Chassis capable of adapting to different terrains and tracked vehicle

Abstract

The utility model provides a chassis capable of adapting to different terrains and a tracked vehicle. The chassis comprises a chassis body, the crawler walking devices are arranged on the two opposite sides of the chassis body respectively; the rotating mechanism is arranged between the chassis body and the crawler walking device, is rotationally connected with the chassis body and is fixedly connected with the crawler walking device; the chassis has a first working mode and a second working mode, in the first working mode, the control device is disconnected with the rotating mechanism, and in the second working mode, the control device is connected with the rotating mechanism and used for controlling work of the rotating mechanism. In the application, the crawler walking device can realize passive overturning and active overturning control so as to adapt to various complex environments and different driving requirements, so that the self-adaptability and the steering capability of the vehicle in a narrow space can be improved, the vehicle is not limited to passive adaptation of follow-up overturning any more, and the practicability and the application range of the vehicle are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to vehicle engineering technical field, and specifically, relate to a chassis and tracked vehicle that can adapt to different topography. BACKGROUND

[0002] There are many types of all-terrain tracked vehicles, and common types include swing-arm tracked vehicles, independent tracked module types (such as delta tracked vehicle), multi-tracked fixed tracked vehicles (rigid connection between tracked walking system and frame), articulated tracked vehicles, and the like.

[0003] Currently, in the all-terrain tracked vehicle of the related art, although swing-arm tracked vehicles have the ability to actively roll over, they do not have terrain self-adaptive follow-up characteristics. Some passive terrain-adaptive tracked vehicles also do not have the ability to actively roll over, which results in a single walking control mode for all-terrain tracked vehicles and an inability to meet the driving needs of drivers in different terrains.

[0004] Therefore, in order to meet the driving needs of drivers in different terrains, how to provide a tracked vehicle chassis that can actively control the roll-over angle of the walking device for posture conversion while passively adapting to the terrain is a problem that needs to be solved. SUMMARY

[0005] The utility model aims at least to solve one of the technical problems existing in the prior art or related art.

[0006] A first object of the utility model is to provide a chassis that can adapt to different terrains.

[0007] A second object of the utility model is to provide a tracked vehicle.

[0008] To achieve the above object, the utility model provides a chassis that can adapt to different terrains, comprising: a chassis body; a plurality of tracked walking devices, respectively arranged on opposite sides of the chassis body; a rotating mechanism arranged between the chassis body and the tracked walking devices, rotationally connected with the chassis body and fixedly connected with the tracked walking devices; a control device, the chassis has a first working mode and a second working mode, in the first working mode, the control device is disconnected with the rotating mechanism, in the second working mode, the control device is connected with the rotating mechanism, and is used for controlling the work of the rotating mechanism.

[0009] According to the chassis provided by this utility model, which is adaptable to different terrains, the chassis body and the tracked walking device are connected by a rotating mechanism. The chassis body is the bottom structure of the vehicle that can support other structures. When the vehicle chassis is in the first working mode, the control device is disconnected from the rotating mechanism, and the control device does not control the rotating mechanism. This can be understood as the control device releasing control of the rotating mechanism. The tracked walking device can passively flip according to road conditions. That is, when the tracked walking device flips due to terrain undulations, it can drive the rotating mechanism to rotate, thereby achieving relative rotation between the tracked walking device and the chassis body. This allows the chassis structure to passively adapt to various terrain scenarios such as potholes, climbing slopes, and overcoming obstacles. At the same time, when the vehicle chassis is in the second working mode, the control device controls the rotating mechanism to operate, enabling the vehicle to actively adjust the posture of the tracked walking device. This improves the vehicle's adaptability and steering ability in confined spaces (such as corridors and narrow alleys), no longer limited to passive adaptation through passive flipping. The chassis structure provided in this application, which is adaptable to different terrains, enables the tracked walking device to achieve passive and active tilting control, so as to adapt to a variety of complex environments and different driving needs. For example, when passing through wide roads, the chassis of the vehicle can adapt to the terrain in the first working mode, and when passing through narrow passages, the second working mode can be used to actively adjust the angle of the tracked walking device to reduce the overall vehicle size, thereby improving the practicality and application range of the vehicle.

