Steerable balance elbow suspension mechanism and wheel-track dual-purpose platform comprising same

Abstract

The utility model discloses a steerable balance elbow suspension mechanism and a wheel-track dual-purpose platform comprising the same. The steerable balance elbow suspension mechanism comprises a balance elbow, a spring shock absorber, a straight push rod structure and a steering knuckle arm, when the balance elbow swings up and down, the steering knuckle arm swings along with the balance elbow in the same track, and the second straight push rod rotates relative to the first straight push rod; when the straight push rod structure moves inwards or outwards in the hollow rotating shaft of the balance elbow, the steering knuckle arm is driven to move, and the wheels are controlled to steer. A plurality of rubber hanging loading wheels in the wheel-track dual-purpose platform are respectively connected with the vehicle body through a steerable balance elbow suspension mechanism, so that all-wheel steering is realized. According to the utility model, the walking mechanism of the wheel-track dual-purpose platform can be simplified, and interference is avoided; by using the rubber-hanging loading wheels which can adapt to wheel type and crawler type driving, all-wheel independent steering and balance elbow suspension are subjected to fusion design through a mechanical structure, rapid switching of a wheel type walking mode and a crawler type walking mode can be achieved, and high maneuverability is achieved on cross-country and pavement roads.

Description

Technical Field

[0001] This utility model relates to the field of vehicle platforms, and in particular to a steerable balance elbow suspension mechanism and a wheel-track dual-purpose platform containing the same. Background Technology

[0002] In the military field, the future battlefield environment demands the rapid transfer and deployment of military personnel and equipment. For long-distance transfers, urban roads and highways can be utilized, leveraging the advantages of wheeled vehicles; while during battlefield transfers, primarily in off-road conditions, the advantages of tracked vehicles are emphasized. All-wheel steering allows larger military vehicles to navigate easily through narrow urban lanes; dual-purpose wheel and track systems enable military vehicles to demonstrate excellent mobility on paved roads and in off-road conditions.

[0003] In the field of civil fire protection, urban fire trucks inevitably have to pass through some narrow roads. All-wheel steering allows fire trucks to better avoid obstacles and quickly reach the fire scene. Forest fire trucks, on the other hand, need to pass through urban roads and off-road surfaces at the same time. A wheel-track dual-purpose platform that can be quickly switched can better meet such needs.

[0004] In the field of civilian off-road vehicles, the off-road vehicle market is no longer limited to traditional four-wheeled off-road vehicles. Off-road platforms with all-wheel steering and dual-track functionality can meet the diverse needs of off-road vehicle users and their higher requirements for off-road capabilities. The powerful carrying capacity provides this platform with more potential for modification, upgrading and utilization in the civilian field.

[0005] As can be seen from the above, all-wheel steering dual-purpose wheel and track platforms will have great application prospects in different fields.

[0006] The main forms of wheeled / tracked dual-purpose platforms are as follows:

[0007] (1) In the 1930s, the armies of the United States, Britain, France, and Germany researched "wheeled and tracked" tanks. At that time, the interchangeability of "wheeled and tracked" was mainly achieved by installing two sets of running gear on the hull and switching between them by raising and lowering these two sets of running gear. If two sets of running gear were installed on the hull, the suspension system would not be strong enough, and the four wheels would not be able to lift the hull off the ground. A slope or a special platform would be needed to complete the conversion. Due to the reliability problems of this suspension system, as well as the disadvantages of the complicated and time-consuming switching process, this wheeled and tracked form did not have much practical significance and was abandoned by various countries only in the experimental stage.

