Crawler-type suspension walking mechanism

Abstract

The utility model discloses a crawler-type suspension walking mechanism, and relates to the technical field of driving walking mechanisms. The crawler-type suspension walking mechanism comprises a suspension supporting structure, a wheel set and a brake assembly, wherein a crawler belt is arranged on the outer side of the suspension supporting structure; the wheel set is rotationally arranged between the suspension supporting structure and the crawler belt and is in rolling connection with the crawler belt; the wheel set comprises a driving wheel, a free wheel set, a tensioning wheel set, a loading wheel set and an upper thrust wheel set, the driving wheel is in driving connection with the crawler belt to drive the crawler belt to roll, and the free wheel set, the tensioning wheel set, the loading wheel set and the upper thrust wheel set are respectively in rolling connection with the crawler belt; the brake assembly is arranged on the suspension supporting structure, is in transmission connection with the driving wheel and interacts with the connecting shaft of the driving wheel so as to achieve speed reduction or stopping of the crawler-type suspension walking mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of driving and traveling mechanisms, and particularly relates to a crawler-type suspension traveling mechanism. Background Art

[0002] Crawler-type traveling mechanisms generally include a wheel system and crawlers, and are mainly used to provide the moving ability of various engineering vehicles, agricultural machinery, military equipment, and some special-purpose robots, etc. on complex terrains. They can bear a large weight and reduce the pressure on the ground through the continuous contact of the crawlers, thereby improving the passability and stability.

[0003] In the agricultural orchard environment, muddy or rocky ground is likely to occur, which may cause the wheel system to accumulate dirt and debris. On uneven or rocky ground, the crawlers wear quickly, increasing the cost and frequency of maintaining and replacing the crawlers. When there are obstacles on the ground, the obstacles will have a large impact on the fixedly arranged driving wheels, easily causing damage to the crawler traveling mechanism. In the orchard environment, although the speed of the crawler-type traveling mechanism is too slow, when the vehicle stops, it will accelerate and slide down due to the action of gravity, making it difficult to control the speed, thus resulting in a landslide phenomenon. Summary of the Utility Model

[0004] The main object of the utility model is to propose a crawler-type suspension traveling mechanism, aiming to solve the problems of traveling and braking in the agricultural orchard environment.

[0005] To achieve the above object, the utility model proposes a crawler-type suspension traveling mechanism, which includes:

[0006] A suspension support structure, with crawlers arranged on the outer side of the suspension support structure;

[0007] A wheel set, which is rotatably arranged between the suspension support structure and the crawlers, and is in rolling connection with the crawlers; the wheel set includes a driving wheel, a free wheel set, a tensioning wheel set, a load-bearing wheel set, and an upper load-bearing wheel set. The driving wheel is arranged at one end of the crawlers, and is in driving connection with the crawlers to drive the crawlers to roll. The free wheel set is arranged inside the crawlers, the tensioning wheel set is arranged at the end of the crawlers facing away from the driving wheel, the load-bearing wheel set is arranged below the driving wheel, and the upper load-bearing wheel set is arranged above the free wheel set. The free wheel set, the tensioning wheel set, the load-bearing wheel set, and the upper load-bearing wheel set are respectively in rolling connection with the crawlers;

[0008] A brake assembly, which is arranged on the suspension support structure, is in transmission connection with the driving wheel, and interacts with the connecting shaft of the driving wheel to realize the deceleration or stop of the crawler-type suspension traveling mechanism;

[0009] Among them, the driving wheel has a gear and a connecting shaft, the crawler belt has positioning holes, the gear meshes with the positioning holes, one end of the connecting shaft is connected to the gear, the other end of the connecting shaft is drivingly connected to the rear axle assembly, the rear axle assembly drives the connecting shaft to rotate, and drives the crawler belt to roll through the meshing of the gear and the positioning holes.

[0010] In one embodiment, the brake assembly includes a drum brake, a brake part and a brake cable. The drum brake is installed on the connecting shaft of the driving wheel, the drum brake is drivingly connected to the driving wheel, and both ends of the brake cable are respectively connected to the brake part and the drum brake.