[0010] In addition, the chassis provided in this application, which is adaptable to different terrains, may also have the following additional technical features:

[0011] In some embodiments, optionally, the chassis capable of adapting to different terrains further includes: a limiting plate disposed on the side of the rotating mechanism away from the tracked walking device, rotating with the rotation of the rotating mechanism, the limiting plate having a limiting groove; a mounting plate disposed on the limiting plate; and an adjustable telescopic member mounted on the mounting plate, the adjustable telescopic member having a first state and a second state, wherein in the first state at least a portion of the adjustable telescopic member is located inside the limiting groove, and in the second state the adjustable telescopic member is located outside the limiting groove.

[0012] In this embodiment, when active control is not engaged, the tracked walking device undergoes a passive flipping phase depending on road conditions. The limiting plate rotates with the rotating mechanism and is equipped with a limiting groove, which can be an arc groove or other shapes. Combined with the adjustable telescopic component, this more precisely limits the rotation range of the rotating mechanism, improving the vehicle's reliability and stability. During the active control phase, the tracked walking device is brought to a preset position and stopped. In other words, the active control phase limits the tracked walking device by setting parameters. Therefore, the two states of the adjustable telescopic component can be switched according to actual needs. During the active control phase, the adjustable telescopic component is located outside the limiting groove, not affecting the free rotation of the rotating mechanism. During the passive flipping phase, the adjustable telescopic component enters the limiting groove, playing a limiting role and enhancing the vehicle's adaptability and maneuverability.

[0013] Alternatively, a limiting hole can be used instead of a limiting groove.

[0014] In some embodiments, the adjustable telescopic member may optionally include an electromagnet mounted on a mounting plate, the electromagnet including an armature, wherein at least a portion of the armature is located inside the limiting groove when the electromagnet is de-energized, and the armature is located outside the limiting groove when the electromagnet is energized.

[0015] In this embodiment, an electromagnet is used as an adjustable telescopic component. The position of the armature is controlled by energizing and de-energizing, thereby achieving the switching of the limit function. This electromagnetic control method has the advantages of fast response speed, high control accuracy, and strong reliability. It can more accurately meet the limit requirements of the vehicle under different working conditions and further improve the overall performance of the vehicle.

[0016] Meanwhile, compared to some complex mechanical limit and adjustment devices, electromagnets have a relatively simple structure, which not only reduces the number of parts and the weight of the vehicle, but also helps to reduce production costs and maintenance difficulty, and improves the economy and maintainability of the vehicle.

[0017] In some embodiments, the rotating mechanism may optionally include a rotary cylinder or a rotary damping device.

[0018] In this embodiment, both the rotary cylinder and the rotary damping device help optimize the vibration reduction effect of the vehicle during driving, provide the chassis with follow-up adaptive balance and good vibration damping performance, reduce the fluctuation of the vehicle's center of gravity caused by track module flipping or terrain changes, improve the vehicle's comfort and handling stability, and at the same time reduce the dependence on chassis mounting seat damping springs, extending the service life of related components.

[0019] Furthermore, when the rotary cylinder is connected to hydraulic control, it enables active and precise control of the track module's tilting angle, meeting the requirements for vehicle attitude changes. During the passive tilting phase, ground undulations are fed back to the track travel device, which is connected to the output shaft of the rotary cylinder. This causes the track travel device to tilt around the output shaft of the rotary cylinder. When the output shaft rotates passively, the cylinder generates a throttling effect through the throttle valve (orifice), resulting in good vibration damping performance.

[0020] Meanwhile, the transmission mechanism in swing-arm tracked vehicles of related technologies is relatively complex, and coupled with their generally long cantilever structure, the internal space is limited, resulting in a smaller load capacity and certain limitations in application scenarios. This application, however, uses a rotary hydraulic cylinder as the transmission mechanism, which effectively simplifies the overall chassis structure, frees up internal space to improve the vehicle's load capacity, and also increases the swing angle of the tracked travel device, thereby enhancing the vehicle's adaptability when entering narrow passages.

