Embedded tracked vehicle movement system and tracked vehicle

Abstract

The utility model discloses an embedded tracked vehicle action system and tracked vehicle, this embedded tracked vehicle action system includes driving wheel unit, supporting and carrying wheel assembly, tracked unit, frame assembly, guide wheel assembly and suspension device. This embedded tracked vehicle action system can form the tracked warehouse with bigger arrangement space, is convenient for modularization design to it, and its damping support, the performance of self -adaptation tensioned tracked is better.

Description

Technical Field

[0001] This utility model relates to an embedded tracked vehicle mobility system and a tracked vehicle. Background Technology

[0002] Existing dual-section tracked vehicles primarily utilize an optimized design for their rubber tracks and track tensioning devices, enabling them to traverse extremely harsh environments such as snow, deserts, and swamps. However, the existing track system occupies a significant amount of space within the track compartment, hindering the placement of power and energy equipment, impeding the modularization of tracked unmanned vehicles, and creating considerable difficulties in adapting to various platforms and equipment. Furthermore, the vibration damping support and self-adaptive track tensioning capabilities of existing tracked vehicle track systems still require improvement. Utility Model Content

[0003] In view of this, one objective of this utility model is to provide an embedded tracked vehicle mobility system with a track compartment having a large layout space and allowing for modular design; its vibration damping support and self-adaptive track tensioning performance are also good. Another objective of this utility model is to provide a tracked vehicle. This utility model achieves the above objectives using the following technical solutions.

[0004] On the one hand, this utility model provides an embedded tracked vehicle mobility system, including a drive wheel unit, a track support wheel assembly, a track unit, a frame assembly, an idler wheel assembly, and a suspension device;

[0005] The frame assembly includes a frame body, a front support assembly, a drive wheel support assembly, and a support assembly. The frame body has a cuboid-like frame structure. The front support assembly is located at the first end of the frame body, and the drive wheel support assembly is used to mount the drive wheel unit. The drive wheel support assembly is connected to the front support assembly, and the distance between them is adjustable. The support assembly is basically vertically arranged, and there are multiple of them, which are spaced apart along the length of the frame body on the same side.

[0006] The track roller assembly includes multiple track roller units, which are spaced apart on the top of the frame body along the length direction of the frame body;

[0007] The idler wheel assembly is located at the second end of the vehicle frame body and is configured to adaptively tension the tracks.

[0008] The suspension system includes multiple suspension units, each of which includes a road wheel assembly, a balance elbow, a damping assembly, and a swing arm assembly. The road wheel assembly includes a first road wheel assembly and a second road wheel assembly, which are spaced apart. The first road wheel assembly includes a first connecting shaft, and the second road wheel assembly includes a second connecting shaft. There are two balance elbows, namely a first balance elbow and a second balance elbow. The two balance elbows are located on both sides of the road wheel assembly. The two ends of the first balance elbow are hinged to the first connecting shaft and the second connecting shaft, respectively, and the two ends of the second balance elbow are hinged to the first connecting shaft and the second connecting shaft, respectively. The swing arm assembly includes a swing arm with a bent structure. One end of the swing arm is hinged to a third connecting shaft, which is configured to pass through the middle of the two balance elbows, and the other end of the swing arm is hinged to the crossbeam unit of the vehicle frame. The third connecting shaft, the first connecting shaft, and the second connecting shaft are parallel to each other. One end of the damping assembly is hinged to the third connecting shaft, and the other end is hinged to the support assembly. The track unit includes a track, which is arranged around the drive wheel unit, the track roller assembly, the idler wheel assembly, and the road wheel assembly. This design creates a spacious track compartment, providing ample space for power equipment and facilities, enabling a modular and integrated drive system. Furthermore, the tracked vehicle's motion system exhibits excellent shock absorption support and self-adaptive track tension, demonstrating strong adaptability and versatility. Additionally, the drive wheel unit can be moved, offering high flexibility. In this invention, the shock absorption assembly includes a first spring and a shock absorption support component. The first spring is wound around the shock absorption support component, with one end of the component hinged to a third connecting shaft and the other end hinged to the support assembly. This invention positions the drive wheel unit at the front of the track compartment, employing a front-wheel drive design. This results in a tracked vehicle with high-speed travel, strong traction and obstacle-crossing capabilities, flexible steering, and good stability. Especially when climbing slopes or traveling on undulating surfaces, it provides sufficient traction and support to ensure vehicle balance. The third connecting shaft can also be called a balance shaft.

[0009] According to the embedded tracked vehicle mobility system of this utility model, preferably, the main body of the frame has three longitudinal beams and one inner curved beam, which form the long side of a cuboid-like frame structure; wherein, the three longitudinal beams are a first longitudinal beam, a second longitudinal beam and a third longitudinal beam, the first longitudinal beam is located directly above the third longitudinal beam, and the second longitudinal beam is located basically directly above the inner curved beam; an upper crossbeam is provided between the first longitudinal beam and the second longitudinal beam;

[0010] The main body of the frame also includes a second vertical beam, which is located at the second end of the main body of the frame, away from the front support.

[0011] In this invention, the first, second, and third longitudinal beams are all arranged along the length of the main frame body, and their cross-sections are all L-shaped (i.e., angled beams) or hollow cuboid structures, preferably hollow cuboid structures. The inner curved beam is a hollow structure. This helps to reduce the weight of the frame while ensuring structural strength.

[0012] According to the embedded tracked vehicle mobility system of this utility model, preferably, the support components include a front support, a middle support, and a rear support;

[0013] The front support includes a first column, a first diagonal brace, a front bracket, and a front support column; the lower part of the front bracket is provided with a first shock absorber connection hole; there is one or more first columns, one end of which is connected to the second longitudinal beam and the other end is connected to the top of the front bracket; the front support column is horizontally arranged, one end of which is connected to one end of the front bracket and the other end is connected to the front bracket; one end of the first diagonal brace is connected to the other end of the front bracket and the other end is connected to the inner curved beam.