[0011] In one embodiment, the brake part includes a brake bracket, a push rod rotatably connected to a brake connecting rod and a push rod motor. The brake bracket is arranged at one end of the suspension support structure away from the rear axle assembly, the push rod motor is arranged on the brake bracket, the push rod motor is drivingly connected to the push rod, the brake connecting rod is drivingly connected to the brake cable, and the brake cable passes through the suspension support structure from one end of the brake part and is connected to the drum brake.

[0012] In one embodiment, the brake assembly further includes a first fixing plate. The suspension support structure includes two support frames and a connecting frame. Both ends of the connecting frame are respectively clamped to a support frame, the connecting frame is arranged between the two support frames, and the first fixing plate is arranged at one end of the support frame facing the connecting frame. The first fixing plate is used to fix the brake cable.

[0013] In one embodiment, the suspension support structure includes two support frames and a connecting frame. Both ends of the connecting frame are respectively clamped to a support frame, the connecting frame is arranged between the two support frames. Each support frame is provided with a first through slot for connecting the connecting frame. A first convex block and a second convex block are convex on the surface of each support frame. The first convex block and the second convex block are respectively located at both ends of each support frame, and a third through slot is opened in the middle of each support frame. The rear axle assembly is fixed to the connecting frame by a U-shaped hoop. The first convex block and the second convex block are respectively used to support the upper idler wheel set, and the third through slot is used to mount the idler wheel set.

[0014] In one embodiment, the tensioning wheel set includes a tensioning wheel rotatably sleeved on a free shaft and a free tensioning plate. The free tensioning plate is provided with a first through slot having a first through slot opening. The inner side wall of the first through slot is provided with a second through slot having a second through slot opening in a direction away from the bottom of the first through slot. The second through slot is bolted to the free shaft, and the free tensioning plate is bolted to the suspension support structure.

[0015] In one embodiment, the tension pulley set further includes a flat washer and a bearing. The flat washer is disposed in the second through groove, and bearings are installed on both sides of the tension pulley. The bearings are fixed to the free shaft to support the tension pulley.

[0016] In one embodiment, the idler pulley set includes two idler pulleys rotatably sleeved on the idler pulley shaft and a triangular bracket. The two idler pulleys are rotatably disposed at two different end points of the triangular bracket respectively. The triangular bracket is screwed to the idler pulley shaft, and the triangular bracket is screwed to each of the support frames.

[0017] In one embodiment, the road wheel set includes two road wheels and a road wheel shaft. The two road wheels are rotatably sleeved on both ends of the road wheel shaft respectively. The road wheel set is screwed to both ends of each of the support frames.

[0018] In one embodiment, the upper road wheel set includes two upper road wheel sets sleeved on the upper road wheel set shaft. A second fixing plate is further sleeved on the upper road wheel set shaft. The second fixing plate is screwed and fixed to the support frame. The upper road wheel sets are respectively disposed on the top wall of the first convex block and the top wall of the second convex block.

[0019] The technical solution of the present utility model drives the driving wheel to rotate through the rear axle assembly, and then drives the crawler to roll. The crawler drives the road wheel set, idler pulley set, tension pulley set and upper road wheel set to move in sequence. Through the up and down support of the idler pulley set, road wheel set and upper road wheel set, and the tension pulley set to adjust the tension of the crawler at any time, the walking of the crawler-type suspended walking mechanism is realized; during braking, the brake assembly interacts with the connecting shaft of the driving wheel, so as to realize the braking of the driving wheel, thereby controlling the deceleration or stop of the crawler. The crawler-type suspended walking mechanism rotates a wheel set between the suspension support structure and the crawler, improving the stability of the crawler, allowing for better contact between the crawler and the ground, improving the off-road ability of the vehicle. The presence of the suspension support structure makes the entire crawler-type suspended walking mechanism more stable, and the settings of the idler pulley set, tension pulley set, road wheel set and upper road wheel set make it more convenient to adjust the crawler and replace the crawler, reducing the wear of the crawler, and the brake assembly effectively prevents the crawler-type suspended walking mechanism from slipping, ensuring that the vehicle can stop safely. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0021] Figure 1 Structural schematic diagram of an embodiment of the crawler-type suspension walking mechanism provided by the present utility model;

[0022] Figure 2 Side view of the structure of the single-sided crawler-type suspension walking mechanism of the crawler-type suspension walking mechanism provided by the present utility model;

[0023] Figure 3 is Figure 1 Structural schematic diagram of the braking part of the braking assembly in;

[0024] Figure 4 is Figure 1 Structural schematic diagram of the tensioning wheel set in;

[0025] Figure 5 is Figure 1 Structural schematic diagram of the idler wheel set in.