[0021] In some embodiments, the tracked traveling device optionally includes: a track frame connected to a rotating mechanism, the track frame being rotatably connected to the chassis body via the rotating mechanism; a drive wheel disposed at the front end of the track frame and connected to the track frame; a driven wheel disposed at the rear end of the track frame and connected to the track frame; a drive device disposed on the drive wheel for driving the drive wheel; and a rotary track wound around the track frame, the drive wheel, and the driven wheel, the rotary track being driven to rotate via the drive wheel.

[0022] In this embodiment, the track frame, drive wheel, driven wheel, drive unit, and rotary track together constitute a complete tracked travel device, ensuring that the vehicle can travel stably under various terrain conditions. The drive unit provides sufficient driving force to the drive wheel, thereby driving the driven wheel to rotate, ensuring the normal operation and passability of the vehicle.

[0023] Meanwhile, the reasonable connection and cooperation between the various components give the tracked travel device good structural strength and stability, enabling it to withstand large loads and complex stress conditions, reducing the probability of failure, improving the reliability and durability of the vehicle, and adapting to the needs of all-terrain driving.

[0024] In some embodiments, the tracked traveling device may optionally include a track tensioning device disposed on the track frame, the track tensioning device being able to adjust the position of the driven wheel, thereby adjusting the tension of the rotary track.

[0025] In some embodiments, the drive device may optionally include one of a drive motor, a hydraulic motor, or a pneumatic motor.

[0026] In this embodiment, the drive device includes one of a drive motor, a hydraulic motor, or a pneumatic motor. Different drive methods have their own advantages. For example, drive motors are characterized by high efficiency, energy saving, and low noise. Hydraulic motors offer advantages such as high torque, high power density, and stepless speed regulation. Pneumatic motors are characterized by explosion-proof properties, corrosion resistance, and simple maintenance. This design allows for the selection of a suitable drive method based on the specific application scenario and user needs of the vehicle, improving the vehicle's adaptability and flexibility.

[0027] In some embodiments, the rotary track may optionally include a rotary rubber track or a rotary metal track.

[0028] In this embodiment, rubber tracks offer better flexibility, vibration damping, and adaptability to different terrains, making them suitable for relatively flat surfaces with high noise control requirements. Metal tracks, on the other hand, offer higher strength, wear resistance, and puncture resistance, making them more suitable for driving in harsh and complex terrain environments. By providing a choice of two track materials, the applicability of the vehicle is further expanded, meeting the needs of different users.

[0029] In some embodiments, the number of rotating mechanisms is the same as the number of tracked walking devices, and each tracked walking device is provided with a rotating mechanism between itself and the chassis body.

[0030] In this embodiment, the number of rotating mechanisms is the same as the number of tracked walking devices, and each tracked walking device is provided with a rotating mechanism between itself and the chassis body. This allows for independent control of each tracked walking device, enabling the vehicle to adjust its posture more flexibly, adapt to various complex terrains and narrow spaces, and improve the vehicle's handling performance and passability.

[0031] In some embodiments, the number of tracked traveling devices may be four, wherein two tracked traveling devices are respectively installed at the front and rear ends of one side of the chassis body, and the other two tracked traveling devices are respectively installed at the front and rear ends of the other side of the chassis body.

[0032] In this embodiment, four tracked walking devices are installed at the front and rear ends of both sides of the chassis body, which can make the weight distribution of the vehicle more even and reasonable, improve the balance and stability of the vehicle during driving, and reduce the risk of side tilting and loss of control caused by the shift of the center of gravity. Especially in complex terrain and high-speed driving, it can improve the overall stability of the vehicle.

[0033] In some embodiments, the chassis body may optionally be a one-piece structure.

[0034] In this embodiment, the chassis body adopts an integrated structure, which can effectively reduce the connection gaps and relative movement between components, improve the overall rigidity and strength of the chassis, and make it less prone to deformation and damage when subjected to large loads and complex stresses, thereby ensuring the driving safety and reliability of the vehicle.

[0035] A second aspect of this utility model provides a tracked vehicle, including a chassis adaptable to different terrains as described in any embodiment of the first aspect.

[0036] The tracked vehicle provided by this utility model includes a chassis capable of adapting to different terrains, as described in any embodiment of the first aspect. Therefore, the tracked vehicle possesses all the beneficial effects of the chassis capable of adapting to different terrains as described in any embodiment of the first aspect, which will not be elaborated further here.