[0008] (2) The BT fast tank was a famous Soviet tank of the 1930s. As the name suggests, a fast tank has a high speed, achieved through a unique wheel-track system. After acquiring the Christie suspension technology, the Soviet Union designed a dual-track running gear for the BT fast tank. The first pair of road wheels could turn left and right, achieving Ackerman steering, while the fourth pair of road wheels could output power. Two steering systems were also installed: a steering clutch and left / right levers for tracked travel; and a steering rack and pinion and steering wheel for wheeled travel. Therefore, rubber-coated road wheels were generally used for road travel, while tracks were generally used for off-road travel. Because only the first pair of road wheels could steer, and the distance between the steering and non-steering wheels was too short, the turning radius was large. Furthermore, only the fourth pair of road wheels could provide power; if encountering undulating terrain, the fourth pair of wheels would be suspended in the air, resulting in a loss of power. Therefore, the BT fast tank could only use wheeled travel on flat surfaces, limiting its usability.

[0009] All-wheel steering technology is currently mainly used in wheeled vehicles. The working logic of an all-wheel steering system can be simply summarized as follows: at low speeds, the front and rear wheels rotate in opposite directions, reducing the turning radius; at high speeds, the front and rear wheels rotate in the same direction, optimizing rear-end tracking and resulting in precise and responsive handling. All-wheel steering technology first appeared in the late 1970s and early 1980s. Although the steering angle is significantly different compared to today's models, it still provides excellent cornering performance. Some well-known automakers, such as Audi, have already adopted all-wheel steering technology in their flagship models.

[0010] In addition, regarding vehicle shock absorption and steering performance:

[0011] Existing wheeled vehicles use MacPherson strut or double wishbone suspensions on the steering wheel axle side. During shock absorption, the wheel rotates inward around the vehicle's longitudinal axis. This structure is simple, reliable, and meets the physical requirements of four-wheeled vehicles for shock absorption and steering. In contrast, tracked vehicles use a balance elbow suspension on the road wheels. During shock absorption, the road wheels rotate upward around the vehicle's lateral axis along with the balance elbow. This design ensures proper engagement between the road wheels and the track limit pins, preventing excessive wear on the inner wall of the road wheel clearance and avoiding motion interference between the road wheels and the vehicle body.

[0012] In common tracked vehicles, the plane perpendicular to the axle of the road wheel always remains parallel to the side of the vehicle body, and it does not have the ability to turn. In contrast, wheeled vehicles have structures such as steering pushrods and steering knuckles in the first pair of axles. Only with these structures can the wheels turn left and right.

[0013] It is evident that there are significant differences between the running gear of wheeled vehicles and tracked vehicles. If the two mechanisms are directly combined to form a dual-purpose wheeled and tracked platform, interference will inevitably occur.

[0014] Therefore, it is evident that the existing wheel-track dual-purpose platforms still have inconveniences and shortcomings in terms of structure, method, and use, and urgently need further improvement. Creating a new wheel-track dual-purpose platform has become a pressing goal for the industry. Utility Model Content

[0015] The technical problem to be solved by this utility model is to provide a steerable balance elbow suspension mechanism and a wheel-track dual-purpose platform containing it, which simplifies the walking mechanism of the wheel-track dual-purpose platform and avoids interference. In addition, it can realize the rapid switching between wheeled and tracked walking modes, and has strong mobility on both off-road and paved roads, thereby overcoming the shortcomings of the prior art.

[0016] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0017] On the one hand, this utility model provides a steerable balance elbow suspension mechanism, including a balance elbow, a spring damper, a push rod structure and a steering knuckle arm;

[0018] One end of the balance elbow is a hollow pivot for connecting to the vehicle body, the other end of the balance elbow is connected to the lower end of the spring shock absorber, and the upper end of the spring shock absorber is used for connecting to the vehicle body.

[0019] The straight push rod structure extends from the hollow pivot of the balance elbow; the straight push rod structure includes a first straight push rod and a second straight push rod, the first straight push rod and the second straight push rod being coaxially rotatably connected;

[0020] One end of the steering knuckle arm is hinged to the second push rod; one side of the other end of the steering knuckle arm is hinged to the balance elbow end near the spring damper, and the other side is used to connect to the wheel;

[0021] When the balance elbow swings up and down, the steering knuckle arm follows the balance elbow and swings along the same trajectory, and the second push rod rotates relative to the first push rod.