[0026] Explanation of the reference numerals in the drawings:

[0027] 1000, crawler-type suspension walking mechanism; 1, suspension support structure; 2, wheel set; 21, driving wheel; 22, idler wheel set; 221, idler wheel; 222, triangular bracket; 23, tensioning wheel set; 231, tensioning wheel; 232, free tensioning plate; 233, flat washer; 234, bearing; 24, load-bearing wheel set; 25, upper load-bearing wheel set; 3, braking assembly; 31, drum brake; 32, braking part; 321, braking bracket; 322, push rod; 323, braking connecting rod; 324, push rod motor; 33, brake wire; 34, first fixing plate; 4, crawler; 5, rear axle assembly.

[0028] The realization, functional features and advantages of the purpose of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0030] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present utility model, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0031] In addition, if the embodiments of the present utility model involve descriptions such as "first", "second", etc., the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0032] The present utility model provides a crawler suspension walking mechanism 1000.

[0033] Please refer to Figure 1 , in the embodiment of the present utility model, the crawler suspension walking mechanism 1000 includes: a suspension support structure 1, a wheel set, and a brake assembly 3. A crawler 4 is arranged on the outer side of the suspension support structure 1; the wheel set is rotatably arranged between the suspension support structure 1 and the crawler, and the wheel set is in rolling connection with the crawler; the wheel set includes a driving wheel 21, a free wheel set 22, a tensioning wheel set 23, a load wheel set, and an upper support wheel set 25. The driving wheel 21 is arranged at one end of the crawler, and the driving wheel 21 is in driving connection with the crawler to drive the crawler to roll. The free wheel set 22 is mounted inside the crawler, the tensioning wheel set 23 is arranged at the end of the crawler facing away from the driving wheel 21, the load wheel set is arranged below the driving wheel 21, and the upper support wheel set 25 is arranged above the free wheel set 22. The free wheel set, the tensioning wheel set, the load wheel set, and the upper support wheel set are respectively in rolling connection with the crawler 4; the brake assembly 3 is arranged on the suspension support structure 1, and the brake assembly 3 is in transmission connection with the driving wheel 21 and interacts with the connecting shaft of the driving wheel 21 to achieve deceleration or stop of the crawler suspension walking mechanism 1000; wherein, the driving wheel 21 has a gear and a connecting shaft, the crawler has a positioning hole, the gear meshes with the positioning hole, one end of the connecting shaft is connected to the gear, the other end of the connecting shaft is in transmission connection with a rear axle assembly 5, the rear axle assembly 5 drives the connecting shaft to rotate, and drives the crawler to roll through the meshing of the gear with the positioning hole.

[0034] In this embodiment, the suspension support structure 1 is a support base for supporting the entire crawler suspension travel mechanism 1000; the wheel set is a key part connecting the suspension support structure 1 and the crawler 4; the brake assembly 3 is used to control or stop the rolling of the wheel set, thereby achieving the braking of the entire crawler suspension travel mechanism 1000. Furthermore, the suspension support structure 1 adopts a keel structure, which is usually made of high-strength steel or alloy material. The crawler 4 is made of a material with good strength, rigidity and wear resistance, and can be made of high-quality rubber, etc., which can improve the travel performance of the entire travel mechanism.

