates 31 hinged at both ends to form a closed loop. The chassis also includes a dynamic synchronous cleaning mechanism 4, which includes guide components fixed to both sides of the chassis 1, a cleaning component 43 that performs a closed-loop cyclic motion along the guide components, and a drive mechanism 5 for driving the cleaning component 43.

[0040] The drive mechanism 5 is configured to drive the cleaning assembly 43 to move at the same linear velocity as the track assembly 3, so that the cleaning assembly 43 and the track pad 31 are kept in sync.

[0041] The guide assembly is provided with a guide structure for converting the circumferential motion of the cleaning assembly 43 into radial telescopic motion;

[0042] The cleaning assembly 43 includes a radially retractable cleaning plate 434, which is configured to extend and insert into the gap between adjacent track plates 31 simultaneously to remove foreign objects when the gap opens.

[0043] Specifically, such as Figure 1 , Figure 2 and Figure 3 As shown, the chassis 1, track wheels 2, and track assembly 3 are all existing technologies. Multiple track wheels 2 are rotatably connected to the edge of the chassis 1 and are distributed in a mirror-symmetrical manner. The chassis 1 is used to fix and drive the track wheels 2 to rotate, which will not be described in detail. The track assembly 3 includes multiple track plates 31, which are hinged to each other to form a closed loop structure. The track assembly 3 is fitted around the outer periphery of two track wheels 2 on the same side. The track assembly 3 meshes with the two track wheels 2 respectively. The two track wheels 2 can drive the track assembly 3 to rotate, which will not be described in detail.

[0044] like Figure 2 and Figure 3 As shown, the guiding assembly includes a cover plate 41 and a guide plate 42 fixed to the inner wall of the cover plate 41. The guide plate 42 is an arc shape coaxial with the track wheel 2. The connecting block 431 is slidably connected to the guide plate 42. The cleaning plate 434 is slidably installed on the guide plate 42. The axis of the cover plate 41, the axis of the guide plate 42 and the axis of the track wheel 2 are collinear. The width of the guide plate 42 is the same as the width of the track wheel 2. The width of the inner wall of the cover plate 41 is the same as the width of the guide plate 42. The projection of the cleaning assembly 43 in the vertical direction and the projection in the forward direction of the chassis 1 are both right-angled triangles.

[0045] The cleaning component 43 includes multiple connecting blocks 431, which are slidably connected to the guide plate 42. Two slide rods 432 are fixedly connected to one side of the connecting block 431. A limit plate 433 is fixedly connected to the end of the two slide rods 432 away from the connecting block 431. A cleaning plate 434 is slidably connected to the outer periphery of the two slide rods 432. The cleaning plate 434 is slidably mounted on the guide plate 42.

[0046] Specifically, such as Figure 13 and Figure 14 As shown, a limiting groove 421 and a guide groove 422 are provided on the surface of the guide plate 42. The limiting groove 421 is perpendicular to the axis of the guide plate 42, and the guide groove 422 is inclined. The guide groove 422 and the limiting groove 421 have an included angle. The direction of the included angle is the direction of the chassis 1 moving forward. The guide groove 422 is provided parallel to the hypotenuse of the right triangle of the guide plate 42.

[0047] Specifically, such as Figure 3 , Figure 5 and Figure 6 As shown, the connecting blocks 431 are evenly distributed along the surface of the guide plate 42. The side of the connecting blocks 431 closest to the guide plate 42 is fixedly connected to the limiting block 436. The limiting block 436 is located inside the limiting groove 421 and forms a sliding guide fit with the limiting groove 421. That is, the limiting block 436 is slidably connected to the guide plate 42 through the limiting groove 421.

[0048] Specifically, such as Figure 4 , Figure 5 and Figure 6 As shown, the limiting groove 421 has a T-shaped cross section and is a closed-loop channel surrounding the surface of the guide plate 42. The limiting block 436 is T-shaped. A protrusion 435 is fixedly connected to the side of the cleaning plate 434 near the guide plate 42. The protrusion 435 is located inside the guide groove 422 and forms a sliding guide fit with the guide groove 422. That is, the protrusion 435 is slidably connected to the guide plate 42 through the guide groove 422. The guide groove 422 has a rectangular cross section and is a closed-loop channel surrounding the surface of the guide plate 42.