[0014] The central support includes a second column, a second diagonal brace beam, and a central bracket. The lower part of the central bracket is provided with a second vibration damper connection hole. There is one or more second columns, one end of which is connected to the second longitudinal beam and the other end is connected to the top of the central bracket. There are two second diagonal braces beams, which are symmetrically arranged. One end of each second diagonal brace beam is connected to both ends of the central bracket, and the other end is connected to the inner curved beam.

[0015] The rear support includes a third column, a third diagonal brace, a rear bracket, and a rear support column; the lower part of the rear bracket is provided with a third vibration damper connection hole; there is one or more third columns; one end of the third column is connected to the second longitudinal beam, and the other end is connected to the top of the rear bracket; one end of the third diagonal brace is connected to one end of the rear bracket, and the other end is connected to the inner curved beam, with the extension direction of the third diagonal brace facing the central support; the rear support column is horizontally arranged, with one end connected to the second vertical beam and the other end connected to the other end of the rear bracket. This helps to reduce weight while ensuring strength.

[0016] In this invention, the first, second, and third uprights, as well as the first, second, and third diagonal braces, are all essentially hollow cuboid structures. The ends of the first upright connected to the second longitudinal beam, the first diagonal brace connected to the inner curved beam, the second upright connected to the second longitudinal beam, the second diagonal brace connected to the inner curved beam, the third upright connected to the second longitudinal beam, and the third diagonal brace connected to the inner curved beam all employ a single-sided tenon joint structure. The first upright and the first diagonal brace are connected to the front support via mortise and tenon joints. The second upright and the second diagonal brace are connected to the middle support via mortise and tenon joints. The third upright and the third diagonal brace are connected to the rear support via mortise and tenon joints. This method of using rivets to secure the connections at corresponding connection points enhances the stability of the frame, improves the overall vehicle safety, and provides a degree of cushioning against vertical impacts when the vehicle is subjected to an impact.

[0017] The embedded tracked vehicle mobility system according to this utility model is preferably as follows:

[0018] The crossbeam unit of the main frame includes a load-bearing articulated beam, which consists of three parallel load-bearing articulated beams; each of these three load-bearing articulated beams is provided with a first articulated lug, a second articulated lug, and a third articulated lug.

[0019] The suspension unit is configured as three units, namely a first suspension unit, a second suspension unit, and a third suspension unit; one end of the swing arm of the first suspension unit is hinged to the first hinge lug; one end of the swing arm of the second suspension unit is hinged to the second hinge lug; one end of the swing arm of the third suspension unit is hinged to the third hinge lug; the swing arms of the first suspension unit and the second suspension unit are symmetrically arranged; the directions of the swing arms of the second suspension unit and the third suspension unit are basically the same.

[0020] The damping component of the first suspension unit is hinged to the front support; the damping component of the second suspension unit is hinged to the middle support; and the damping component of the third suspension unit is hinged to the rear support.

[0021] In this invention, the swing arm includes a single swing arm and a double swing arm arranged in parallel; a first balance elbow is located between the single and double swing arms; the double swing arm is located between the first and second balance elbows; both the single and double swing arms are provided with two elongated swing arm connecting holes; the swing arm connecting holes are designed for the reinforcing crossbeam to pass through. The first suspension unit, by being installed in reverse, can transmit the tension from the track to the swing arm, ensuring the dynamic stroke of the damping component and reducing the impact of track tension on the damping component. For example, when the tracked vehicle travels on off-road surfaces or obstacles such as trenches or vertical walls, the first two road wheels of the first suspension unit can swing around the third connecting shaft in the middle of the balance elbow under the action of the obstacle. At the same time, the damping component is compressed and absorbs vibration, ensuring the stability of the vehicle's operation, thereby improving the tracked vehicle's high-speed travel and obstacle-crossing ability.

[0022] The suspension system is mainly embedded in the lower part and sides of the chassis assembly, without encroaching on the internal space of the chassis assembly. This allows for full utilization of the track compartment space and provides a guarantee for the modular and integrated design of the drive system.

[0023] In this invention, each of the three load-bearing hinged beams includes a load-bearing beam body and hinge lugs. The load-bearing beam body can be a hollow cuboid structure, with single-sided tenon joints at both ends. The load-bearing beam body and the hinge lugs are joined by insertion welding.

[0024] The embedded tracked vehicle mobility system according to this utility model is preferably as follows:

[0025] The multiple track support roller units are designated as a first track support roller unit, a second track support roller unit, and a third track support roller unit; the third track support roller unit is disposed at the second end of the main frame body; the second track support roller unit is located between the first track support roller unit and the third track support roller unit; both the first track support roller unit and the second track support roller unit have one track support roller; the third track support roller unit has two parallel track support rollers.

[0026] The chassis assembly also includes a dust collection hood unit, which is mounted on the chassis body with its opening facing upwards. The dust collection hood unit includes a front dust collection hood, a middle dust collection hood, and a rear dust collection hood. The front dust collection hood is designed to collect dust and debris carried by the first track roller unit; the middle dust collection hood is designed to collect dust and debris carried by the second track roller unit; and the rear dust collection hood is designed to collect dust and debris carried by the third track roller unit. This keeps the tracked vehicle's running system clean and extends its service life. The track roller unit effectively reduces track running resistance, ensures smooth track operation, prevents track sagging and derailment, reduces additional wear caused by track sagging and vibration, and extends track service life. The track roller unit can be mounted on the top of the chassis body via a pin structure.

[0027] The embedded tracked vehicle mobility system according to this utility model is preferably as follows:

[0028] The front support frame comprises a rear panel, a lower support plate, a bottom load-bearing plate, and a front baffle. The rear panel is located at the first end of the main frame body. The lower support plate is a flat plate that is vertically connected to the lower part of the rear panel and is located away from the main frame body. The bottom load-bearing plate consists of multiple plates, all located below the lower support plate. The front baffle is connected to the end face of the bottom load-bearing plate away from the rear panel.