[0035] The technical solution of the utility model drives the driving wheel 21 to rotate through the rear axle assembly 5, thereby driving the crawler track 4 to roll, and the crawler track 4 drives the load-bearing wheel group, the free wheel group 22, the tensioning wheel group 23 and the upper supporting wheel group 25 to move in sequence, and the crawler type suspension walking mechanism is realized by the upper and lower supports of the free wheel group 22, the load-bearing wheel group and the upper supporting wheel group 25, and the tensioning degree of the crawler track 4 can be adjusted at any time by the tensioning wheel group 23; when braking, the brake assembly 3 interacts with the connecting shaft of the driving wheel 21 to realize the braking of the driving wheel 21, thereby controlling the deceleration or stopping of the crawler track. The crawler-type suspension traveling mechanism 1000 has a wheel set rotatably arranged between the suspension support structure 1 and the crawler track, which improves the stability of the crawler track and allows better contact between the crawler track and the ground. The existence of the suspension support structure 1 makes the entire crawler-type suspension traveling mechanism 1000 more stable, and the arrangement of the free wheel set 22, the tensioning wheel set 23, the load-bearing wheel set 24 and the upper supporting wheel set 25 makes it more convenient to adjust and replace the crawler track, reduces the wear on the crawler track, and improves the off-road capability of the vehicle, and the brake assembly 3 effectively prevents the crawler-type suspension traveling mechanism 1000 from sliding, ensuring that the vehicle can stop safely.

[0036] In an embodiment of the utility model, the brake assembly 3 includes a drum brake 31, a brake part 32 and a brake line 33. The drum brake 31 is installed on the connecting shaft of the driving wheel 21. The drum brake 31 is connected to the driving wheel 21 for transmission. The two ends of the brake line 33 are respectively connected to the brake part 32 and the drum brake 31.

[0037] Combination Figure 2In this embodiment, the brake unit 32 controls the drum brake 31 through the brake wire 33, thereby achieving braking of the driving wheel 21; in order to generate a larger braking force, the drum brake 31 is provided to achieve effective braking. Accordingly, the number of brake wires 33 is determined according to the number of chassis of the crawler-type traveling mechanism. Furthermore, the drum brake 31 includes a brake drum and a brake shoe. The brake drum is mounted on the connecting shaft of the driving wheel 21, and the brake shoe is arranged on the inner side of the brake drum. When the drum brake 31 is driven by the brake wire 33, the brake shoe will expand outward and contact the brake drum to generate friction. The friction will resist the rotation of the driving wheel 21, and the driving wheel 21 is meshed with the crawler track through gears and positioning holes. When the driving wheel 21 is braked, it will slow down or stop the rolling of the crawler track, thereby achieving deceleration or stopping of the entire crawler-type suspension traveling mechanism 1000. The above-mentioned setting method provides a direct and effective braking method, and also facilitates the inspection and maintenance of the brake assembly 3, thereby improving the safety of the entire walking mechanism and making the crawler-type suspension walking mechanism 1000 brake more reliably when stopping in an orchard environment.

[0038] In an embodiment of the utility model, the brake part 32 includes a brake bracket 321, a push rod rotatably connected to the brake connecting rod 323, and a push rod motor 324. The brake bracket 321 is arranged at one end of the suspension support structure 1 away from the rear axle assembly 5, and the push rod motor 324 is arranged on the brake bracket 321. The push rod motor 324 is transmission-connected to the push rod, and the brake connecting rod 323 is transmission-connected to the brake line 33. The brake line 33 passes through the suspension support structure 1 at one end of the brake part 32 and is connected to the drum brake 31.

[0039] Combination Figure 3 In this embodiment, according to the moving direction of the crawler suspension walking mechanism 1000, the brake assembly 3 is arranged at the front of the suspension support structure 1 and away from the end of the rear axle assembly 5; the brake bracket 321 is the basis for supporting the entire brake part 32; the brake connecting rod 323 is arranged in an L shape, one end of which is connected to the brake line 33, and the other end is rotatably connected to the push rod; the push rod motor 324 is a linear motor, and the force generated by the linear motor is along the length direction of the motor. Further, the push rod motor 324 starts to work under a specific button, generates a certain thrust, and drives the push rod to move in a straight line. The two ends of the brake connecting rod 323 are respectively connected to the push rod and the brake line 33. Under the action of the push rod thrust, the brake connecting rod 323 moves along the end away from the brake bracket 321 to the end close to the brake bracket 321, pulling the brake line 33, and the brake line 33 transmits the braking force to the drum brake 31. The friction between the brake drum and the brake shoe of the drum brake 31 generates the braking force, thereby achieving the braking effect. This arrangement ensures accurate braking, helps maintain the balance and stability of the brake assembly 3, and effectively prevents the occurrence of landslides.