[0022] When the push rod structure moves inward or outward within the hollow shaft of the balance elbow, it drives the steering knuckle arm to move, thereby controlling the wheel steering.

[0023] As a further improvement of this utility model, the diameter of the first straight push rod is larger than the diameter of the second straight push rod, and the two are rotatably connected by a bearing.

[0024] Furthermore, it also includes a drive motor that drives the first push rod to move inward or outward, and the drive motor is used to connect to the vehicle body.

[0025] Furthermore, the drive motor drives the first push rod to move inward or outward via a gear and rack transmission.

[0026] Secondly, this utility model provides a wheel-track dual-purpose platform, including a vehicle body, with a set of walking mechanisms installed on each side of the vehicle body. Each set of walking mechanisms includes tracks and multiple rubber-coated load-bearing wheels located within the tracks. A drive wheel is provided in front of the first rubber-coated load-bearing wheel, and an idler wheel is provided behind the last rubber-coated load-bearing wheel. The drive wheel and the idler wheel are respectively connected to the vehicle body and the tracks.

[0027] The platform also includes the aforementioned steerable balance elbow suspension mechanism;

[0028] The multiple rubber-coated load-bearing wheels are connected to the vehicle body through a steerable balance elbow suspension mechanism to achieve all-wheel steering;

[0029] The tracks are detachable and can be installed as a tracked platform when the tracks are installed, or as a wheeled platform when the tracks are removed.

[0030] As a further improvement of this utility model, each track contains 5 rubber-coated load-bearing wheels.

[0031] Furthermore, in the two steerable balance elbow suspension mechanisms connected to the first two rubber-coated load wheels, the hollow shaft end of the balance elbow is close to the other end, while the spring damper end of the balance elbow is far away.

[0032] Furthermore, each of the rubber-coated load-bearing wheels is a drive wheel with a built-in independent hub motor providing driving force; it also includes an in-wheel reducer, through which the independent hub motor is connected to the rubber-coated load-bearing wheel.

[0033] Furthermore, the independent hub motor is an internal rotor hub motor.

[0034] Furthermore, the in-wheel reducer is a planetary gear reducer with input from the sun gear, output from the planet carrier, and a fixed gear ring.

[0035] By adopting the above technical solution, this utility model has at least the following advantages:

[0036] 1. The steerable balance elbow suspension mechanism of this utility model integrates and improves two types of walking mechanisms, simplifying them into a single wheel-track dual-purpose walking mechanism: Based on the characteristics of steering, shock absorption, and drive modes in the walking mechanisms of wheeled and tracked vehicles, this utility model comprehensively considers the balance elbow suspension as a foundation, upgrades and modifies the internal spatial structure of the balance elbow, adopts a hollow rotating shaft structure at one end, and optimizes the layout of the spring shock absorber to facilitate the installation of a push rod structure, steering knuckle arm, and other steering and power mechanisms, achieving multi-mechanism integration. The overall structure is simple and does not interfere with each other, enabling rapid switching between wheeled and tracked walking modes. Through the above settings, there is no need to use a scheme that requires the installation of two sets of walking mechanisms.

[0037] 2. The wheel-track dual-purpose platform of this utility model can enhance vehicle mobility: by innovatively designing the road wheels and balance elbow suspension of traditional tracked vehicles, by using rubber-coated road wheels that can adapt to both wheeled and tracked travel, and by integrating all-wheel independent steering and balance elbow suspension through a mechanical structure, it can achieve rapid switching between wheeled and tracked travel modes, and has strong mobility on both off-road and paved roads.

[0038] 3. In this utility model's dual-purpose wheel-track platform, the independent steering of all wheels during wheeled travel makes the vehicle more agile: the steering mechanism is designed so that each rubber-coated load-bearing wheel has independent steering functionality; a tie rod structure, steering knuckle arm, and other components are installed on the side of each rubber-coated load-bearing wheel, and a drive motor is used to drive the tie rod structure at the other end, helping the vehicle platform achieve different forms of steering under different road conditions. The combination of independent steering and independent hub motors for all wheels further enhances maneuverability in wheeled travel (reducing the turning radius and improving driving capability).