[0029] The drive wheel bracket comprises a drive wheel upright plate, a front connecting plate, a secondary upright plate, a drive wheel base plate, and a guide plate. The drive wheel upright plate, front connecting plate, secondary upright plate, and drive wheel base plate together form a space for mounting the drive wheel unit. The drive wheel upright plate and secondary upright plate are positioned opposite each other and are perpendicularly connected to the front connecting plate and drive wheel base plate, with the drive wheel base plate located at the bottom. The front connecting plate is connected to the rear back plate of the vehicle head bracket, and the distance between them is adjustable. The bottom of the secondary upright plate has a secondary upright plate groove with an L-shaped cross-section. The guide plate has an L-shaped cross-section and is connected to one end of the drive wheel base plate. The guide plate and the secondary upright plate groove are positioned opposite each other. The guide plate, secondary upright plate groove, and drive wheel base plate together form a limiting guide rail for limiting the movement of the lower support plate of the vehicle head bracket.

[0030] The embedded tracked vehicle mobility system also includes a track limiter, one end of which is fixed to the front baffle, and the other end is configured to contact the track. This allows the drive wheel unit to be moved, improving operational flexibility. The track limiter can be used to limit and guide the track.

[0031] In this invention, the front support assembly is connected to the ends of the first and second longitudinal beams, and can be limited and fixed to the third longitudinal beam and the inner curved beam by limiting blocks. The front support assembly is used to fix the drive wheel support assembly. The angle between the front baffle and the bottom load-bearing plate is less than 90° and greater than 45°. The drive wheel unit is located at the front end of the track compartment and is installed to the drive wheel support assembly of the frame assembly via a drive shaft. Driven by a motor and reducer, the drive wheel rotates and its speed can be adjusted, enabling the drive wheel to drive the track unit, thereby realizing vehicle operation.

[0032] According to the embedded tracked vehicle motion system of the present invention, preferably, the idler wheel assembly includes an idler wheel unit, a rocker arm unit, and an adaptive adjuster;

[0033] The inducer unit includes a first inducer, a second inducer, and an inducer central shaft. The first inducer and the second inducer are parallel to each other and are sleeved on the inducer central shaft. A first support sleeve is provided between them.

[0034] The rocker arm unit includes a rocker arm body and a lower hinge point shaft; the rocker arm body has a first end and a second end arranged opposite to each other along its length direction, the first end is provided with a first hole, the first hole is configured to allow the central shaft of the inducer wheel to pass through, and a second support sleeve is provided between the first end and the first inducer wheel; the second end is provided with a second hole, the second hole is configured to allow the lower hinge point shaft to pass through; a groove is provided on the top of the first end of the rocker arm body;

[0035] The rocker arm body is configured to be connected to the frame assembly via the lower hinge point axis;

[0036] One end of the adaptive adjuster is hinged to the rocker arm body, and this end is located within the groove; the other end of the adaptive adjuster is configured to be connected to the frame assembly via an upper hinge point shaft. The frame assembly, the adaptive adjuster, and the rocker arm body form a triangular stable tensioning device, which continuously provides tension to the track through the idler wheel assembly and plays a limiting and guiding role to prevent the track from slipping off.

[0037] The embedded tracked vehicle mobility system according to this utility model is preferably as follows:

[0038] The adaptive adjuster includes a vibration damping support body, a first ball joint bearing, a second ball joint bearing, and a second spring. The vibration damping support body consists of a thick section and a thin section. One end of the thick section is provided with an upper stop block, and the thick section has a receiving cavity filled with buffer putty. One end of the thin section is provided with a lower stop block, and the other end of the thin section has a T-shaped cross-section. At least a portion of the T-shaped structure is located within the receiving cavity and is configured to move within the receiving cavity along the length direction of the vibration damping support body, thereby forming a buffer cavity. The first ball joint bearing is connected to one side of the lower stop block and is located away from the upper stop block, and is situated within the groove. The second ball joint bearing is connected to one side of the upper stop block and is located away from the lower stop block. The second spring is wound around the outer surface of the vibration damping support body and is located between the upper and lower stop blocks.

[0039] The idler wheel unit further includes a sealing ring and a third support sleeve; the sealing ring is sleeved on the central shaft of the idler wheel and is used to limit the movement of the first and second idler wheels; the third support sleeve is sleeved on the central shaft of the idler wheel and is located on the side of the second idler wheel away from the first idler wheel. The idler wheel assembly of this invention can sense and automatically adjust in a timely manner, keeping the track always under tension. The structure of the idler wheel assembly is convenient for installation and maintenance.

[0040] The embedded tracked vehicle mobility system according to this utility model is preferably as follows:

[0041] The frame assembly also includes an idler wheel support, which is vertically disposed at the second end of the frame body, with its upper end connected to the first longitudinal beam and its lower end connected to the third longitudinal beam;

[0042] The second ball joint bearing is configured to be connected to the inducer support via the upper hinge point shaft;

[0043] Both the upper hinge point and the lower hinge point are arranged along the length direction perpendicular to the main body of the vehicle frame.

[0044] On the other hand, the present invention also provides a tracked vehicle, including the embedded tracked vehicle mobility system described above.

[0045] This utility model's embedded tracked vehicle mobility system features a spacious track compartment, providing ample space for power equipment and facilities, enabling a modular and integrated design for drive and mobility. Furthermore, it boasts excellent vibration damping support and adaptive track tensioning performance. The suspension system is embedded and hinged to the frame assembly, ensuring a robust and reliable connection without encroaching on the frame assembly's internal space. Moreover, this mobility system facilitates weight reduction while maintaining high structural strength, addressing to some extent the contradiction between high strength requirements and relatively heavy weight in existing tracked mobility systems. The rationally arranged track support rollers provide excellent support and effectively prevent track sagging. The idler wheel assembly can adaptively adjust to maintain track tension, enhancing traction and mobility, and reducing the risk of track slippage due to loose tracks. Overall, this mobility system features high transmission efficiency, strong load-bearing capacity, strong traction and obstacle-crossing ability, flexible steering, a simple overall structure, robust and reliable connections, strong terrain adaptability, and good passability, enabling high-speed travel on paved roads and rapid travel on off-road terrain. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the structure of an embedded tracked vehicle mobility system according to the present invention.

