Crawler tensioning mechanism and crawler

Abstract

The utility model discloses a crawler tensioning mechanism and a crawler, and belongs to the technical field of crawlers. The crawler belt tensioning device solves the problems that in the prior art, the tightness degree of a crawler belt is adjusted by changing the position of a tensioning wheel to adapt to different road conditions, but friction force also exists between the crawler belt and the tensioning wheel, so that power transmission also has certain loss, and the crawler belt tensioning device comprises a telescopic device used for being connected with a vehicle body. The end of the telescopic device is connected with a guide superconducting assembly, one side of the guide superconducting assembly is arranged to be an arc face, and a supporting permanent magnet set matched with the guide superconducting assembly is arranged on the crawler belt. High-temperature superconducting magnetic suspension between the crawler belt and the vehicle body is achieved through cooperation of the guide superconducting assembly and the supporting permanent magnet set, zero-friction steering is achieved compared with the prior art that the crawler belt is supported through a tensioning wheel to assist steering, and power loss is reduced; and vehicle yawing can be effectively restrained through transverse constraint of the high-temperature superconducting suspension system, and the running stability of the vehicle is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of crawler vehicles, and particularly relates to a crawler vehicle tensioning mechanism and a crawler vehicle. Background Art

[0002] Traditional crawler vehicles rely on engines and motors as power systems. The power transmission needs to be transmitted to the driving wheel through a transmission mechanism. The driving wheel drags the crawler by meshing with the crawler, and relies on the friction between the crawler and the ground to realize the driving of the vehicle. There are large power transmission losses in this process, and the driving speed is also limited. At the same time, the load wheels of the vehicle are in direct contact with the lower crawler plate and bear the full weight of the vehicle, increasing the frictional loss of traditional crawler vehicles. At the same time, in recent years, with the increasingly prominent contradiction between energy demand and environmental resources, electric drive vehicles have gradually become a research hotspot in the field of road transportation due to their own advantages such as environmental protection and energy conservation. Under this background, scholars at home and abroad have proposed various design schemes for maglev electric drive crawler vehicles. The levitation method is mainly electromagnetic levitation, and the levitation force control formed between the electromagnet and the permanent magnet is realized by fully utilizing the adjustment of the current of the electromagnet.

[0003] Generally, a tensioning wheel for supporting the crawler is arranged at the upper bent part of the crawler vehicle. By changing the position of the tensioning wheel, the tightness of the crawler is adjusted to adapt to different road conditions. However, there is also friction between the crawler and the tensioning wheel, resulting in a certain loss of power transmission. Summary of the Utility Model

[0004] Aiming at the problem in the prior art that the tightness of the crawler is adjusted by changing the position of the tensioning wheel to adapt to different road conditions, but there is also friction between the crawler and the tensioning wheel, resulting in a certain loss of power transmission, the utility model provides a crawler vehicle tensioning mechanism and a crawler vehicle.

[0005] The technical scheme adopted by the utility model is as follows:

[0006] A crawler vehicle tensioning mechanism includes a telescopic device for connecting with the vehicle body. The end of the telescopic device is connected with a guiding superconducting component. One side of the guiding superconducting component is set as an arc surface, and a supporting permanent magnet group matched with the guiding superconducting component is arranged on the crawler.

[0007] After adopting this technical scheme, the high-temperature superconducting magnetic levitation between the crawler and the vehicle body is realized through the cooperation of the guiding superconducting component and the supporting permanent magnet group. Compared with the prior art in which the crawler is supported by a tensioning wheel to assist steering, zero-friction steering is realized, reducing power loss and being beneficial to the improvement of the running speed of the crawler vehicle. Moreover, the lateral constraint of the high-temperature superconducting levitation system can be used to effectively restrict the yaw of the vehicle and improve the driving stability of the vehicle.

[0008] Preferably, a driving superconducting component is connected below the guiding superconducting component. The position of the driving superconducting component is opposite to that of the supporting permanent magnet group. The side of the driving superconducting component close to the crawler is a plane inclined towards the vehicle body, and the plane is tangent to the arc surface of the guiding superconducting component.