[0039] 4. Advantages of using a hub motor with an in-wheel reducer: Hub motors have higher energy density and do not take up interior space; adding an in-wheel reducer can increase the motor's output torque, enabling it to drive heavy vehicles even when the size and weight of the motor are limited. Therefore, lighter and smaller motors can be selected, and unsprung mass can be controlled, thereby avoiding problems such as prolonged vehicle acceleration time and sluggish steering control. Attached Figure Description

[0040] The above is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model, the following describes this utility model in further detail with reference to the accompanying drawings and specific embodiments.

[0041] Figure 1 This is a schematic diagram of the structure of a steerable balance elbow suspension mechanism in one embodiment of the present invention (the straight push rod structure moves outward);

[0042] Figure 2 This is a schematic diagram of the structure of a steerable balance elbow suspension mechanism in one embodiment of the present invention (the straight push rod structure moves inward);

[0043] Figure 3 This is a schematic diagram of the partially steerable balance elbow suspension mechanism of a wheel-track dual-purpose platform in one embodiment of the present invention.

[0044] Figure 4 This is a schematic diagram of the overall structure of a wheel-track dual-purpose platform (tracked platform type) in one embodiment of the present invention;

[0045] Figure 5This is a schematic diagram of the overall structure of the wheel-track dual-purpose platform (wheeled platform type) in one embodiment of the present invention;

[0046] Figure 6 This is a partial structural schematic diagram of a wheel-track dual-purpose platform in one embodiment of the present invention.

[0047] Figure 7 The diagram shows the structure of a planetary gear reducer, where (a) is a cross-sectional view and (b) is a front view.

[0048] in:

[0049] 1-Balance elbow; 11-Hollow shaft; 2-Spring shock absorber; 3-Straight push rod structure; 31-First straight push rod; 32-Second straight push rod; 33-Bearing; 4-Steering knuckle arm; 5-Wheel; 6-Vehicle body; 7-Track; 8-Rubber-coated road wheel; 9-Drive sprocket; 10-Idle wheel. Detailed Implementation

[0050] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0051] Example 1

[0052] This embodiment provides a steerable balance elbow suspension mechanism that integrates and improves the running gear of both wheeled and tracked vehicles. It combines the steering structure of wheeled vehicles with the balance elbow suspension of tracked vehicles, simplifying it into a running gear suitable for dual-purpose wheeled and tracked platforms.

[0053] like Figure 1 , 2As shown, the steerable balance elbow suspension mechanism includes a balance elbow 1, a spring damper 2, a push rod structure 3, and a steering knuckle arm 4. One end of the balance elbow 1 is a hollow shaft 11 for connection with the vehicle body. This hollow structure provides space for the push rod structure 3, which controls wheel steering, without interference. The push rod structure 3 can be driven by a drive motor. The other end of the balance elbow 1 is connected to the lower end of the spring damper 2, whose upper end is connected to the vehicle body. Here, the balance elbow 1 and the spring damper 2 form a suspension damping structure. The push rod structure 3 extends from the hollow shaft 11 of the balance elbow 1. The push rod structure 3 includes a first push rod 31 and a second push rod 32, which are coaxially rotatably connected. Preferably, the diameter of the first push rod 31 is larger than the diameter of the second push rod 32, and they can be nested together and rotatably connected by a bearing 33 to ensure relative rotation. One end of the steering knuckle arm 4 is hinged to the second push rod 32; the other end of the steering knuckle arm 4 is hinged on one side to the balance elbow 1 near the spring damper 2, and the other side is used to connect to the wheel 5.

[0054] When encountering bumpy roads, the spring shock absorber 2 dampens the vibration, the balance elbow 1 swings up and down, and the steering knuckle arm 4 follows the balance elbow 1, swinging along the same trajectory. The second push rod 32 rotates relative to the first push rod 31, while the first push rod 31, because it needs to be connected to the drive motor, only pushes inward or outward without rotating. When steering is required, the push rod structure 3 moves inward or outward within the hollow shaft of the balance elbow 1, driving the steering knuckle arm 4 to control the steering of the wheel 5.