[0040] In an embodiment of the present utility model, the brake assembly 3 further includes a first fixing plate 34. The suspension support structure 1 includes two support frames and a connecting frame. The two ends of the connecting frame are respectively clamped to a support frame. The connecting frame is disposed between the two support frames. The first fixing plate 34 is disposed at one end of the support frame facing the connecting frame. The first fixing plate 34 is used to fix the brake cable 33.

[0041] In this embodiment, the first fixing plate 34 is used to fix the brake cable 33 to ensure the stability and reliability of the brake cable 33, so as to prevent the brake cable 33 from being wound or damaged during movement.

[0042] In an embodiment of the present utility model, the suspension support structure 1 includes two support frames and a connecting frame. The two ends of the connecting frame are respectively clamped to a support frame. The connecting frame is disposed between the two support frames. Each support frame is provided with a first through slot for connecting the connecting frame. The surface of each support frame is convexly provided with a first convex block and a second convex block. The first convex block and the second convex block are respectively located at two ends of each support frame. A third through slot is provided in the middle of each support frame. The rear axle assembly 5 is fixed to the connecting frame by a U-shaped hoop. The first convex block and the second convex block are respectively used to support the upper idler wheel set 25, and the third through slot is used to mount the free wheel set 22.

[0043] In this embodiment, the connecting frame and the two support frames form a stable mechanical support framework through clamping, improving the stability of the entire suspension support structure 1; the inside of the first convex block is hollowed out to provide a limiting space for the free tensioning plate 232 to be fixed to the suspension support structure 1. The first convex block and the second convex block provide additional support points for supporting the upper idler wheel set 25, increasing the stability of the structure. The above setting method improves the stability of the entire crawler suspension walking mechanism 1000. The stable suspension support structure 1 helps to reduce vibrations and impacts during driving, and is more conducive to walking in an orchard environment.

[0044] In an embodiment of the present utility model, the tensioning wheel set 23 includes a tensioning wheel rotatably sleeved on a free shaft and a free tensioning plate 232. The free tensioning plate 232 is provided with a first through slot having a first through slot opening. The inner side wall of the first through slot is provided with a second through slot having a second through slot opening in a direction away from the slot bottom of the first through slot. The second through slot is bolted to the free shaft, and the free tensioning plate 232 is bolted to the suspension support structure 1.

[0045] Combined Figure 4, in this embodiment, the first through groove is used to accommodate the tensioning wheel, and the second through groove is used to engage with the free shaft of the tensioning wheel; the side where the tensioning wheel set 23 is located is the forward direction of the entire crawler suspension walking mechanism 1000. Further, for the convenience of track adjustment, the tensioning wheel set 23 is arranged at one end of the track away from the driving wheel 21 and is rotatably connected to the inner side of the track, and is fixedly connected to the support frame. The free tensioning plate 232 is movably connected to the suspension support structure 1 and is locked and fixed by bolts and nuts. By screwing the bolts, the free tensioning plate 232 is pushed forward to tension the track, so that the tensioning wheel set 23, the driving wheel 21, the load wheel set, the free wheel, and the upper support wheel set 25 are all in contact with the inner side of the track. The driving wheel 21, the load wheel set, the free wheel set 22, the tensioning wheel set 23, and the upper support wheel set 25 form a linkage cycle structure under the action of the track. The above setting method is convenient for adjusting the tension of the track to adapt to different working conditions and terrains, can prevent the track from sagging due to relaxation, reduce the friction loss with the ground, and prevent the track from derailing or misaligning in complex terrains.

[0046] In the embodiment of the present utility model, the tensioning wheel set 23 further has a flat washer 233 and a bearing 234. The flat washer 233 is arranged in the second through groove, and bearings 234 are installed on both sides of the tensioning wheel. The bearings 234 are fixed to the free shaft to support the tensioning wheel.

