Self-leveling crawler chassis

Abstract

The utility model relates to the technical field of tracked vehicles, in particular to a self-leveling track chassis which comprises a chassis body and a track, a central connecting column is fixed at the bottom of the chassis body, a main core bone is rotatably arranged at the bottom of the central connecting column, and four hydraulic pumps are arranged in the main core bone to drive four hydraulic shafts connected with the hydraulic pumps to rotate. The four hydraulic shafts are located on the periphery of the main core bone and are symmetrical in pairs, two of the symmetrical hydraulic shafts are connected with crawler belt adjusting oil cylinders, the other two hydraulic shafts are connected with chassis adjusting oil cylinders, crawler belt connecting plates are fixed to the telescopic ends of the crawler belt adjusting oil cylinders, wheel sets meshed with crawler belts are arranged on the crawler belt connecting plates, and the chassis adjusting oil cylinders are connected with chassis adjusting oil cylinders. A movable seat is hinged to the telescopic end of the chassis adjusting oil cylinder and arranged at the bottom of the chassis body in a sliding mode. Through the synergistic effect of four oil cylinders in two sets, left-right leveling and front-back leveling are conducted respectively, and all-directional self-adaptive stable adjustment of the chassis under the complex terrain is achieved in cooperation with a connecting arm-sliding groove combined structure.

Description

Technical Field

[0001] This utility model mainly relates to the field of tracked vehicle technology, specifically a self-leveling tracked chassis. Background Technology

[0002] Traditional tracked engineering vehicles generally have a fixed position between the tracks and the chassis, and can only be used and operated on flat ground or large areas of gentle terrain. They have certain limitations, poor ability to walk on slopes, poor terrain adaptability, low climbing performance, and cannot enter soft, muddy or sloping areas for operation.

[0003] Existing technology includes a self-leveling tracked chassis (publication number CN219584341U), which uses hydraulic cylinders at the connection points between the chassis and the tracks to control the lateral leveling of the chassis relative to the tracks. This allows the tracked engineering vehicle to maintain parallelism within a certain angle on both sides of the chassis when traveling on slopes. However, tracked engineering vehicles are prone to bumps and scrapes on the front and rear sides due to continuous uneven road surfaces during operation. The lack of lateral leveling and the reliance solely on hydraulic cylinders for connection and extension adjustment results in poor connection stability and a limited adjustable range. Utility Model Content

[0004] The purpose of this invention is to provide a self-leveling tracked chassis to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a self-leveling tracked chassis, comprising a chassis body and tracks, wherein a central connecting column is fixed at the bottom of the chassis body, and a main frame is rotatably mounted at the bottom of the central connecting column. The main frame contains four hydraulic pumps to drive four hydraulic shafts connected thereto to rotate. The four hydraulic shafts are located around the main frame and are symmetrical to each other in pairs. Track adjusting cylinders are connected to two of the symmetrical hydraulic shafts, and chassis adjusting cylinders are connected to the other two hydraulic shafts. Track connecting plates are fixed to the telescopic ends of the track adjusting cylinders. Wheel sets that mesh with the tracks are provided on the track connecting plates. Movable seats are hinged to the telescopic ends of the chassis adjusting cylinders, and the movable seats are slidably mounted at the bottom of the chassis body.

[0006] Preferably, two connecting frames are provided on the inward side of the track connecting plate. The two connecting frames are located on both sides of the chassis adjusting cylinder. Connecting arms are hinged on the connecting frames, and the other end of the connecting arms is hinged to the main frame.

[0007] Preferably, the bottom of the chassis body forms two sliding grooves, and the movable seat is movably disposed in the sliding grooves. The movable seat slides along the sliding grooves as the track adjusting cylinder rotates and extends.

[0008] Preferably, a main shaft is inserted and fixed on the central connecting column along the direction perpendicular to the two side tracks, and the two ends of the main shaft penetrate the core frame. The chassis body rotates relative to the core frame with the main shaft as the axis of rotation.

[0009] Preferably, an inertial measurement unit is also provided in the chassis body.