[0055] The above design can be simply summarized as follows: the steering mechanism follows the balance elbow 1, which can ensure that when the balance elbow 1 swings up and down during shock absorption, the steering mechanism does not interfere with the vehicle body or the balance elbow 1 itself, and the various mechanisms do not affect each other.

[0056] In the aforementioned steerable balance elbow suspension mechanism, the inward or outward movement of the push rod structure 3 is driven by a drive motor, which drives the first push rod 31 to move inward or outward, and the drive motor is used to connect with the vehicle body.

[0057] Figure 3 The image shows a schematic diagram of a partially steerable balance elbow suspension mechanism for a wheel-track dual-purpose platform; combined with Figure 3 As shown, the drive motor can drive the first push rod 31 to move inward or outward via a gear and rack transmission. That is, the output shaft of the drive motor interacts with the rack located on the first push rod 31 through gears, driving its movement, while the steering wheel can control the steering.

[0058] The steerable balance elbow suspension mechanism in this embodiment, based on the characteristics of steering, shock absorption, and drive modes in the walking mechanisms of wheeled and tracked vehicles, comprehensively considers the balance elbow suspension as a foundation and upgrades the internal spatial structure of the balance elbow. One end adopts a hollow pivot structure, while optimizing the layout of the spring shock absorber to facilitate the installation of a push rod structure, steering knuckle arm, and other steering and power mechanisms, achieving multi-mechanism integration. The overall structure is simple and does not interfere with each other, enabling rapid switching between wheeled and tracked walking modes. With the above settings, there is no need to use a scheme that requires the installation of two sets of walking mechanisms.

[0059] Example 2

[0060] This embodiment provides a wheel-track dual-purpose platform that applies the steerable balance elbow suspension mechanism in Embodiment 1 above, such as... Figure 4 , 5 As shown in Figure 6, the dual-purpose wheel-track platform includes a vehicle body 6, with a set of traveling mechanisms installed on each side of the vehicle body 6. Each traveling mechanism includes tracks 7 and multiple rubber-coated road wheels 8 (corresponding to the wheels 5 in Embodiment 1) located within the tracks 7. Each track 7 contains 5 rubber-coated road wheels 8, with a drive wheel 9 positioned in front of the first rubber-coated road wheel and an idler wheel 10 positioned behind the fifth rubber-coated road wheel. The drive wheel 9 and the idler wheel 10 are respectively connected to the vehicle body 6 and the tracks 7. The platform also includes the steerable balance elbow suspension mechanism of Embodiment 1. The multiple rubber-coated road wheels 8 are connected to the vehicle body through the steerable balance elbow suspension mechanism to achieve all-wheel steering; that is, in the balance elbow suspension mechanism, the hollow shaft 11 of the balance elbow 1 is connected to one side of the vehicle body 6, the upper end of the spring shock absorber 2 is also connected to the vehicle body 6, and the steering knuckle arm 4 is connected to the rubber-coated road wheels 8.

[0061] The aforementioned wheel-track dual-purpose platform has detachable tracks 7, such as... Figure 4 As shown, when track 7 is installed, it is a tracked platform, as... Figure 5 As shown, when the tracks are removed, it becomes a wheeled platform.

[0062] The aforementioned wheel-track dual-purpose platform employs an independent hub motor coupled with an internal wheel reducer. Specifically, each rubber-coated load-bearing wheel 8 is a drive wheel, equipped with an independent hub motor providing driving force; the independent hub motor is connected to the rubber-coated load-bearing wheel 8 via an internal wheel reducer.

[0063] The switching methods between wheeled and tracked vehicles are as follows:

[0064] When switching from tracked to wheeled mode, the tracks need to be removed, the power to the drive sprocket needs to be disconnected, and the power output is switched to an independent hub motor inside the rubber-coated road wheel, allowing the vehicle to travel using the rubber-coated road wheel.