[0009] After adopting this technical solution, the inclined plane of the driving superconducting component provides a downward pulling force to the crawler, thereby assisting in driving the crawler to move downward under the vehicle body and providing additional power for the crawler vehicle.

[0010] Preferably, the supporting permanent magnet group is composed of several rectangular permanent magnet plates. The several rectangular permanent magnet plates are evenly embedded on the inner surface of the crawler, and there is a gap between adjacent two rectangular permanent magnets.

[0011] After adopting this technical solution, since the permanent magnet is a hard material, in order to avoid the rectangular permanent magnet plate affecting the rotation of the crawler, the supporting permanent magnet group cooperating with the guiding superconducting component is arranged in multiple pieces and evenly distributed on the crawler.

[0012] Preferably, the telescopic device is a hydraulic telescopic rotating device. The hydraulic telescopic rotating device includes a hydraulic telescopic rod, and the hydraulic telescopic rod is connected to the guiding superconducting component.

[0013] A crawler vehicle is provided with a crawler vehicle tensioning mechanism.

[0014] Preferably, it includes a vehicle body and crawlers arranged on both sides of the vehicle body. A crawler vehicle tensioning mechanism is arranged at the bending positions at both ends of the upper part of each crawler. The telescopic rotating device of each crawler vehicle tensioning mechanism is connected to the vehicle body. The guiding superconducting component is arranged on the side of the telescopic rotating device close to the crawler and is arranged opposite to the supporting permanent magnet group on the crawler.

[0015] After adopting this technical solution, crawler vehicle tensioning mechanisms are arranged around the vehicle body, so that the connections between the upper part of the vehicle body and the crawlers are all connected by high-temperature superconducting magnetic levitation, reducing the friction between the vehicle body and the crawlers.

[0016] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present utility model are as follows:

[0017] 1. The present invention provides a crawler vehicle tensioning mechanism. The high-temperature superconducting magnetic levitation between the crawler and the vehicle body is realized through the cooperation of the guiding superconducting component and the supporting permanent magnet group. Compared with the prior art in which the crawler is supported by a tensioning wheel to assist in steering, 0-friction steering is achieved, reducing power loss and being beneficial to the improvement of the running speed of the crawler vehicle. Moreover, the lateral constraint of the high-temperature superconducting magnetic levitation system can be used to effectively restrict the yaw of the vehicle and improve the driving stability of the vehicle.

[0018] 2. The present invention provides a crawler vehicle, and a crawler vehicle tensioning mechanism is provided around the vehicle body, so that the connection between the upper part of the vehicle body and the crawler is connected by high-temperature superconducting magnetic levitation, reducing the friction between the vehicle body and the crawler. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present utility model will be described by way of examples and with reference to the accompanying drawings, wherein:

[0020] Figure 1 is a schematic structural diagram of the crawler vehicle tensioning mechanism in the present utility model;

[0021] Figure 2 is Figure 1 a sectional view at A in

[0022] Figure 3 is a three-dimensional structural diagram of the crawler vehicle in the present utility model;

[0023] Figure 4 is a two-dimensional internal structural diagram of the crawler vehicle in the present utility model;

[0024] Figure 5 is a structural diagram of the suspension dewar and the crawler in the present utility model;

[0025] Wherein: 1 - crawler, 101 - induction tooth; 102 - support permanent magnet group; 103 - motor permanent magnet group, 2 - hydraulic telescopic rod, 3 - tensioning wheel propulsion system, 301 - guiding superconducting component, 302 - driving superconducting component, 4 - vehicle body, 5 - upper support wheel, 6 - upper support wheel shaft, 7 - hydraulic telescopic rotating device, 8 - lower support wheel shaft, 9 - lower support wheel, 10 - controller, 11 - primary linear motor, 12 - power supply, 13 - suspension dewar. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Usually, the components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present application.

[0027] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the utility model product is usually placed during use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0028] The following will Figures 1 - 5 describe the present utility model in detail.