[0049] Specifically, such as Figure 3 and Figure 7 As shown, the axis of the slide rod 432 is parallel to the axis of the guide plate 42, and the length of the slide rod 432 is less than the width of the guide plate 42. Two sliding holes 4341 are opened in the middle of the cleaning plate 434. The slide rod 432 is located inside the sliding holes 4341 and forms a sliding guide fit with the sliding holes 4341. That is, the cleaning plate 434 is slidably connected to the slide rod 432 through the sliding holes 4341.

[0050] The drive mechanism 5 includes a motor 51, two sprockets 52 and a chain 53. The motor 51 is fixedly connected to the cover plate 41. The drive end of the motor 51 is fixedly connected to one of the sprockets 52. The two sprockets 52 are rotatably connected to the upper and lower sides of the cover plate 41 respectively. The chain 53 is sleeved on the outer periphery of the cover plate 41 and meshes with the two sprockets 52. The end of the connecting block 431 away from the slide bar 432 is fixedly connected to one side of the chain 53.

[0051] Specifically, such as Figure 8 , Figure 9 and Figure 10 As shown, one sprocket 52 is rotatably connected to the upper part of the guide plate 42, near the side of the chassis 1, and the other sprocket 52 is rotatably connected to the lower part of the guide plate 42, near the side of the chassis 1. The drive end of the motor 51 passes through the cover plate 41 and is fixedly connected to the other sprocket 52. Multiple connecting blocks 431 are fixedly connected at equal intervals to one side of the chain 53, that is, when the chain 53 rotates, it can drive multiple connecting blocks 431 to move simultaneously.

[0052] When the device moves, motor 51 starts simultaneously, ensuring that the linear velocity of the cleaning component 43 is consistent with the linear velocity of the track assembly 3. Motor 51 starts, causing another sprocket 52 to rotate, which in turn drives the chain 53 to rotate. The chain 53 then drives one of the sprockets 52 to rotate, thus ensuring that the linear velocity of the chain 53 is consistent with the linear velocity of the track assembly 3. Due to the guiding and limiting effect between the limiting block 436 and the limiting groove 421, when the track plate 31 rotates to one side of the track wheel 2, the angle between two adjacent track plates 31 increases. At this time, the cleaning plate 434 can extend into both tracks. The gaps between the track plates 31 allow foreign objects such as stones and mud to be pushed out. When the chain 53 rotates, it drives multiple connecting blocks 431 to rotate cyclically on the surface of the guide plate 42. As the connecting blocks 431 move around the guide plate 42, the protrusions 435 slide on the outer periphery of the slide rod 432 through the guiding action of the guide groove 422. When the connecting blocks 431 slide at the lower part of the guide plate 42, the protrusions 435 slide along the guide groove 422 away from the chassis 1, thereby driving the cleaning plate 434 to slide between two adjacent track plates 31. At this time, the cleaning plate... 434 can push dirt and stones away from the gap between two adjacent track plates 31 during sliding. When the connecting block 431 slides to the upper part of the guide plate 42 and moves downward, the protrusion 435 slides along the guide groove 422 towards the side closer to the chassis 1. This allows the cleaning plate 434 to move horizontally along the slide bar 432 while maintaining a rotating motion against the two adjacent track plates 31, pushing away the dirt and debris between the two adjacent track plates 31. Through the synchronous movement design of the dynamic synchronous cleaning mechanism 4 and the track assembly 3, combined with the cleaning component 4 The cyclic scraping action of track assembly 3 allows the cleaning plate 434 to penetrate into the gap between the two track plates 31 when the gap between them is open, pushing and removing stuck stones, mud, and other foreign objects. This achieves precise and dynamic cleaning of the gap at the hinge of the track plates 31, preventing foreign objects from further wedging in and forming mechanical bite due to track rotation. At the same time, the cyclic motion design ensures that each set of track plate 31 hinges can be continuously cleaned, effectively avoiding the problem of the cleaning component being blocked by foreign objects stuck between the two track plates 31, thus ensuring the grip of the track assembly 3.