[0065] When switching from wheeled to tracked mode, the steering wheel must first be straightened so that the vertical cross-section of each rubber-coated road wheel is parallel to the side of the vehicle body before the tracks can be installed. Then, the power output of the independent hub motors is disconnected, and the drive wheels are switched to output power to move using the tracks.

[0066] The steering modes for wheeled and tracked travel systems are as follows:

[0067] When the tracked vehicle is in tracked mode, it turns by relying on the speed difference between the two tracks. For example, when turning right, the left drive wheel rotates slowly, while the right drive wheel rotates slowly.

[0068] In wheeled driving mode, steering is achieved by deflecting the rubber-coated load-bearing wheels.

[0069] In the above embodiments, by innovatively designing the road wheels and balance elbow suspension of traditional tracked vehicles, and by using rubber-coated road wheels that can adapt to both wheeled and tracked travel, and by integrating all-wheel independent steering with the balance elbow suspension through a mechanical structure, it is possible to quickly switch between wheeled and tracked travel modes, and to have strong mobility on both off-road and paved roads.

[0070] The aforementioned all-wheel independent steering for wheeled travel enhances vehicle maneuverability: the steering mechanism is designed so that each rubber-coated road wheel has independent steering capability. A tie rod structure and steering knuckle arm are installed on the side of each rubber-coated road wheel, with a drive motor at the other end of the tie rod structure to drive the vehicle platform and enable different steering methods under varying road conditions. The combination of all-wheel independent steering and all-wheel independent hub motors further improves maneuverability in wheeled travel (reducing the turning radius and enhancing driving capability).

[0071] In order to properly arrange the rubber-coated load-bearing wheels 8, and to cooperate with Figure 6 In the two steerable balance elbow suspension mechanisms connected to the first two rubber-coated load wheels 8, the hollow shaft 11 end of the balance elbow 1 is close to the other end, while the spring damper end of the balance elbow 1 is far away.

[0072] As a preferred embodiment, the wheel-track dual-purpose platform in this embodiment can be designed according to the following parameters, wherein Table 1 is the basic parameters of the vehicle and Table 2 is the power parameters.

[0073] Table 1 Basic Parameters of the Vehicle

[0074]

[0075] Table 2 Dynamic Parameters

[0076]

[0077] Note 1: Driving resistance is discussed by category: Wheeled vehicles generally travel on paved roads, and the ground deformation resistance is ignored. Due to the deformation characteristics of the rubber-coated load-bearing wheel flange, the rolling resistance coefficient of the wheel is considered, which is generally 0.01-0.02; Tracked vehicles generally travel on off-road surfaces, so the ground deformation resistance is considered first. The coefficient is generally 0.04-0.05 on dry and solid dirt roads, about 0.1 on muddy dirt roads, and about 0.2 on sandy ground.

[0078] Note 2: The power loss within a tracked system is much greater than that of a wheeled system, resulting in a significantly shorter driving range. Fuel consumption on off-road terrain is also much higher than on paved roads.

[0079] In the selection and design of hub motors:

[0080] Direct-drive motors are simple to install and easy to implement, but they require high power output and high torque at low speeds, resulting in a generally larger size and weight. The vehicle also has numerous unsprung transmission components, leading to significant mechanical losses.

[0081] Internal rotor hub motors offer higher power density and advantages such as smaller size, higher efficiency, and lower temperature rise, reducing the overall unsprung mass of the vehicle. A reduction gear mechanism is added between the motor and the wheel to reduce speed and increase torque. At high speeds, the motor exhibits high specific power and efficiency, is small in size and light in weight, has high torque, and good climbing performance. It also ensures a large, stable torque for the vehicle at low speeds.

[0082] Table 3 Motor Selection

[0083]

[0084] To accommodate the aforementioned hub motor, a planetary gear reducer is preferably used in this embodiment. A simplified structural diagram of the hub motor planetary gear reducer transmission system is shown below. Figure 7 As shown, the input is from the sun gear, the output is from the planet carrier, and the ring gear is fixed. Here, a is the sun gear, b is the ring gear, c is the planet gear, and x is the planet carrier.