[0047] Figure 2 This is a three-dimensional structural diagram of a vehicle frame assembly according to the present invention.

[0048] Figure 3 for Figure 2 A schematic diagram of the three-dimensional structure rotated 180° along the paper.

[0049] Figure 4 This is a schematic diagram of the structure of the vehicle head support of this utility model.

[0050] Figure 5 This is a schematic diagram of the structure of the drive wheel bracket of this utility model.

[0051] Figure 6This is a schematic diagram showing the connection state of the front support and drive wheel support components of this utility model.

[0052] Figure 7 This is a structural schematic diagram of the load-bearing hinged beam of this utility model.

[0053] Figure 8 This is a schematic diagram of the front support structure of this utility model.

[0054] Figure 9 This is a schematic diagram of the rear support structure of this utility model.

[0055] Figure 10 This is a schematic diagram of the central support structure of this utility model.

[0056] Figure 11 This is a schematic diagram of the front dust cover of this utility model.

[0057] Figure 12 This is a schematic diagram of the structure of the dust collection hood of this utility model.

[0058] Figure 13 This is a schematic diagram of the rear dust cover of this utility model.

[0059] Figure 14 This is a schematic diagram of the structure of the inducer support of this utility model.

[0060] Figure 15 This is a schematic diagram of the bottom crossbeam of this utility model.

[0061] Figure 16 This is a schematic diagram of the suspension unit of this utility model.

[0062] Figure 17 This is a schematic diagram showing the relative positional relationship between the suspension unit, the frame assembly, and the tracks of this utility model.

[0063] Figure 18 This is a schematic diagram of the structure of the swing arm of this utility model.

[0064] Figure 19 This is a schematic diagram of the suspension unit of this utility model, which includes a reinforcing crossbeam.

[0065] Figure 20 for Figure 18 A top view of the structure consisting of the swing arm.

[0066] Figure 21 This is a schematic diagram showing the relative positions of the idler wheel assembly and the frame assembly of this utility model.

[0067] Figure 22 This is a schematic diagram of the structure of the inducer assembly of this utility model.

[0068] Figure 23 This is a partial schematic diagram of the rocker arm unit of this utility model.

[0069] Figure 24 for Figure 22 A cross-sectional diagram in one direction.

[0070] Figure 25 for Figure 22 A cross-sectional view from another direction.

[0071] Figure 26 This is a schematic diagram of the adaptive adjuster of this utility model.

[0072] Figure 27 for Figure 25 A cross-sectional schematic diagram.

[0073] Figure 28 This is a cross-sectional schematic diagram of the pin used in the inducer assembly of this utility model.

[0074] Figure 29 This is a cross-sectional schematic diagram of the central shaft of the inducer wheel of this utility model.

[0075] The annotations in the attached figures are explained as follows:

[0076] 10-Drive wheel unit, 21-First track roller unit, 22-Second track roller unit, 23-Third track roller unit, 30-Track; 40-Frame assembly, 41-Frame body, 411-Inner curved beam, 412-First longitudinal beam, 413-Second longitudinal beam, 414-Third longitudinal beam, 4151-First vertical beam, 4152-Second vertical beam, 4153-Third vertical beam, 4154-Fourth vertical beam, 4155-Modible vertical beam, 4161-Rear crossbeam, 4162-Bottom crossbeam, 41622-First opening, 41623-Second opening; 42-Front end support assembly, 421-Upper bracket, 422-Upper bracket reinforcing rib, 423-Front end support rear plate, 4233 -Limiting block, 424-Lower support plate of the front bracket, 425-Bottom load-bearing plate, 426-Front baffle; 43-Drive wheel bracket assembly, 431-Drive wheel upright plate, 432-Front connecting plate, 433-Reinforcing plate, 434-Reinforcing seat, 435-Secondary upright plate, 436-Wear-resistant sleeve mounting seat, 437-Drive wheel base plate, 438-Guide plate; 44-Load-bearing hinge beam assembly, 441-Load-bearing hinge beam, 4411-Load-bearing beam body, 4412-Hinge ear, 44121-Hinge hole; 451-Front support, 4511-Front support column, 4512-First column, 4513-First diagonal brace beam, 4514-Front bracket, 452-Middle support, 4521-Second column, 4 522-Second diagonal brace beam, 4523-Middle support, 453-Rear support, 4531-Third column, 4532-Third diagonal brace beam, 4533-Rear support, 4534-Rear support column; 450-Shock absorber connection hole; 461-Front dust hood, 4612-U-shaped opening, 462-Middle dust hood, 4621-Square opening, 463-Rear dust hood, 4631-Arched base plate, 4632-Fan-shaped side plate; 47-Idler wheel support, 471-Idler wheel rear beam, 472-Idler wheel attachment, 473-Support column; 401-First reinforcing angle bracket, 402-Second reinforcing angle bracket, 403-Third reinforcing angle bracket; 70-Idler wheel assembly, 711-First idler wheel 712-Second inducer wheel, 713-Inducer wheel central shaft, 715-First support sleeve, 714-Second support sleeve, 716-Third support sleeve, 717-Sealing ring; 7131-Oil injection hole, 7133-Oil drain hole, 7132-Central shaft oil cup; 72-Rock arm unit, 721-First hole, 722-Second hole, 723-Groove, 724-Lower hinge point shaft, 725-Sliding bearing, 726-Adjusting pad; 73-Adaptive adjuster, 7301-Buffer chamber, 7311-First ball joint bearing, 7312-Second ball joint bearing, 732-Upper stop block, 733-Lower stop block, 734-Second spring; 74-Pin shaft, 742-Oil outlet hole; 75-Upper hinge point shaft;80-Suspension device; 81-Road wheel assembly; 82-Balance elbow; 821-First balance elbow; 83-Swing arm assembly; 831-Single swing arm; 8321-Swing arm reinforcing sleeve; 833-Reinforcing crossbeam; 8331-Round hole key; 8332-First reinforcing crossbeam; 8333-Second reinforcing crossbeam; 84-Vibration damping assembly; 841-First spring; 85-Limit sleeve; 87-Limit pointer; 801-Swing arm weight reduction hole; 802-Swing arm connecting hole; 90-Track limiter; 100-Track compartment. Detailed Implementation