[0053] In the above embodiments, such as Figure 2 , Figure 11 and Figure 12As shown, since the device operates in a mountainous environment, this scenario commonly contains obstacles such as fallen leaves and grass. During the device's movement, the raised parts of the track assembly 3 have a small contact area with the ground, while the device's own weight is concentrated on these raised areas, resulting in a significantly higher ground pressure than other parts of the track. When the track assembly 3 crushes the soil mixed with grass and leaves, the high pressure will compress the soil into flakes. These compressed mud flakes will form a sticky medium, firmly adhering to lightweight debris such as grass and leaves. Because the grass and leaves themselves are relatively thin, and the adhesive layer formed together with the mud flakes adheres tightly to the surface of the track assembly 3, the dynamic synchronization... The cleaning mechanism 4 has difficulty adhering to the surface of the track assembly 3 to effectively peel it off. These smooth debris residues will significantly reduce the friction coefficient between the track assembly 3 and the ground, thereby weakening the gripping ability of the track assembly 3 and affecting the driving stability of the device. Therefore, in order to solve this technical problem, in this embodiment, the track assembly 3 also includes multiple fixing plates 311, multiple fixing plates 312 and baffles 32. Multiple fixing plates 311 are fixedly connected to one side of the track plate 31, multiple fixing plates 312 are fixedly connected to the other side of the track plate 31, and the two ends of the baffles 32 are respectively fixedly connected to two adjacent track plates 31.

[0054] Specifically, such as Figure 11 and Figure 12 As shown, baffle 32 is located on the side of track plate 31 away from track wheel 2. The lower part of baffle 32 is attached to the side of the rotatable connection between two adjacent track plates 31. The length of fixing plate one 311 is the same as the length of fixing plate two 312. Fixing plate one 311 is set at the rotatable connection on one side of track plate 31, and fixing plate two 312 is set at the rotatable connection on the other side of track plate 31. Multiple fixing plates one 311 and multiple fixing plates two 312 are arranged alternately. Multiple rotating grooves 313 are opened on both sides of track plate 31. The axial direction of the arc of rotating groove 313 is consistent with the rotatable connection axis of track plate 31, and the axial direction of the arc of rotating groove 313 is consistent with the length direction of track plate 31. Fixing plate one 311 is located inside the adjacent rotating groove 313. Similarly, fixing plate two 312 is located inside the adjacent rotating groove 313.

[0055] When the track plate 31 rotates between the two track wheels 2, the two adjacent track plates 31 are approximately on the same straight line. At this time, the fixing plates 311 and 312 on both sides of the track plate 31 are located inside the two adjacent rotating grooves 313, with the ends of the fixing plates 311 and 312 away from the track plate 31 located inside the rotating grooves 313. At this time, the baffle 32 is completely attached to the outer side of the track plate 31. When the track plate 31 rotates to one side of the track wheel 2, that is, when the track plate 31 begins to move in a circular motion around the track wheel 2, the two adjacent track plates 31 are approximately on the same straight line. Due to the curvature of the track rollers 2, the track plates 31 also have a certain angle. The track plates 31 rotate relative to the adjacent track plates 31, which causes the angle of the multiple fixing plates 311 and 312 at the rotating connection of the two track plates 31 to change. At this time, the fixing plates 311 and 312 will rotate away from the interior of the rotating groove 313. The fixing plates 311 and 312 will abut against the lower part of the baffle 32 and push the baffle 32 to cause slight deformation, thereby pushing away the mud, grass, or leaves attached to the surface of the baffle 32 and making them bulge upwards. Simultaneously, it pushes the stones stuck between two adjacent track plates 31 away from the pivot position of the two adjacent track plates 31. When the track plate 31 rotates to the lower part of the dynamic synchronous cleaning mechanism 4, it can push all the mud, grass, leaves and stones away from the track plate 31. The slight deformation of the baffle 32 breaks the adsorption state between the sticky debris and the surface of the track assembly 3, causing the thin debris to detach from the surface of the track assembly 3 and protrude. In conjunction with the subsequent cleaning action of the cleaning component 43, through the linkage structure of the first fixed plate 311, the second fixed plate 312 and the baffle 32, in conjunction with the cleaning component 43 The scraping action achieves a dual cleaning effect of "lifting + scraping": when the track plate 31 rotates around the track wheel 2, the angle change of the adjacent track plates 31 causes the fixing plate 1 311 and fixing plate 2 312 to disengage from the rotating groove 313 and abut against the baffle 32, pushing the baffle 32 to deform slightly. On the one hand, it can push the hard stones stuck at the hinge of the track plate 31 away from the core area of ​​the rotating shaft. On the other hand, it can break the adsorption state between the sticky mud and the surface of the track assembly 3, lift up thin debris such as grass and leaves, and make them detach from the tight adhesion state of the track assembly 3, creating conditions for subsequent cleaning.