[0037] In some embodiments, the tracked vehicle may optionally include a tracked all-terrain vehicle.

[0038] Additional aspects and advantages of this invention will become apparent in the description that follows, or may be learned by practice of this invention. Attached Figure Description

[0039] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0040] Figure 1 One of the structural schematic diagrams of a chassis capable of adapting to different terrains according to an embodiment of the present invention is shown;

[0041] Figure 2 A top view of a chassis capable of adapting to different terrains, according to one embodiment of the present invention, is shown.

[0042] Figure 3 This is a second schematic diagram of the structure of a chassis capable of adapting to different terrains, according to one embodiment of the present invention.

[0043] Figure 4 It shows Figure 3 A cross-sectional view of the chassis, which is adaptable to different terrains, along the AA direction;

[0044] Figure 5 The third schematic diagram shows the structure of a chassis capable of adapting to different terrains according to an embodiment of the present invention;

[0045] Figure 6 The fourth schematic diagram shows the structure of a chassis capable of adapting to different terrains according to an embodiment of the present invention;

[0046] Figure 7Fifth schematic diagram of the structure of a chassis capable of adapting to different terrains according to an embodiment of the present invention;

[0047] in, Figures 1 to 7 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0048] 1. Chassis body; 2. Tracked walking device; 20. Track frame; 21. Drive wheel; 22. Driven wheel; 23. Drive device; 24. Rotary track; 25. Track tensioning device; 3. Rotating mechanism; 32. Rotary cylinder; 34. Rotary damping device; 4. Limiting plate; 42. Limiting groove; 5. Mounting plate; 6. Adjustable telescopic component; 62. Electromagnet; 622. Armature; 7. Control device. Detailed Implementation

[0049] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0050] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0051] The following reference Figures 1 to 7 This application describes chassis and tracked vehicles adapted to different terrains, based on some embodiments thereof.

[0052] In one embodiment of this application, such as Figure 1 , Figure 2 and Figure 4 As shown, a chassis capable of adapting to different terrains is provided, comprising: a chassis body 1; multiple tracked walking devices 2, respectively disposed on opposite sides of the chassis body 1; a rotating mechanism 3, disposed between the chassis body 1 and the tracked walking devices 2, rotatably connected to the chassis body 1 and fixedly connected to the tracked walking devices 2; and a control device 7, wherein the chassis has a first working mode and a second working mode. In the first working mode, the control device 7 is disconnected from the rotating mechanism 3, and in the second working mode, the control device 7 is connected to the rotating mechanism 3 for controlling the operation of the rotating mechanism 3.

[0053] According to the chassis provided by this utility model, which is adaptable to different terrains, the chassis body 1 and the tracked walking device 2 are connected by a rotating mechanism 3. The chassis body 1 is the bottom structure of the vehicle that can support other structures of the vehicle. When the vehicle chassis is in the first working mode, the control device is disconnected from the rotating mechanism, and the control device 7 does not control the rotating mechanism 3. It can also be understood that the control device 7 releases control of the rotating mechanism 3. The tracked walking device 2 can passively flip according to the road conditions. That is, when the tracked walking device 2 encounters terrain undulations and flips, it can drive the rotating mechanism 3 to rotate, so as to realize the relative rotation between the tracked walking device 2 and the chassis body 1. This allows the chassis structure to passively adapt to various terrain scenarios such as potholes, climbing slopes and overcoming obstacles. At the same time, when the vehicle chassis is in the second working mode, the control device 7 controls the rotating mechanism 3 to work, so that the vehicle can actively adjust the posture of the tracked walking device 2. This can improve the vehicle's adaptability and steering ability in narrow spaces (such as corridors, narrow alleys, etc.), and is no longer limited to passive adaptation by following the flip.