[0077] The present invention will be further described below with reference to specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0078] Example 1

[0079] like Figures 1 to 29 As shown, the embedded tracked vehicle mobility system of this utility model includes a drive wheel unit 10, a track roller assembly, a track unit, a frame assembly 40, an idler wheel assembly 70, a suspension device 80, and a track limiter 90. The track unit includes a track 30.

[0080] like Figures 1 to 15 As shown, a frame assembly 40 in this embodiment includes a frame body 41, a front support assembly 42, a drive wheel support assembly 43, a support assembly, a dust cover unit, and an idler wheel support 47.

[0081] like Figure 2 As shown, the main frame 41 is a cuboid-like frame structure with accommodating space. The main frame 41 has three longitudinal beams and one inner curved beam 411, forming the four long sides of the cuboid-like frame structure. The three longitudinal beams are designated as the first longitudinal beam 412, the second longitudinal beam 413, and the third longitudinal beam 414. The first longitudinal beam 412 is located directly above the third longitudinal beam 414, and the second longitudinal beam 413 is approximately directly above the inner curved beam 411. All three longitudinal beams and the inner curved beam 411 are hollow frame structures. This type of main frame 41 facilitates the formation of a larger track compartment 100, providing sufficient space for the installation of power equipment, cooling systems, cable conduits, and other facilities, enabling a modular and integrated design of the drive system.

[0082] like Figure 2As shown, the inner curved beam 411 has three arc-shaped segments and two straight segments, which are spaced apart and arranged in the following order: arc-shaped segment, straight segment, arc-shaped segment, straight segment, and arc-shaped segment. One of the arc-shaped segments is located approximately in the middle of the inner curved beam 411; the protrusion of the arc-shaped segment faces the third longitudinal beam 414. The inner curved beam 411 can be integrally molded, resulting in high structural strength. The structure of the arc-shaped segments provides space for the vibration damping assembly 84, which is used to embed and install the suspension unit.

[0083] like Figure 2 and Figure 3 As shown, the frame body 41 also includes multiple vertical beams, namely a first vertical beam 4151, a second vertical beam 4152, a third vertical beam 4153, a fourth vertical beam 4154, and a movable vertical beam 4155. The first vertical beam 4151 is located near the front support assembly 42, and its two ends are connected to the straight sections of the second longitudinal beam 413 and the inner curved beam 411, respectively. The second vertical beam 4152 is located at the second end of the frame body 41, and its two ends are connected to the arc-shaped sections of the second longitudinal beam 413 and the inner curved beam 411, respectively. The first vertical beam 4151 is located between the front support 451 and the middle support 452. The third vertical beam 4153 is located near the idler wheel support 47. The two ends of the third vertical beam 4153 are connected to the first longitudinal beam 412 and the third longitudinal beam 413, respectively. The top of the fourth vertical beam 4154 is near the front dust cover 461. The two ends of the fourth vertical beam 4154 are connected to the first longitudinal beam 412 and the third longitudinal beam 413, respectively. The movable vertical beam 4155 is located between the third vertical beam 4153 and the fourth vertical beam 4154, and is connected to the first longitudinal beam 412 and the third longitudinal beam 413 respectively. The top of the movable vertical beam 4155 is close to the central dust hood 462. Second reinforcing angle brackets 402 are respectively installed at the connection points between the movable vertical beam 4155 and the first longitudinal beam 412 and the third longitudinal beam 413. The second reinforcing angle bracket 402 includes a bracket body and a reinforcing rib. The cross-section of the bracket body is similar to an L-shape, and the reinforcing rib is located in the middle of the bracket body and is similar to a trapezoid. The movable vertical beam 4155 is an angled beam, i.e., its cross-section is L-shaped. The design structure of the movable vertical beam 4155 and the second reinforcing angle bracket 402 facilitates adjustment, increases the degree of freedom, and ensures the overall strength of the reinforced side structure.

[0084] The frame body 41 also includes a crossbeam unit, which comprises a rear crossbeam 4161, a bottom crossbeam 4162, an upper crossbeam, and a load-bearing hinged beam 44. The upper crossbeam consists of multiple beams, with both ends connected to the first longitudinal beam 412 and the second longitudinal beam 413, respectively. Specifically, the upper crossbeam includes three large crossbeams and multiple small crossbeams. The three large crossbeams are distributed at both ends and near the middle of the frame body 41. The small crossbeams can be used to fix the front dust cover 461 and the middle dust cover 462. The rear crossbeam 4161 is arranged laterally at the lower part of the frame body 41, and is connected to the second vertical beam 4152 and the rear vertical beam 471 of the idler wheel support 47, respectively. The rear crossbeam 4161 includes a rear crossbeam body and reinforcing ribs. The rear crossbeam body has an L-shaped cross section, i.e., an angled beam. The rear crossbeam body has two or more triangular reinforcing ribs. The rear crossbeam 4161 is responsible for connecting and reinforcing the two vertical beams at the rear (i.e., the second end) of the frame body 41, mainly bearing lateral impact forces and improving vehicle stability.