[0056] The overall working principle of this invention is as follows:

[0057] The chassis 1 provides mounting support for multiple track rollers 2 and drives the multiple track rollers 2 to rotate. The track rollers 2 mesh with the track assembly 3, driving the closed-loop track assembly 3, which is composed of multiple track plates 31 with hinged ends, to rotate cyclically. The movement of the device in mountainous terrain is achieved by the friction between the track plates 31 and the ground. When the chassis 1 moves, the drive mechanism 5 runs synchronously. The motor 51 drives the sprocket 52 connected to it to rotate. Through the meshing transmission between the chain 53 and another sprocket 52, the chain 53 maintains the same linear speed as the track assembly 3. Since the connecting block 431 is fixed on the chain 53, the rotation of the chain 53 drives multiple cleaning components 43 to perform closed-loop cyclic movement along the guide plate 42, so as to achieve precise synchronization between the cleaning action and the movement of the track assembly 3.

[0058] When the track plate 31 rotates with the track wheel 2 to the side of the track wheel 2, and when the track assembly 3 crushes the soil, grass, and leaves in the mountainous terrain, the high pressure causes the soil to form sticky mud flakes, which, along with lightweight debris, adhere to the surface of the track assembly 3 and the gap between two adjacent track plates 31. At this time, as the track plate 31 rotates around the track wheel 2, the adjacent track plates 31 open at an angle due to the arc structure of the track wheel 2, and the gap widens. The change in the angle of the adjacent track plates 31 causes the fixing plate 1 311 and fixing plate 2 312 to disengage from the rotating groove 313, and to contact the baffle 32 outward and push it to deform slightly. On the one hand, this pushes the stones stuck near the pivot at the hinge of the track plate 31 away from the core area, and on the other hand, it breaks the adhesion between the sticky mud flakes and the surface of the track assembly 3, lifting the thin debris and causing it to detach from the track assembly. 3. In a tightly fitted state, the cleaning component 43, under the dual action of the limiting groove 421 (guided by the limiting block 436) and the guiding groove 422 (guided by the protrusion 435) of the guide plate 42, slides the cleaning plate 434 away from the chassis 1 along the slide bar 432 and extends into the gap between two adjacent track plates 31. The cleaning component 43 continues to move with the chain 53, and the cleaning plate 434 slides in the gap between the two adjacent track plates 31, directly pushing out the stuck stones and other hard foreign objects, and completely peeling off the lifted sticky and thin debris, achieving a dual cleaning effect of "lifting + scraping" of impurities. This ensures that the gripping teeth of the track assembly 3 always maintain a "tooth-clamping" meshing state, maintaining high grip and driving stability of the device in gravel and muddy terrain, and achieving high passability in mountainous terrain.

[0059] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A self-propelled tracked chassis with high passability in mountainous terrain, comprising a chassis (1), a plurality of track wheels (2) disposed on the chassis (1), and two track assemblies (3) sleeved on the track wheels (2), each track assembly (3) comprising a closed loop of a plurality of track plates (31) hinged end to end; characterized in that, It also includes a dynamic synchronous cleaning mechanism (4), which includes a guide component fixed on both sides of the chassis (1), a cleaning component (43) that makes a closed-loop cyclic motion along the guide component, and a drive mechanism (5) for driving the cleaning component (43) to move. The drive mechanism (5) is configured to drive the cleaning assembly (43) to move at the same linear velocity as the track assembly (3), so that the cleaning assembly (43) and the track plate (31) remain synchronized. The guide component is provided with a guide structure for converting the circumferential motion of the cleaning component (43) into radial telescopic motion; The cleaning assembly (43) includes a radially retractable cleaning plate (434) configured to extend and insert into the gap between adjacent track plates (31) simultaneously to remove foreign objects.