[0010] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0011] This utility model provides a self-leveling tracked chassis. Four hydraulic shafts drive the chassis adjustment cylinders and track adjustment cylinders in pairs. The ends of the chassis adjustment cylinders are hinged to movable seats and designed with chassis sliding grooves, allowing them to effectively adapt to and drive the chassis's forward and backward posture adjustments during extension, retraction, and rotation, eliminating front-to-back bumps. The track adjustment cylinders directly drive the track connecting plates to change their height and angle relative to the main frame, and, in conjunction with the connecting arms, limit lateral displacement to achieve left-to-right leveling. This separate yet coordinated control mechanism allows the chassis to simultaneously and independently or in combination level the forward / backward and left / right tilts caused by rough terrain, enhancing its terrain adaptability.

[0012] This utility model provides a self-leveling tracked chassis. Through a double-hinged design of the connecting arm between the track connecting plate and the main frame, a robust lateral force-resistant structure is formed. This structure bears and limits lateral loads during track adjustment, protecting the track adjustment cylinder from lateral force. The sliding connection of the movable seat at the end of the chassis adjustment cylinder within a groove provides stable and reliable linear guidance for its telescopic movement, avoiding the risk of the cylinder being subjected to bending loads. The main frame, through a central connecting column and a main shaft, forms a stable rotational pivot with the chassis body, resulting in strong overall structural stability.

[0013] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0014] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of the present invention and other related contents, and should not be considered as limitations on the present invention.

[0015] In the accompanying drawings of the instruction manual:

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a front view of the overall structure of this utility model;

[0018] Figure 3 This is a side view of the overall structure of this utility model;

[0019] Figure 4 This is a bottom view of the overall structure of this utility model;

[0020] Figure 5 This is a schematic diagram of the front and rear adjustment states of this utility model;

[0021] Figure 6 This is a schematic diagram of the left and right adjustment states of this utility model;

[0022] Figure label:

[0023] 1. Chassis body; 2. Wheel set; 3. Track; 4. Center connecting column; 5. Main frame; 6. Chassis adjustment cylinder; 7. Track adjustment cylinder; 8. Connecting arm; 9. Connecting frame; 10. Movable seat; 11. Track connecting plate; 12. Slide groove; 13. Hydraulic shaft; 14. Main shaft. Detailed Implementation

[0024] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0025] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] like Figures 1 to 6 As shown, a self-leveling tracked chassis includes a chassis body 1 and tracks 3. A central connecting column 4 is fixed to the bottom of the chassis body 1. A main frame 5 is rotatably mounted on the bottom of the central connecting column 4. The main frame 5 contains four hydraulic pumps to drive four hydraulic shafts 13 connected to it to rotate. The four hydraulic shafts 13 are located around the main frame 5 and are symmetrical to each other in pairs. Track adjusting cylinders 7 are connected to two of the symmetrical hydraulic shafts 13, and chassis adjusting cylinders 6 are connected to the other two hydraulic shafts 13. Track connecting plates 11 are fixed to the telescopic ends of the track adjusting cylinders 7. Wheel sets 2 that mesh with the tracks 3 are provided on the track connecting plates 11. Movable seats 10 are hinged to the telescopic ends of the chassis adjusting cylinders 6. The movable seats 10 are slidably mounted on the bottom of the chassis body 1.

[0027] Two connecting frames 9 are fixedly installed on the inward side of the track connecting plate 11. The two connecting frames 9 are located on both sides of the chassis adjusting cylinder 6. Two connecting arms 8 are hinged on any one of the connecting frames 9. The other end of the connecting arm 8 is hinged to the main frame 5. The connecting arm 8 resists lateral tension to avoid affecting the extension and retraction of the adjusting cylinder 6.

[0028] Two sliding grooves 12 are formed at the bottom of the chassis body 1. The two sliding grooves 12 are located at the front end and rear end of the chassis body 1, respectively. The movable seat 10 is set in the sliding groove 12 and slides back and forth within the limited range of the sliding groove 12. The movable seat 10 slides along the sliding groove 12 as the track adjusting cylinder 7 rotates and extends, thereby cooperating with the position of the extension end of the track adjusting cylinder 7.