[0085] like Figure 3 and Figure 15 As shown, the bottom crossbeam 4162 is located at the bottom of the frame body 41, and is connected to the raised surfaces of the arc-shaped segments at the ends of the third longitudinal beam 413 and the inner curved beam 411, respectively, near the rear crossbeam 4161. The bottom crossbeam 4162 has a groove structure with a U-shaped cross-section, the U-shaped groove opening facing downwards. At least one side wall of the groove structure is provided with a first opening 41622 and a second opening 41623. The first opening 41622 is U-shaped, the second opening 41623 is U-shaped, and the area of ​​the second opening 41623 is larger than the area of ​​the first opening 41622. A square reinforcing rib is also provided inside the groove structure of the bottom crossbeam 4162. The first opening 41622, the second opening 41623, and the U-shaped groove opening facilitate cable routing. The bottom crossbeam 4162 is responsible for connecting the third longitudinal beam 413 and the inner curved beam 411, strengthening the overall vehicle structure, and providing holes for related equipment and mounting brackets.

[0086] like Figure 2 , Figure 3 and Figure 7 As shown, the load-bearing articulated beam assembly 44 is arranged laterally at the bottom of the frame body 41, and it can be hinged to the swing arm assembly 83 of the suspension unit. The load-bearing articulated beam assembly 44 includes three parallel load-bearing articulated beams 441 (namely, the first load-bearing articulated beam, the second load-bearing articulated beam, and the third load-bearing articulated beam), Figure 2In the middle (arranged from left to right), one end of the load-bearing articulated beam 441 is connected to the inner curved beam 411, and the other end is connected to the third longitudinal beam 414. Two of the load-bearing articulated beams 441 (i.e., the first and second load-bearing articulated beams) are positioned near the front support frame 42, and one end of the other load-bearing articulated beam 441 (i.e., the third load-bearing articulated beam) is connected near the middle of the inner curved beam 411. For example... Figure 7 As shown, the load-bearing hinged beam 441 includes a load-bearing beam body 4411 and hinge ears 4412. The load-bearing beam body 4411 is formed by a main body portion and two end connecting portions. The main body portion is a hollow cuboid structure, and the end connecting portions form an L-shaped structure with the opening of the L-shaped structure facing upwards. The end connecting portions are connected to the third longitudinal beam 414 and the inner curved beam 411, respectively. There are multiple hinge ears 4412, which are arranged in parallel. The hinge ears 4412 are provided with hinge holes 44121 for connecting with the swing arm of the suspension unit via connectors to form a hinge 83. The hinge lug 4412 includes a hinge portion and a connecting portion. The hinge portion has a hinge hole 44121. One end face of the hinge portion has an arc-shaped structure, and the other end face has a planar structure. The connecting portion consists of two connecting posts, which are perpendicularly connected to the planar end face of the hinge portion. One connecting post is inserted into the main body of the load-bearing beam 4411, and the other connecting post is located below the main body of the load-bearing beam 4411 and can be connected by welding. A bushing can be installed inside the hinge hole 44121. The load-bearing beam 4411 can be formed of a high-strength lightweight alloy. The two load-bearing hinge beams 441 near the front support component 42 are arranged symmetrically. The hinge lugs 4412 on the three load-bearing hinge beams 441 are designated as the first hinge lug, the second hinge lug, and the third hinge lug.

[0087] like Figures 2 to 4 , Figure 6As shown, the front support assembly 42 is located at the first end of the frame body 41. The front support assembly 42 includes an upper bracket 421, an upper bracket reinforcing rib 422, a front support rear panel 423, a front support lower support plate 424, a bottom load-bearing plate 425, and a front baffle 426. The front support rear panel 423 is a plate-like structure with a generally rectangular main body. The main body has connecting holes and weight-reducing holes. One corner of the top of the main body extends along its height and width directions to form an extension. L-shaped limiting blocks 4233 are provided on both sides of the bottom of the main body, used to limit the third longitudinal beam 414 and the inner curved beam 411, respectively. The upper edge of the front support rear panel 423 is connected to the end face of the first longitudinal beam 412 and the end face of the second longitudinal beam 413 of the frame body 41. The upper bracket 421 has a horizontally connected portion and a vertically connected portion, and the cross-section of the upper bracket 421 is L-shaped. The ends of both the horizontal and vertical portions of the upper bracket 421 are connected to the extension of the rear back plate 423 of the front support. The upper bracket reinforcing rib 422 is triangular and is connected to both the vertical portion of the upper bracket 421 and the extension of the rear back plate 423 of the front support. The lower support plate 424 of the front support is a flat plate structure, horizontally positioned, vertically connected to the lower part of the rear back plate 423 of the front support, and located away from the frame body 41. The end of the lower support plate 424 away from the rear back plate 423 is recessed inwards (i.e., facing the rear back plate 423 of the front support). The lower support plate 424 of the front support has weight-reducing holes and connecting holes. The bottom load-bearing plate 425 is located below the lower support plate 424 of the front support. The bottom load-bearing plate 425 consists of multiple parallel pieces, all vertically positioned. The main body of the bottom load-bearing plate 425 consists of an upper section and a lower section arranged sequentially. The upper section is basically rectangular in shape, and its top is connected to the bottom of the lower support plate 424 of the front support. The upper section has an elliptical hole, the length of which is horizontal. The lower section has an arc-shaped structure and a circular hole, the diameter of which is smaller than the horizontal length of the upper section. Block-shaped protrusions are provided on the surface of the upper section away from the rear support plate 423. Figure 1 and Figure 6 As shown, the front baffle 426 is connected to the end face of the bottom load plate 425 away from the rear back plate 423 of the front support.