[0054] like Figure 5 , Figure 6 and Figure 7 As shown, Figure 5 The posture of the tracked walking device 2 when the vehicle is traveling on a normal road. Figure 6 When the tracked walking device 2 is passively controlled to encounter undulating road surfaces, the attitude of the tracked walking device 2 is as follows: Figure 7 When the vehicle is actively controlled, the tracked walking device 2's posture is observed when encountering confined spaces. Through this chassis structure, which adapts to different terrains, the tracked walking device 2 can achieve both passive and active tilting control to adapt to various complex environments and different driving needs. For example, when traversing wide roads, the vehicle chassis can adaptively move along the terrain in a first operating mode; when traversing narrow passages, a second operating mode can be used to actively adjust the angle of the tracked walking device 2 to reduce the overall vehicle size, thus improving the vehicle's practicality and application range.

[0055] In some embodiments, optionally, such as Figure 3 and Figure 4 As shown, the chassis capable of adapting to different terrains also includes: a limiting plate 4, which is located on the side of the rotating mechanism 3 away from the tracked walking device 2 and rotates with the rotation mechanism 3; a limiting groove 42 is provided on the limiting plate 4; a mounting plate 5, which is located on the limiting plate 4; and an adjustable telescopic member 6, which is mounted on the mounting plate 5. The adjustable telescopic member 6 has a first state and a second state. In the first state, at least a portion of the adjustable telescopic member 6 is located inside the limiting groove 42, and in the second state, the adjustable telescopic member 6 is located outside the limiting groove 42.

[0056] In this embodiment, when not under active control, the tracked walking device 2 undergoes a passive flipping phase depending on road conditions. The limiting plate 4 rotates with the rotating mechanism 3 and is equipped with a limiting groove 42. The limiting groove 42 can be an arc groove or other shapes. Combined with the adjustable telescopic member 6, it can more precisely limit the rotation range of the rotating mechanism 3, improving the vehicle's reliability and stability. During the active control phase using the control device 7, the tracked walking device 2 is actively controlled to rotate to a preset position and stop. That is, the active control phase limits the tracked walking device 2 by setting parameters through the control device 7. Therefore, the two states of the adjustable telescopic member 6 can be switched according to actual needs. During the active control phase, the adjustable telescopic member 6 is located outside the limiting groove 42, not affecting the free rotation of the rotating mechanism 3. During the passive flipping phase, the adjustable telescopic member 6 enters the limiting groove 42, playing a limiting role and enhancing the vehicle's adaptability and maneuverability.

[0057] Alternatively, the limiting groove 42 can be replaced by a limiting hole.

[0058] In some embodiments, optionally, such as Figure 4 As shown, the adjustable telescopic component 6 includes an electromagnet 62, which is mounted on the mounting plate 5. The electromagnet 62 includes an armature 622. When the electromagnet 62 is de-energized, at least a portion of the armature 622 is located inside the limiting groove 42. When the electromagnet 62 is energized, the armature 622 is located outside the limiting groove 42.

[0059] In this embodiment, an electromagnet 62 is used as an adjustable telescopic member 6. The position of the armature 622 is controlled by energizing and de-energizing, thereby realizing the switching of the limit function. This electromagnetic control method has the advantages of fast response speed, high control accuracy and strong reliability. It can more accurately meet the vehicle's limit requirements under different working conditions and further improve the overall performance of the vehicle.

[0060] Meanwhile, compared to some complex mechanical limit and adjustment devices, the electromagnet 62 has a relatively simple structure, which not only reduces the number of parts and the weight of the vehicle, but also helps to reduce production costs and maintenance difficulty, and improves the economy and maintainability of the vehicle.

[0061] In some embodiments, optionally, such as Figure 4 As shown, the rotating mechanism 3 includes a rotating cylinder 32 or a rotating damping device 34.

[0062] In this embodiment, both the rotary cylinder 32 and the rotary damping device 34 help optimize the vibration reduction effect of the vehicle during driving, provide the chassis with follow-up adaptive balance and good vibration damping performance, reduce the fluctuation of the vehicle's center of gravity caused by track module flipping or terrain changes, improve the vehicle's comfort and handling stability, and at the same time reduce the dependence on chassis mounting seat damping springs, extending the service life of related components.