[0029] A main shaft 14 is inserted and fixed on the central connecting column 4 along the direction perpendicular to the two side tracks 3. The two ends of the main shaft 14 penetrate the core frame 5, and the chassis body 1 rotates relative to the core frame 5 with the main shaft 14 as the axis of rotation.

[0030] An inertial measurement unit is also provided inside the chassis body 1. The inertial measurement unit senses the attitude of the chassis body 1 in real time and automatically completes millisecond-level leveling response to control the chassis adjustment cylinder 6, track adjustment cylinder 7 and hydraulic shaft 13 to work.

[0031] The implementation principle of this application embodiment is as follows: During the use of this product, the inertial measurement unit on the chassis body 1 senses the attitude of the chassis body 1 in real time and issues a leveling command. If the chassis body 1 tilts forward or backward, please refer to... Figure 5 According to the leveling requirements, the hydraulic shaft 13 drives the chassis adjusting cylinder 6 to rotate relative to the main frame 5 to adjust the angle. The telescopic end of the chassis adjusting cylinder 6 adjusts the telescopic length. At the same time, the movable seat 10 slides back and forth on the bottom of the chassis body 1 to adapt to the adjusted position. The dual structure coordinates the adjustment, resulting in a large adjustment range and high space utilization. If the chassis body 1 tilts left or right, please refer to... Figure 6 According to the leveling requirements, the hydraulic shaft 13 drives the track adjustment cylinder 7 to rotate relative to the main frame 5 to adjust the angle. The extension and retraction end of the track adjustment cylinder 7 adjusts the extension and retraction length. The connecting arm 8 between the track 3 and the main frame 5 rotates synchronously. The connecting arm 8 restricts the lateral movement of the track 3 and prevents it from pulling the extension and retraction end of the track adjustment cylinder 7 laterally during movement, resulting in strong structural stability.

[0032] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from its essential characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A self-leveling tracked chassis, comprising a chassis body (1) and tracks (3), characterized in that: The bottom of the chassis body (1) is fixed with a central connecting column (4). The bottom of the central connecting column (4) is rotatably provided with a main core (5). The main core (5) contains four hydraulic pumps to drive four hydraulic shafts (13) connected to it to rotate. The four hydraulic shafts (13) are located around the main core (5) and are symmetrical to each other. Two of the symmetrical hydraulic shafts (13) are connected to track adjustment cylinders (7), and the other two hydraulic shafts (13) are connected to chassis adjustment cylinders (6). The extension end of the track adjustment cylinder (7) is fixed with a track connecting plate (11). The track connecting plate (11) is provided with a wheel set (2) that meshes with the track (3). The extension end of the chassis adjustment cylinder (6) is hinged with a movable seat (10). The movable seat (10) is slidably provided at the bottom of the chassis body (1).

2. The self-leveling tracked chassis according to claim 1, characterized in that: Two connecting frames (9) are provided on the inner side of the track connecting plate (11). The two connecting frames (9) are located on both sides of the chassis adjusting cylinder (6). A connecting arm (8) is hinged on the connecting frame (9). The other end of the connecting arm (8) is hinged to the main frame (5).

3. The self-leveling tracked chassis according to claim 1, characterized in that: Two grooves (12) are formed at the bottom of the chassis body (1). The movable seat (10) is movably disposed in the groove (12). The movable seat (10) slides along the groove (12) as the track adjusting cylinder (7) rotates and extends.

4. The self-leveling tracked chassis according to claim 1, characterized in that: A main shaft (14) is inserted and fixed on the central connecting column (4) along the direction perpendicular to the two side tracks (3). The two ends of the main shaft (14) penetrate the core frame (5). The chassis body (1) rotates relative to the core frame (5) with the main shaft (14) as the axis of rotation.

5. The self-leveling tracked chassis according to claim 1, characterized in that: An inertial measurement unit is also provided inside the chassis body (1).

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