[0047] In this embodiment, the flat washer 233 plays a role in dispersing pressure in the bolt connection of the tensioning wheel, which helps to ensure the uniformity and stability of the bolt connection. The bearing 234 provides stable support for the tensioning wheel, reduces the friction when the tensioning wheel rotates on the free shaft, and ensures that the tensioning wheel can rotate smoothly.

[0048] In the embodiment of the present utility model, the free wheel set 22 includes two free wheels rotatably sleeved on the free wheel shaft and a triangular bracket 222. The two free wheels are rotatably arranged at two different end points of the triangular bracket 222 respectively. The triangular bracket 222 is screwed to the free wheel shaft, and the triangular bracket 222 is screwed to each support frame.

[0049] In this embodiment, the free wheel set 22 is used to guide the track. The free wheels roll on the track, which can prevent the track from running off and offsetting, avoid the track from slipping laterally, or forcing the track to slip on the ground when turning. The free wheel set 22 adopts a three-axis system structure, which is more stable, enables the track to maintain continuous contact on uneven ground, reduces the local pressure on the track at the same time, adapts to terrain changes, and achieves off-road and obstacle-crossing capabilities. The above setting method improves the driving smoothness, prolongs the service life of the track and the support wheels, and helps to improve the stability of the entire crawler suspension walking mechanism 1000.

[0050] In an embodiment of the present utility model, the load wheel set 24 includes two load wheels and a load wheel shaft. The two load wheels are rotatably sleeved at both ends of the load wheel shaft respectively, and the load wheel set is screwed to both ends of each support frame.

[0051] In this embodiment, the presence of the load wheel set 24 enables the crawler suspension traveling mechanism 1000 to have better mobility and adaptability, making the entire crawler suspension traveling mechanism 1000 easier to cross uneven terrains and obstacles, improving the off-road performance and being more suitable for the orchard environment.

[0052] In an embodiment of the present utility model, the upper load wheel set 25 includes two upper load wheel sets sleeved on the upper load wheel set shaft. A second fixing plate is also sleeved on the upper load wheel set shaft, and the second fixing plate is screwed and fixed to the support frame. The upper load wheel sets 25 are respectively arranged on the top walls of the first convex block and the second convex block.

[0053] In this embodiment, the upper load wheel set 25 is arranged above the idler wheel set 22 and is rotatably connected to the inner side of the crawler. The upper load wheel set 25 is fixedly connected to the support frame and rotates within the crawler. The presence of the upper load wheel set 25 can lift the crawler, prevent the crawler from sagging, guide the movement direction of the upper part of the crawler, prevent the crawler from slipping laterally, and at the same time maintain the correct tension of the crawler.

[0054] The above is only an exemplary embodiment of the present utility model, and does not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made under the technical concept of the present utility model by using the content of the specification and drawings of the present utility model, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present utility model.

Claims

1. A crawler type suspension walking mechanism, characterized in that: The crawler type suspension walking mechanism comprises: A suspension support structure, wherein a crawler track is arranged on the outer side of the suspension support structure; A wheel group, wherein the wheel group is rotatably arranged between the suspension support structure and the crawler, and the wheel group is rollingly connected to the crawler; the wheel group comprises a driving wheel, a free wheel group, a tensioning wheel group, a load-bearing wheel group and an upper supporting wheel group, wherein the driving wheel is arranged at one end of the crawler, and the driving wheel is drivingly connected to the crawler to drive the crawler to roll, the free wheel group is mounted on the inner side of the crawler, the tensioning wheel group is arranged at one end of the crawler facing away from the driving wheel, the load-bearing wheel group is arranged below the driving wheel, and the upper supporting wheel group is arranged above the free wheel group, and the free wheel group, the tensioning wheel group, the load-bearing wheel group and the upper supporting wheel group are rollingly connected to the crawler respectively; A brake assembly, the brake assembly being arranged on the suspension support structure, the brake assembly being transmission-connected to the drive wheel and interacting with the connecting shaft of the drive wheel to achieve deceleration or stopping of the crawler-type suspension walking mechanism; Among them, the driving wheel has a gear and a connecting shaft, the track has a positioning hole, the gear is engaged with the positioning hole, one end of the connecting shaft is connected to the gear, and the other end of the connecting shaft is transmission-connected to the rear axle assembly, the rear axle assembly drives the connecting shaft to rotate, and drives the track to roll through the engagement of the gear with the positioning hole.