[0063] Furthermore, when the rotary cylinder 32 is connected to the hydraulic control, it enables active and precise control of the track module's tilting angle, meeting the requirements for vehicle posture changes. During the passive tilting phase, ground undulations are fed back to the track travel device 2, which is connected to the output shaft of the rotary cylinder 32. This causes the track travel device 2 to tilt around the output shaft of the rotary cylinder 32. When the output shaft rotates passively, the cylinder generates a throttling effect through the throttle valve (orifice), resulting in good vibration damping performance.

[0064] Meanwhile, the transmission mechanism in the swing-arm tracked vehicles of related technologies is relatively complex, and they are generally long cantilever structures, which limit the internal space of the vehicle, resulting in a smaller load capacity and certain limitations in application scenarios. In contrast, this application uses a rotary hydraulic cylinder 32 as the transmission mechanism, which can effectively simplify the overall chassis structure, free up internal space to improve the vehicle's load capacity, and also increase the swing angle of the tracked travel device 2 to improve the vehicle's adaptability when entering narrow passages.

[0065] In some embodiments, optionally, such as Figure 1 As shown, the tracked traveling device 2 includes: a track frame 20 connected to a rotating mechanism 3, the track frame 20 being rotatably connected to the chassis body 1 via the rotating mechanism 3; a drive wheel 21 located at the front end of the track frame 20 and connected to the track frame 20; a driven wheel 22 located at the rear end of the track frame 20 and connected to the track frame 20; a drive device 23 located on the drive wheel 21 and used to drive the drive wheel 21; and a rotary track 24 wound around the track frame 20, the drive wheel 21, and the driven wheel 22, the rotary track 24 being driven to rotate by the drive wheel 21.

[0066] In this embodiment, the track frame 20, drive wheel 21, driven wheel 22, drive device 23 and rotary track 24 together constitute a complete tracked travel device 2, ensuring that the vehicle can travel stably under various terrain conditions. The drive device 23 provides sufficient driving force to the drive wheel 21, thereby driving the driven wheel 22 to rotate, ensuring the normal operation and passability of the vehicle.

[0067] Meanwhile, the reasonable connection and cooperation between the various components give the tracked walking device 2 good structural strength and stability, enabling it to withstand large loads and complex stress conditions, reduce the probability of failure, improve the reliability and durability of the vehicle, and adapt to the needs of all-terrain driving.

[0068] In some embodiments, the tracked walking device 2 may optionally include a track tensioning device 25 disposed on the track frame 20. The track tensioning device 25 can adjust the position of the driven wheel 22, thereby adjusting the tension of the rotary track 24.

[0069] In some embodiments, the drive device 23 may optionally include one of a drive motor, a hydraulic motor, or a pneumatic motor.

[0070] In this embodiment, the drive unit 23 includes one of a drive motor, a hydraulic motor, or a pneumatic motor. Different drive methods have their own advantages. For example, drive motors are characterized by high efficiency, energy saving, and low noise. Hydraulic motors have advantages such as high torque, high power density, and stepless speed regulation. Pneumatic motors have characteristics such as explosion-proof, corrosion resistance, and simple maintenance. This design allows for the selection of a suitable drive method based on the specific application scenario of the vehicle and user needs, improving the vehicle's adaptability and flexibility.

[0071] In some embodiments, the rotary track 24 may optionally include a rotary rubber track or a rotary metal track.

[0072] In this embodiment, rubber tracks offer better flexibility, vibration damping, and adaptability to different terrains, making them suitable for relatively flat surfaces with high noise control requirements. Metal tracks, on the other hand, offer higher strength, wear resistance, and puncture resistance, making them more suitable for driving in harsh and complex terrain environments. By providing a choice of two track materials, the applicability of the vehicle is further expanded, meeting the needs of different users.

[0073] In some embodiments, the number of rotating mechanisms 3 is the same as the number of tracked walking devices 2, and each tracked walking device 2 is provided with a rotating mechanism 3 between itself and the chassis body 1.

[0074] In this embodiment, the number of rotating mechanisms 3 is the same as the number of tracked walking devices 2, and each tracked walking device 2 is provided with a rotating mechanism 3 between itself and the chassis body 1. This allows for independent control of each tracked walking device 2, enabling the vehicle to adjust its posture more flexibly, adapt to various complex terrains and narrow spaces, and improve the vehicle's handling performance and passability.