[0029] Embodiment 1

[0030] As Figures 1 - 2 shown, a track vehicle tensioning mechanism includes a telescopic device for connecting with a vehicle body 4. The end of the telescopic device is connected with a guiding superconducting component 301. One side of the guiding superconducting component 301 is set as an arc surface. A supporting permanent magnet group 102 matched with the guiding superconducting component 301 is arranged on the track 1. The high-temperature superconducting magnetic levitation between the track 1 and the vehicle body 4 is realized through the cooperation of the guiding superconducting component 301 and the supporting permanent magnet group 102, realizing 0-friction steering, reducing power loss, and being beneficial to the improvement of the running speed of the track vehicle. And the lateral constraint of the high-temperature superconducting suspension system can be used to effectively restrict the yaw of the vehicle and improve the driving stability of the vehicle.

[0031] In this embodiment, as Figure 2 shown, the arc surface is a semi-circular arc surface.

[0032] In this embodiment, the supporting permanent magnet group 102 is composed of several rectangular permanent magnet plates. The several rectangular permanent magnet plates are uniformly embedded on the inner surface of the track 1. There is a gap between two adjacent rectangular permanent magnets. The permanent magnet plate is made of neodymium iron boron material, which has remarkable advantages such as high remanence density, magnetic field coercivity, and maximum magnetic energy product.

[0033] In this embodiment, the driving superconducting component 302 includes a driving dewar, the guiding superconducting component 301 includes a guiding dewar. High-temperature superconducting blocks are arranged in both the driving dewar and the guiding dewar, and both the driving dewar and the guiding dewar are connected with a cooling medium conveying mechanism. The cooling medium is liquid nitrogen. The cooling medium conveying mechanism is used to convey or discharge liquid nitrogen from the guiding superconducting component 301, so that the high-temperature superconducting blocks work or stop working, thereby generating a high-temperature superconducting magnetic levitation force or making the high-temperature superconducting magnetic levitation force disappear.

[0034] In this embodiment, the telescopic device is a hydraulic telescopic rotating device 7. The hydraulic telescopic rotating device 7 includes a hydraulic telescopic rod 2, and the hydraulic telescopic rod 2 is connected to the guiding superconducting component 301. During the operation of the vehicle, due to the change in the body height or the excitation caused by road unevenness, etc., the tension of the crawler belt will also be affected accordingly. The overly loose crawler belt 1 will experience jumping vibration or derailment during movement, and the overly tight crawler belt 1 will increase the driving resistance of the vehicle. The tensioning system composed of the hydraulic telescopic rotating device 7 and the guiding superconducting component 301 can realize the adjustable tension of the crawler belt 1. The guiding superconducting component 301 is connected to the hydraulic telescopic rotating device 7 through the hydraulic telescopic rod 2. The hydraulic telescopic rotating device 7 realizes the telescopic movement and the rotation around the connection point of the vehicle body 4 to drive the lateral and vertical position movement of the guiding superconducting component 301, thereby realizing the adjustable tension of the crawler belt 1.

[0035] Embodiment 2

[0036] This embodiment is basically the same as Embodiment 1, except that: as Figures 1 - 2 shown, a driving superconducting component 302 is connected below the guiding superconducting component 301 in this embodiment. The position of the driving superconducting component 302 is opposite to the position of the supporting permanent magnet group 102. The side of the driving superconducting component 302 close to the crawler belt 1 is a plane inclined towards the side close to the vehicle body 4, and the plane is tangent to the arc surface of the guiding superconducting component 301. The inclined plane of the driving superconducting component 302 provides a downward pulling force obliquely to the crawler belt 1, thereby assisting in driving the crawler belt to move downward below the vehicle body 4 and providing additional power for the crawler vehicle.

[0037] Embodiment 3

[0038] As Figures 3 - 5 shown, a crawler vehicle includes a vehicle body 4 and crawler belts 1 arranged on both sides of the vehicle body 4. A crawler vehicle tensioning mechanism of Embodiment 1 is provided at the bending parts at both ends of the upper part of each crawler belt 1. The telescopic rotating device of each crawler vehicle tensioning mechanism is connected to the vehicle body 4. The guiding superconducting component 301 is arranged on the side of the telescopic rotating device close to the crawler belt and is arranged opposite to the supporting permanent magnet group 102 on the crawler belt 1;

[0039] In this embodiment, a motor propulsion system and a magnetic levitation system are further arranged between the vehicle body 4 and the crawler belt 1. The motor propulsion system is used to propel the movement of the crawler belt 1 when the vehicle body 4 is levitated on the crawler belt 1;

[0040] In this embodiment, a power supply 12 and a controller 10 are arranged on the vehicle body 4 and are electrically connected to the high-temperature superconducting magnetic levitation system, the linear motor propulsion system, and the crawler belt 1 tensioning system.