[0085] In the above embodiments, by cooperating with the internal rotor hub motor through the internal planetary gear reducer, the output torque of the motor can be effectively increased, the output performance requirements of the motor can be reduced, a lighter and smaller motor can be selected, and the unsprung mass can be controlled.

[0086] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Any simple modifications, equivalent changes or alterations made by those skilled in the art using the above-disclosed technical content shall fall within the protection scope of the present utility model.

Claims

1. A steerable balance elbow suspension mechanism, characterized in that, This includes the balance elbow, spring damper, pushrod structure, and steering knuckle arm; One end of the balance elbow is a hollow pivot for connecting to the vehicle body, the other end of the balance elbow is connected to the lower end of the spring shock absorber, and the upper end of the spring shock absorber is used for connecting to the vehicle body. The straight push rod structure extends from the hollow pivot of the balance elbow; the straight push rod structure includes a first straight push rod and a second straight push rod, the first straight push rod and the second straight push rod being coaxially rotatably connected; One end of the steering knuckle arm is hinged to the second push rod; one side of the other end of the steering knuckle arm is hinged to the balance elbow end near the spring damper, and the other side is used to connect to the wheel; When the balance elbow swings up and down, the steering knuckle arm follows the balance elbow and swings along the same trajectory, and the second push rod rotates relative to the first push rod. When the push rod structure moves inward or outward within the hollow shaft of the balance elbow, it drives the steering knuckle arm to move, thereby controlling the wheel steering.

2. The steerable balance elbow suspension mechanism according to claim 1, characterized in that, The diameter of the first push rod is larger than that of the second push rod, and the two are rotatably connected by a bearing.

3. The steerable balance elbow suspension mechanism according to claim 1, characterized in that, It also includes a drive motor that drives the first push rod to move inward or outward, and the drive motor is used to connect to the vehicle body.

4. The steerable balance elbow suspension mechanism according to claim 3, characterized in that, The drive motor drives the first push rod to move inward or outward via a gear and rack transmission.

5. A dual-purpose wheeled and tracked platform, characterized in that, The vehicle includes a chassis, with a set of walking mechanisms installed on each side of the chassis. Each walking mechanism includes tracks and multiple rubber-coated road wheels located within the tracks. A drive wheel is located in front of the first rubber-coated road wheel, and an idler wheel is located behind the last rubber-coated road wheel. The drive wheel and the idler wheel are respectively connected to the chassis and the tracks. The platform also includes the steerable balance elbow suspension mechanism as described in any one of claims 1-4; The multiple rubber-coated load-bearing wheels are connected to the vehicle body through a steerable balance elbow suspension mechanism to achieve all-wheel steering; The tracks are detachable and can be installed as a tracked platform when the tracks are installed, or as a wheeled platform when the tracks are removed.

6. The wheel-track dual-purpose platform according to claim 5, characterized in that, Each track contains 5 rubber-coated road wheels.

7. The wheel-track dual-purpose platform according to claim 5, characterized in that, In the two steerable balance elbow suspension mechanisms connected to the first two rubber-coated load wheels, the hollow shaft end of the balance elbow is close to the other end, while the spring damper end of the balance elbow is far away.

8. The wheel-track dual-purpose platform according to any one of claims 5-7, characterized in that, Each of the rubber-coated load-bearing wheels is a drive wheel with a built-in independent hub motor providing driving force; it also includes an in-wheel reducer, through which the independent hub motor is connected to the rubber-coated load-bearing wheel.

9. The wheel-track dual-purpose platform according to claim 8, characterized in that, The independent hub motor is an internal rotor hub motor.

10. The wheel-track dual-purpose platform according to claim 9, characterized in that, The in-wheel reducer is a planetary gear reducer with input from the sun gear, output from the planet carrier, and a fixed gear ring.

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