[0075] In some embodiments, optionally, such as Figure 2As shown, there are four tracked walking devices 2, two of which are installed at the front and rear ends of one side of the chassis body 1, and the other two are installed at the front and rear ends of the other side of the chassis body 1.

[0076] In this embodiment, four tracked walking devices 2 are respectively installed at the front and rear ends of both sides of the chassis body 1, which can make the weight distribution of the vehicle more even and reasonable, improve the balance and stability of the vehicle during driving, and reduce the risk of side tilting and loss of control caused by the shift of the center of gravity. Especially in complex terrain and high-speed driving, it can improve the overall stability of the vehicle.

[0077] In some embodiments, the chassis body 1 may optionally be a one-piece structure.

[0078] In this embodiment, the chassis body 1 adopts an integrated structure, which can effectively reduce the connection gaps and relative movement between components, improve the overall rigidity and strength of the chassis, and make it less prone to deformation and damage when subjected to large loads and complex stresses, thereby ensuring the driving safety and reliability of the vehicle.

[0079] A second aspect of this utility model provides a tracked vehicle, including a chassis adaptable to different terrains as described in any embodiment of the first aspect.

[0080] The tracked vehicle provided by this utility model includes a chassis capable of adapting to different terrains, as described in any embodiment of the first aspect. Therefore, the tracked vehicle possesses all the beneficial effects of the chassis capable of adapting to different terrains as described in any embodiment of the first aspect, which will not be elaborated further here.

[0081] In some embodiments, the tracked vehicle may optionally include a tracked all-terrain vehicle.

[0082] In one embodiment of this utility model, an all-terrain tracked vehicle (tracked vehicle) is provided, which has four independent track module units. The track module units are connected to the frame and can rotate around the connecting shaft. Specifically, the track module is connected to the frame by a rotary hydraulic cylinder 32. When not connected to hydraulic control, the chassis is a follow-up adaptive balancing device with good vibration damping performance. When connected to hydraulic control, the rotation angle of the track module can be actively controlled to change the vehicle's attitude, thereby reducing the overall vehicle size and improving its ability to pass through narrow spaces.

[0083] In some embodiments, the rotary cylinder 32 may be replaced by other rotary damping devices.

[0084] In related technologies, there are many types of multi-track all-terrain vehicles, the most common of which are swing-arm tracked vehicles, independent track module vehicles (such as triangular track wheel vehicles), multi-track fixed tracked vehicles (the track running system is rigidly connected to the frame), and articulated tracked vehicles.

[0085] From the perspective of current related technologies, chassis with swing arm track structures can change walking posture and improve the overall vehicle passability. However, their transmission devices are complex and require a large installation space inside the vehicle. The swing arm has high working stress, making it difficult to achieve a large load-bearing capacity. Moreover, the contact between the swing arm and obstacles is a rigid collision, resulting in poor impact resistance.

[0086] The other types of multi-tracked vehicles mentioned above, under the same obstacle-crossing conditions, are significantly larger than swing-arm type tracked vehicles, which limits their turning ability in confined spaces (such as corridors and narrow alleys). Adaptive all-terrain tracked vehicles, on the other hand, use four independent track modules in their tracked walking device 2. These modules are connected to the chassis and can rotate around a connecting shaft, allowing them to adapt to complex terrain and exhibiting good adaptability. For example, related all-terrain vehicles use articulated tracked chassis, divided into front and rear sections, each equipped with a lift device, enabling them to traverse complex terrain. All-terrain firefighting robots also utilize four independent tracked module units, with steel cables restricting the rotation angle of the track modules, allowing the tracked walking mechanism to rotate to a certain extent.

[0087] The above solutions offer strong vehicle load capacity, but the vehicles are large and cannot actively change the attitude of the running gear, making it difficult to turn in confined spaces. While conventional swing-arm track systems can turn in confined spaces by changing their running posture, their transmission structure is complex, their load capacity is limited when crossing obstacles, and swing-arm tracks often require controlled attitude changes to adapt to different obstacle environments, lacking terrain adaptability.

[0088] Therefore, without compromising chassis passability and load capacity, this application aims to address the following issues to ensure high vehicle adaptability and improve steering ability in confined spaces:

[0089] 1) Follow-up flipping can only passively adapt to terrain conditions and does not have the ability to actively flip to adapt to certain complex terrains or pass through narrow spaces.