[0088] like Figure 2 , Figure 3 , Figure 5 and Figure 6As shown, the drive wheel bracket assembly 43 is connected to the front bracket assembly 42 and is used to install the drive wheel unit 10. The drive wheel bracket assembly 43 includes a drive wheel upright plate 431, a front connecting plate 432, a reinforcing plate 433, a reinforcing seat 434, a secondary upright plate 435, a wear-resistant sleeve mounting seat 436, a drive wheel base plate 437, and a guide plate 438. Among them, the drive wheel upright plate 431, the front connecting plate 432, the secondary upright plate 435, and the drive wheel base plate 437 form a space for accommodating the drive wheel of the drive wheel unit 10. The drive wheel upright plate 431 and the secondary upright plate 435 are arranged opposite each other, and both are perpendicularly connected to the front connecting plate 432 and the drive wheel base plate 437, with the drive wheel base plate 437 located at the bottom. A secondary upright plate 435 has a secondary upright plate hole in its middle, a wear-resistant sleeve mounting seat 436 at one of its top corners, and a secondary upright plate groove with an L-shaped cross-section at its bottom. A reinforcing plate 433 and a reinforcing seat 434 are respectively mounted on the front connecting plate 432, with the reinforcing plate 433 located above the reinforcing seat 434, and both the reinforcing plate 433 and the reinforcing seat 434 located outside the space used to accommodate the drive wheel. A drive wheel upright plate hole (for mounting the reducer) is provided on the drive wheel upright plate 431. The guide plate 438 has an L-shaped cross-section and is connected to one end of the drive wheel base plate 437. The guide plate 438 and the secondary upright plate groove are opposite each other, forming a limiting guide rail for limiting the movement of the lower support plate 424 of the front bracket.

[0089] The front connecting plate 432 is fixed to the rear plate 423 of the front bracket by bolts (preferably long bolts), and the distance between them can be adjusted. The upper bracket 421 is connected to the drive wheel upright plate 431, with the lateral portion of the upper bracket 421 located above the drive wheel upright plate 431, and the vertical portion of the upper bracket 421 fitting against the outer surface of the drive wheel upright plate 431 (relative to the inner surface forming the receiving space for mounting the drive wheel). Figure 2 and Figure 6 As shown, the front baffle 426 is located below the drive wheel base plate 437.

[0090] In use, the lower support plate 424 of the front bracket is fixed in relative position to the main body 41 of the frame, while the front connecting plate 432 and the rear back plate 423 of the front bracket allow the drive wheel bracket assembly 43 to be moved back and forth, thereby adjusting the position of the drive wheel. Figure 5 and Figure 6As shown, the reinforcing plate 433 and the reinforcing seat 434 can be fixed with long bolts, thereby fixing the front connecting plate 432 and the rear plate 423 of the front bracket with long bolts. This helps to ensure that the overall structure is firmly fixed after adjustment when moving the drive wheel bracket assembly 43. The four plates, namely the drive wheel upright plate 431, the front connecting plate 432, the auxiliary upright plate 435, and the drive wheel base plate 437, are connected to each other by mortise and tenon joints and welding, forming the main frame of the drive wheel bracket assembly 43. The mortise and tenon joint and welding connection method not only ensures the accuracy of positioning but also guarantees the strength of the main frame.

[0091] like Figure 1 As shown, a track limiter 90 is mounted on the front baffle 426. The track limiter 90 limits and guides the tracked vehicle during travel, turning, and center steering, preventing track 30 from slipping off. The track limiter 90 includes track limiting blocks and buffer rubber pads. Multiple buffer rubber pads can be provided, with a circular outer contour. These multiple buffer rubber pads are stacked. Multiple track limiting blocks, for example, three or more, form a truncated pyramid structure on their sides, and their tops are connected to the buffer rubber pads. Weight-reducing holes are provided on the track limiting blocks. The end face of the buffer rubber pad away from the track limiting block is connected to the front baffle 426 by bolts. In use, the end of the track limiting block away from the buffer rubber pad is in contact with the track 30.

[0092] like Figure 2 , Figure 8 , Figure 9 , Figure 10As shown, the support components of the frame body 41 are vertically arranged and can be hinged to the damping components 84 of the suspension unit. The support components include a front support 451, a middle support 452, and a rear support 453. The front support 451 is located near the front support component 42 and includes a front support column 4511, a first column 4512, a first diagonal brace beam 4513, and a front bracket 4514. The front support 451 is connected to the second longitudinal beam 413 through the first column 4512 and to the inner curved beam 411 through the first diagonal brace beam 4513. The outer contour of the front bracket 4514 consists of a vertically arranged cuboid and an inverted trapezoidal platform; the lower part of the inverted trapezoidal platform is provided with a damper connection hole 450 (i.e., the first damper connection hole). There are two first columns 4512, which are parallel to each other and both are vertically arranged. One end of each of the two first uprights 4512 is connected to the top of the cuboid of the front support 4514, and the other end is connected to the second longitudinal beam 413. The front support column 4511 is horizontally positioned, with one end connected to one end of the cuboid of the front support 4514, and the other end connected to the front support assembly 42. The end of the first diagonal brace 4513 furthest from the inner curved beam 411 is connected to the other end of the cuboid of the front support 4514. An acute angle is formed between the central axis of the first diagonal brace 4513 and the central axis of the front support 4514.

[0093] like Figure 2 and Figure 9 As shown, the rear support 453 includes a third column 4531, a third diagonal brace 4532, a rear bracket 4533, and a rear support column 4534. The rear support 453 is located near the second end of the frame body 41 (i.e., the end away from the front bracket assembly 42), and is connected to the second longitudinal beam 413 via the third column 4531, and to the inner curved beam 411 via the third diagonal brace 4532. There are two third columns 4531, which are parallel to each other and vertically arranged. The outer contour of the rear bracket 4533 consists of a vertically arranged cuboid and an inverted trapezoidal platform; the lower part of the inverted trapezoidal platform is provided with a shock absorber connection hole 450 (i.e., the third shock absorber connection hole). One end of the third diagonal brace 4532 is connected to one end of the cuboid of the rear bracket 4533, and the extension direction of the third diagonal brace 4532 faces the front support 451. The rear support column 4534 is horizontally positioned, with one end connected to the other end of the cuboid of the rear bracket 4533, and the other end connected to the second vertical beam 4152. The rear support column 4534 is vertically connected to the second vertical beam 4152. The central axis of the third diagonal brace beam 4532 forms an acute angle with the central axis of the rear bracket 4533.