[0041] As Figure 4As shown, the maglev system is used to levitate the vehicle body 4 on the crawler belt 1. The maglev system includes support blocks arranged on the inner surface of the crawler belt 1. The support blocks are of an annular structure. On the side of the support block away from the crawler belt 1, a support permanent magnet group 102 is arranged. On the vehicle body 4, a suspension dewar 13 is arranged to cooperate with the support permanent magnet group 102. And the suspension dewar 13 is connected with a cooling medium conveying mechanism. The cooling medium is liquid nitrogen. The cooling medium conveying mechanism is used to convey or discharge liquid nitrogen from the suspension dewar 13, so that the high-temperature superconducting block works or stops working. Through the cooperation of the suspension dewar 13 and the support permanent magnet group 102, the vehicle body 4 is levitated on the crawler belt 4. The support permanent magnet group 102 adopts high-strength permanent magnets. High-temperature superconducting maglev has characteristics such as large levitation force and stable levitation force. Only by making the levitation force balance with the gravity of the object to be levitated (vehicle body 4), the object to be levitated (vehicle body 4) can be stable at its equilibrium position. The height of its equilibrium position from the ground is determined by the number and strength of the support permanent magnet groups 102 in the levitation system and the size and number of superconducting blocks. The levitation system using high-temperature superconducting maglev has a self-stabilization function: in an external magnetic field, the unique strong pinning ability of high-temperature superconductors makes it difficult for magnetic field lines to escape from the bondage of the pinning center (for the already captured magnetic field lines) and also difficult to penetrate into the superconductor (for the free magnetic field lines that have not been captured). This unique pinning characteristic enables the superconductor to induce a superconducting strong current that hinders this change as the external magnetic field changes. The electromagnetic interaction between this superconducting current and the external magnetic field generates a levitation force that balances the gravity of the levitating body itself macroscopically, which is a characteristic of automatically maintaining the balance between gravity and magnetism. When the high-temperature superconducting maglev system is not required to generate magnetic force, the height of the vehicle body 4 drops. At this time, the lower support wheel 9 contacts the crawler belt 1 to play a supporting role for the vehicle body 4, and the vehicle driving function can still be normally realized. Using high-temperature superconducting technology for the levitation of the vehicle body enables less friction between the vehicle body 4 and the crawler belt 1, solving the defects of large power transmission loss, large frictional loss, and limited driving speed in traditional crawler vehicles. Making full use of the unique strong pinning ability of high-temperature superconducting maglev, a levitation force that balances the gravity of the levitating body itself is generated macroscopically, solving the disadvantages of high energy consumption of electromagnetic levitation, the need to add an electromagnetic levitation controller to increase costs, and high requirements for control accuracy and real-time performance in the existing technical solutions of maglev crawler vehicles, and improving the endurance ability.

[0042] In this embodiment, the support block is composed of 45# cast steel and rubber coated on the 45# cast steel.