[0090] 2) The follow-up flip limit is a mechanical limit, which is subject to a large impact at the extreme position (such as straightening the steel wire rope or impacting the limit block).

[0091] 3) The follow-up tilting mechanism has no damping during the tilting process and does not have the ability to reduce the impact of the tilting. It relies on the damping springs of the chassis mounting base for vertical vibration reduction, and the center of gravity of the whole vehicle fluctuates significantly.

[0092] Based on the solution proposed in this application, the vehicle can change its posture to adapt to use in complex environments.

[0093] The chassis and tracked vehicle provided by this utility model, which can adapt to different terrains, have the following advantages:

[0094] 1) The follow-up track walking system can realize active attitude change and has high passability under high load.

[0095] 2) The damping system buffers the shock absorption, improves the vehicle's vibration reduction performance, reduces the disturbance of the vehicle's center of gravity, and improves balance.

[0096] In this utility model, the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0097] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0098] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A chassis capable of adapting to different terrains, characterized in that, include: Chassis body; Multiple tracked walking devices are respectively arranged on opposite sides of the chassis body; A rotating mechanism is disposed between the chassis body and the tracked walking device, rotatably connected to the chassis body and fixedly connected to the tracked walking device; The control device, wherein the chassis has a first working mode and a second working mode, wherein in the first working mode the control device is disconnected from the rotating mechanism, and in the second working mode the control device is connected to the rotating mechanism for controlling the operation of the rotating mechanism.

2. The chassis capable of adapting to different terrains according to claim 1, characterized in that, Also includes: A limiting plate is provided on the side of the rotating mechanism away from the track walking device, and rotates with the rotation of the rotating mechanism. The limiting plate is provided with a limiting groove. A mounting plate is disposed on the limiting plate; An adjustable telescopic member is mounted on the mounting plate. The adjustable telescopic member has a first state and a second state. In the first state, at least a portion of the adjustable telescopic member is located inside the limiting groove. In the second state, the adjustable telescopic member is located outside the limiting groove.

3. The chassis capable of adapting to different terrains according to claim 2, characterized in that, The adjustable telescopic component includes: An electromagnet is mounted on the mounting plate. The electromagnet includes an armature. When the electromagnet is de-energized, at least a portion of the armature is located inside the limiting groove. When the electromagnet is energized, the armature is located outside the limiting groove.

4. The chassis capable of adapting to different terrains according to claim 1, characterized in that, The rotating mechanism includes a rotating cylinder or a rotating damping device.

5. The chassis capable of adapting to different terrains according to claim 1, characterized in that, The tracked walking device includes: A track frame is connected to the rotating mechanism, and the track frame is rotatably connected to the chassis body through the rotating mechanism. A drive wheel is located at the front end of the track frame and is connected to the track frame; Driven wheel, located at the rear end of the track frame, is connected to the track frame; A drive device, disposed on the drive wheel, is used to drive the drive wheel; A rotary track is wound around the track frame, the drive wheel, and the driven wheel, and the rotary track is driven to rotate by the drive wheel.

6. The chassis capable of adapting to different terrains according to claim 5, characterized in that, The driving device includes one of a drive motor, a hydraulic motor, or a pneumatic motor; and / or The rotary track includes rotary rubber tracks or rotary metal tracks.

7. The chassis capable of adapting to different terrains according to any one of claims 1 to 6, characterized in that, The number of rotating mechanisms is the same as the number of tracked walking devices, and each tracked walking device is provided with a rotating mechanism between itself and the chassis body.

8. The chassis capable of adapting to different terrains according to claim 7, characterized in that, The number of tracked traveling devices is four, with two tracked traveling devices installed at the front and rear ends of one side of the chassis body, and the other two tracked traveling devices installed at the front and rear ends of the other side of the chassis body.

9. The chassis capable of adapting to different terrains according to any one of claims 1 to 6, characterized in that, The chassis body is a one-piece structure.

10. A tracked vehicle, characterized in that, include: The chassis that can adapt to different terrains as described in any one of claims 1 to 9.

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