2. The self-propelled tracked chassis with high passability in mountainous terrain according to claim 1, characterized in that, The guiding assembly includes a cover plate (41) and a guide plate (42) fixed to the inner wall of the cover plate (41). The guide plate (42) is in the shape of an arc coaxial with the track wheel (2). The connecting block (431) of the cleaning assembly (43) and the cleaning plate (434) are slidably connected to the guide plate (42).

3. The self-propelled tracked chassis with high passability in mountainous terrain according to claim 2, characterized in that, The cleaning component (43) includes multiple connecting blocks (431), with two slide rods (432) fixedly connected to one side of each connecting block (431), and a limit plate (433) fixedly connected to one end of each slide rod (432) away from the connecting block (431).

4. The self-propelled tracked chassis with high passability in mountainous terrain according to claim 3, characterized in that, The guiding structure includes a guide groove (422) formed on the guide plate (42), and a protrusion (435) that mates with the guide groove (422) is provided on the cleaning plate (434).

5. A high-traffic self-propelled tracked chassis for mountainous terrain according to claim 4, characterized in that, The guide plate (42) is also provided with a limiting groove (421). The limiting groove (421) has a T-shaped cross section and is a closed-loop channel surrounding the surface of the guide plate (42). The connecting block (431) is fixedly connected to a limiting block (436) on the side near the guide plate (42). The limiting block (436) is located inside the limiting groove (421), and the limiting block (436) and the limiting groove (421) form a sliding guide fit.

6. A self-propelled tracked chassis with high passability in mountainous terrain according to claim 5, characterized in that, The limiting block (436) is T-shaped. A protrusion (435) is fixedly connected to the side of the cleaning plate (434) near the guide plate (42). The protrusion (435) is located inside the guide groove (422) and forms a sliding guide fit with the guide groove (422). The cross section of the guide groove (422) is rectangular. The guide groove (422) is a closed-loop channel surrounding the surface of the guide plate (42).

7. A high-traffic self-propelled tracked chassis for mountainous terrain according to claim 6, characterized in that, The axis of the slide rod (432) is parallel to the axis of the guide plate (42). The length of the slide rod (432) is less than the width of the guide plate (42). Two sliding holes (4341) are opened in the middle of the cleaning plate (434). The slide rod (432) is located inside the sliding holes (4341) and forms a sliding guide fit with the sliding holes (4341).

8. A self-propelled tracked chassis with high passability in mountainous terrain according to claim 7, characterized in that, The drive mechanism (5) includes a motor (51), two sprockets (52) and a chain (53). The motor (51) is fixedly connected to the cover plate (41). The drive end of the motor (51) is fixedly connected to one of the sprockets (52). The two sprockets (52) are rotatably connected to the upper and lower sides of the cover plate (41) respectively. The chain (53) is sleeved on the outer periphery of the cover plate (41) and meshes with the two sprockets (52). The end of the connecting block (431) away from the slide bar (432) is fixedly connected to one side of the chain (53).

9. A high-traffic self-propelled tracked chassis for mountainous terrain according to claim 8, characterized in that, The track assembly (3) further includes multiple fixing plates (311), multiple fixing plates (312), and baffles (32). The multiple fixing plates (311) are fixedly connected to one side of the track plate (31), the multiple fixing plates (312) are fixedly connected to the other side of the track plate (31), and the two ends of the baffles (32) are fixedly connected to two adjacent track plates (31).

10. A high-traffic self-propelled tracked chassis for mountainous terrain according to claim 9, characterized in that, The length of the first fixing plate (311) is the same as that of the second fixing plate (312). Multiple first fixing plates (311) and multiple second fixing plates (312) are arranged in an alternating manner. Multiple rotating grooves (313) are provided on both sides of the track plate (31).

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