2. The crawler-type suspension travel mechanism according to claim 1, characterized in that: The brake assembly includes a drum brake, a brake part and a brake line. The drum brake is installed on the connecting shaft of the driving wheel. The drum brake is transmission-connected to the driving wheel. The two ends of the brake line are respectively connected to the brake part and the drum brake.

3. The crawler-type suspension travel mechanism according to claim 2, characterized in that: The brake part includes a brake bracket, a push rod rotatably connected to a brake connecting rod, and a push rod motor. The brake bracket is arranged at one end of the suspension support structure away from the rear axle assembly. The push rod motor is arranged at the brake bracket. The push rod motor is transmission-connected to the push rod. The brake connecting rod is transmission-connected to the brake line. The brake line passes through the suspension support structure from one end of the brake part and is connected to the drum brake.

4. The crawler-type suspension travel mechanism according to claim 3, characterized in that: The brake assembly also includes a first fixed plate, the suspension support structure includes two support frames and a connecting frame, the two ends of the connecting frame are respectively clamped with a support frame, the connecting frame is arranged between the two support frames, the first fixed plate is arranged at one end of the support frame facing the connecting frame, and the first fixed plate is used to fix the brake line.

5. The crawler-type suspension travel mechanism according to any one of claims 1 to 4, characterized in that: The suspension support structure includes two support frames and a connecting frame, the two ends of the connecting frame are respectively clamped with a support frame, the connecting frame is arranged between the two support frames, each of the support frames is provided with a first through slot connected to the connecting frame, the surface of each of the support frames is convexly provided with a first protrusion and a second protrusion, the first protrusion and the second protrusion are respectively located at the two ends of each of the support frames, and the middle part of each of the support frames is provided with a third through slot; the rear axle assembly is fixed to the connecting frame by a U-shaped hoop, the first protrusion and the second protrusion are respectively used to support the upper supporting wheel group, and the third through slot is used to set up a free wheel group.

6. The crawler-type suspension travel mechanism according to claim 5, characterized in that: The tensioning wheel assembly includes a tensioning wheel rotatably sleeved on the free shaft and a free tensioning plate, the free tensioning plate has a first through slot with a first through slot opening, the inner side wall of the first through slot has a second through slot with a second through slot opening in a direction away from the bottom of the first through slot, the second through slot is bolted to the free shaft, and the free tensioning plate is bolted to the suspension support structure.

7. The crawler-type suspension travel mechanism according to claim 6, characterized in that: The tensioning wheel assembly also has a flat washer and a bearing. The flat washer is arranged in the second through groove. The bearings are arranged on both sides of the tensioning wheel. The bearings are fixed to the free shaft to support the tensioning wheel.

8. The crawler-type suspension travel mechanism according to claim 5, characterized in that: The free wheel assembly includes two free wheels rotatably sleeved on the free wheel shaft and a triangular bracket, the two free wheels are rotatably arranged on two different end points of the triangular bracket respectively, the triangular bracket is screwed to the free wheel shaft, and the triangular bracket is screwed to each of the support frames.

9. The crawler-type suspension travel mechanism according to claim 5, characterized in that: The road wheel assembly comprises two road wheels and a road wheel axle. The two road wheels are rotatably sleeved on the two ends of the road wheel axle respectively, and the road wheel assembly is screwed on the two ends of each support frame.

10. The crawler-type suspension travel mechanism according to claim 5, characterized in that: The upper supporting roller assembly includes two upper supporting roller assemblies sleeved on the upper supporting roller assembly shaft, and a second fixing plate is sleeved on the upper supporting roller assembly shaft. The second fixing plate is screwed to fix the support frame, and the upper supporting roller assemblies are respectively arranged on the top wall of the first protrusion and the top wall of the second protrusion.

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