[0043] In this embodiment, as Figures 3 - 5As shown, the motor propulsion system is a linear motor propulsion system, specifically a single-secondary double-primary bilateral iron-core permanent magnet linear motor. The linear motor propulsion system includes two driving permanent magnet groups 103 arranged on both sides of the support block. Each driving permanent magnet group 103 is composed of several driving permanent magnets. The two driving permanent magnet groups 103 serve as the linear motor secondary of the linear motor propulsion system. There is a gap between the several driving permanent magnet groups 103 to prevent the driving permanent magnet groups 103 from affecting the normal rotation of the crawler 1. At the position opposite to the driving permanent magnet group 103 on the vehicle body 4, a linear motor primary 11 of the linear motor propulsion system is provided. The driving permanent magnet group 103 is made of neodymium iron boron, which has significant advantages such as high remanence density, magnetic field coercivity, and maximum magnetic energy product. A linear motor primary for propulsion is fixedly connected to the lower end of the vehicle body 4. The linear motor primary consists of two armature windings, which are respectively located on both sides of the support block on the crawler and are arranged opposite to the driving permanent magnet group 103. An alternating current power supply is applied to the electromagnetic coils on the linear motor primary 11, and a traveling wave magnetic field is generated in the air gap between the linear motor primary 11 and the driving permanent magnet group 103. When the driving permanent magnet group 103 is cut by the traveling wave magnetic field, an induced electromotive force is generated and a current is produced. The current interacts with the magnetic field in the air gap to generate an electromagnetic thrust, driving the driving permanent magnet group 103 to move, and thus driving the crawler 1 to move. When the vehicle makes a turning movement, the magnitude of the magnetic force generated at both ends can be controlled by adjusting the magnitude of the current flowing through the electromagnetic coils at both ends of the linear motor primary 11, reducing the lateral movement of the vehicle body 4 and ensuring the stability of the air gap size. The electromagnetic coils on one side of the linear motor primary 11 and the driving permanent magnet group 103 on the same side will generate a normal suction force. The linear motor propulsion system adopts a bilateral linear motor to cancel out the normal forces generated at both ends.

[0044] In this embodiment, as Figure 4 shown, a lower support wheel 9 group is provided on each side of the vehicle body 4. Each lower support wheel 9 group is respectively located between the annular structures of the two crawlers 1. Each lower support wheel 9 group is composed of two columns of lower support wheels 9 symmetrically arranged on the vehicle body 4. The lower support wheels 9 are respectively arranged on both sides of the magnetic levitation system. The lower support wheels 9 are rotatably connected to the vehicle body 4 through lower support wheel shafts 8.

[0045] In this embodiment, as Figure 4 shown, several upper support wheels 5 are also rotatably connected to the upper surface of the vehicle body 4 corresponding to the crawler 1 through upper support wheel shafts 6. The vehicle body 4 is located between the annular structures of the crawler 1.

[0046] In this embodiment, high-temperature superconducting blocks are provided in both the guiding superconducting component 301 and the driving superconducting component 302, and the guiding superconducting component 301 and the driving superconducting component 302 are connected to a cooling medium delivery mechanism. The cooling medium is liquid nitrogen, and the cooling medium delivery mechanism is used to deliver or discharge liquid nitrogen from the guiding superconducting component 301 and the driving superconducting component 302, so that the high-temperature superconducting blocks work or stop working.

[0047] In this embodiment, as Figures 3 - 5 shown, the running mode of the tracked vehicle is as follows: including the following steps:

[0048] Step A: The vehicle body 4 is suspended on the crawler 4 by the cooperation of the suspension dewar 13 and the supporting permanent magnet group 102;

[0049] Step B: After the vehicle body 4 is suspended on the crawler 1, an alternating current power supply is applied to the electromagnetic coils on the linear motor primary 11, and a traveling wave magnetic field is generated in the air gap between the linear motor primary 11 and the driving permanent magnet group 103. When the driving permanent magnet group 103 is cut by the traveling wave magnetic field, an induced electromotive force is generated and a current is generated. The current interacts with the magnetic field in the air gap to generate an electromagnetic thrust, driving the driving permanent magnet group 103 to move, and thus driving the crawler 1 to move. When the vehicle performs a steering movement, the magnitude of the magnetic force generated at both ends can be controlled by adjusting the magnitude of the current flowing through the electromagnetic coils at both ends of the linear motor primary 11, reducing the lateral movement of the vehicle body 1 and ensuring the stability of the air gap size. The electromagnetic coils on one side of the linear motor primary 11 and the driving permanent magnet group 103 on the same side will generate a normal suction force. The linear motor propulsion system adopts a bilateral linear motor to cancel out the normal forces generated at both ends. The arc surface of the guiding superconducting component 301 on both sides of the vehicle body 4 bends the crawler 1 downward, and the crawler 1 realizes a frictionless bend through the magnetic levitation force between the guiding superconducting component 301 and the first permanent magnet group 102. The driving superconducting component 302 under the guiding superconducting component 301 on the forward side of the vehicle body 4 provides an obliquely downward supporting force for the bent crawler 1 (the driving superconducting component 302 on the other side does not start), so as to generate a pulling force for the crawler 1 to move downward under the vehicle body 4, thereby assisting in driving the crawler 1 to move downward under the vehicle body 4 and completing the hybrid drive. The pinning effect existing between the guiding superconducting component 301 and the driving superconducting component 302 and the supporting permanent magnet group 102 can maintain the relative position of the crawler 1 and the vehicle body 4, and there is no need to additionally set a limiting mechanism for restricting the left and right displacement, saving costs.

[0050] Embodiment 4

[0051] This embodiment is basically the same as Embodiment 3, the difference is that: as Figure 5As shown in the figure, in this embodiment, guide teeth 101 are provided on each crawler 1, and a limiting groove that cooperates with the guide teeth 101 is provided on the lower support wheel 9. The depth of the limiting groove is greater than the height of the guide teeth 101, and the suspension displacement of the lower support wheel 9 is less than the height of the guide teeth 101. By the cooperation of the guide teeth 101 and the limiting groove, the vehicle can be prevented from losing stability left and right during operation and the body can be stabilized. The suspension displacement of the lower support wheel 9 being less than the height of the guide teeth 101 ensures that the guide teeth 101 are still located within the limiting groove after the vehicle body 4 is suspended, guaranteeing that the vehicle body 4 will not randomly displace left and right after being suspended.

[0052] The above-described embodiments merely represent the specific implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation to the protection scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the technical solution of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application.

Claims

1. A crawler vehicle tensioning mechanism, characterized in that: It includes a telescopic device for connecting with a vehicle body (4). The end of the telescopic device is connected with a guiding superconducting component (301). One side of the guiding superconducting component (301) is set as an arc surface. A supporting permanent magnet group (102) cooperating with the guiding superconducting component (301) is arranged on the crawler belt (1).

2. The tensioning mechanism of a crawler vehicle according to claim 1, wherein: A driving superconducting component (302) is connected below the guiding superconducting component (301). The position of the driving superconducting component (302) is opposite to that of the supporting permanent magnet group (102). One side of the driving superconducting component (302) close to the crawler belt (1) is an inclined surface, and the inclined surface is inclined towards the side close to the vehicle body (4).

3. The tensioning mechanism of a crawler vehicle according to claim 2, characterized in that: The driving superconducting component (302) includes a driving dewar. The guiding superconducting component (301) includes a guiding dewar. High-temperature superconducting blocks are arranged in both the driving dewar and the guiding dewar, and both the driving dewar and the guiding dewar are connected with a cooling medium conveying mechanism.

4. A crawler vehicle tensioning mechanism according to any one of claims 1-3, characterized in that: The supporting permanent magnet group (102) is composed of several rectangular permanent magnet plates. The several rectangular permanent magnet plates are uniformly embedded on the inner surface of the crawler belt (1), and there is a gap between adjacent two rectangular permanent magnets.

5. A track vehicle tensioning mechanism according to any one of claims 1-3, characterized in that: The telescopic device is a hydraulic telescopic rotating device (7). The hydraulic telescopic rotating device (7) includes a hydraulic telescopic rod (2), and the hydraulic telescopic rod (2) is connected with the guiding superconducting component (301).

6. A crawler vehicle, characterized in that: A crawler vehicle is provided with the crawler vehicle tensioning mechanism according to any one of claims 1-5.

7. A crawler vehicle according to claim 6, characterized in that: It includes a vehicle body (4) and crawler belts (1) arranged on both sides of the vehicle body (4). Crawler vehicle tensioning mechanisms are arranged at the bending parts at both upper ends of each crawler belt (1). The telescopic rotating device of each crawler vehicle tensioning mechanism is connected with the vehicle body (4). The guiding superconducting component (301) is arranged on the side of the telescopic rotating device close to the crawler belt (1), and is arranged opposite to the supporting permanent magnet group (102) on the crawler belt (1).

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