[0094] like Figure 2 and Figure 10As shown, the central support 452 is located between the front support 451 and the rear support 453. The central support 452 includes a second column 4521, a second diagonal brace 4522, and a central bracket 4523. The central support 452 is connected to the second longitudinal beam 413 via the second column 4521 and to the inner curved beam 411 via the second diagonal brace 4522. There are two second columns 4521, which are parallel to each other and vertically arranged. There are two second diagonal braces 4522, which are symmetrically arranged. The outer contour of the central bracket 4523 consists of a cuboid arranged vertically and an inverted trapezoidal platform; the lower part of the inverted trapezoidal platform is provided with a vibration damper connection hole 450 (i.e., a second vibration damper connection hole). The two second columns 4521 are respectively connected to the top of the cuboid of the central bracket 4523. One end of each of the two second diagonal bracing beams 4522 is connected to one end of the cuboid of the central support 4523, and the other end is connected to the inner curved beam 411. The central axis of the second diagonal bracing beams 4522 and the central axis of the central support 4523 form an acute angle.

[0095] Each damper connection hole 450 is used for hinged connection with the damping assembly 84 of the suspension unit via a connector. For example... Figure 2 As shown, a third reinforcing bracket 403 is provided at the connection points of the first diagonal bracing beam 4513, the second diagonal bracing beam 4522, and the third diagonal bracing beam 4532 with the inner curved beam 411. The cross-section of the third reinforcing bracket 403 is similar to an L-shape.

[0096] The first column 4512, the second column 4521, the third column 4531, the first diagonal brace 4513, the second diagonal brace 4522, and the third diagonal brace 4532 all adopt a single-sided tenon and mortise structure. The first diagonal brace 4513 and the front support 4514, the second diagonal brace 4522 and the middle support 4523, the third diagonal brace 4532, and the rear support 4533 are connected by mortise and tenon joints.

[0097] like Figure 2 , Figure 3 and Figure 14 As shown, the idler wheel support 47 is vertically disposed at the second end of the frame body 41 (i.e., the end away from the front support assembly 42), and is used to mount the idler wheel assembly 70. Its upper end is connected to the first longitudinal beam 412, and its lower end is connected to the third longitudinal beam 414. Specifically, the idler wheel support 47 includes an idler wheel rear upright beam 471, an idler wheel attachment 472, and a support column 473. The top end of the idler wheel rear upright beam 471 is connected to the first longitudinal beam 412, and the bottom end is connected to the third longitudinal beam 414. The idler wheel attachment 472 is disposed in the upper middle part of the idler wheel rear upright beam 471. The support column 473 is cylindrical, vertically connected to the idler wheel rear upright beam 471, and is disposed towards the second vertical beam 4152. A reinforcing plate is installed around the part of the idler wheel rear upright beam 471 where the support column 473 is disposed. The idler wheel attachment 472 is close to the support column 473.

[0098] like Figure 2 , Figure 3 , Figures 11 to 13 As shown, the dust collection hood unit is disposed between the first longitudinal beam 412 and the second longitudinal beam 413, with the opening of the dust collection hood unit facing upwards. The dust collection hood unit includes a front dust collection hood 461, a middle dust collection hood 462, and a rear dust collection hood 463. The front dust collection hood 461 and the middle dust collection hood 462 are respectively located above the first load-bearing hinge beam and the second load-bearing hinge beam, while the rear dust collection hood 463 is disposed at the second end of the frame body 41 away from the front support component 42. The outer contour of the front dust collection hood 461 has a semi-circular structure with a accommodating space. Its top is fixed to a small crossbeam, and both ends of the small crossbeam are fixed to the first longitudinal beam 412 and the second longitudinal beam 413. A U-shaped opening 4612 is provided at the top of one side wall of the front dust collection hood 461, which is close to the second longitudinal beam 413. A discharge port is provided at the bottom of the front dust collection hood 461. The outer contour of the central dust cover 462 is a semi-circular structure with an accommodating space. Its top is fixed to the main crossbeam, and a first reinforcing bracket 401 is provided at the connection between the main crossbeam and the first longitudinal beam 412 and the second longitudinal beam 413. The shape of the first reinforcing bracket 401 is basically the same as that of the second reinforcing bracket 402. The first reinforcing bracket 401 and the second reinforcing bracket 402 play a reinforcing role, which can enhance the structural strength of the entire vehicle, reduce the impact and vibration borne by various parts, extend the service life of the frame, and improve the installation accuracy of equipment and structure.

[0099] The center dust hood 462 has square openings 4621 on both ends, and the line connecting the center points of the two square openings 4621 extends in the same direction as the length of the frame body 41. A discharge port is located at the bottom of the center dust hood 4622. The rear dust hood 463 is formed by an arc-shaped base plate 4631 and two fan-shaped side plates 4632, which are connected to both sides of the arc-shaped base plate 4631. One end of the arc-shaped base plate 4631 is connected to the main crossbeam, one fan-shaped side plate 4632 is connected to the second longitudinal beam 413, and the other fan-shaped side plate 4632 is connected to a connecting seat, which is connected to both the main crossbeam and the first longitudinal beam 412. A large V-shaped recess is provided on the top surface of the fan-shaped side plate 4632. The dust collection hood unit can be welded together from thin plates and lightweight alloys, and is used for collecting dust and debris (in this utility model, dust and debris include dust, mud, sand, rain and snow, etc.).

[0100] like Figure 1 and Figure 2As shown, the track roller assembly includes multiple track roller units, which are spaced apart on the top of the frame body 41 along its length. The multiple track roller units are a first track roller unit 21, a second track roller unit 22, and a third track roller unit 23. The third track roller unit 23 is located at the second end of the frame body 41. The second track roller unit 22 is located between the first track roller unit 21 and the third track roller unit 23. Both the first track roller unit 21 and the second track roller unit 22 have one track roller. The third track roller unit 23 has two parallel track rollers. A portion of the track roller of the first track roller unit 21 is located within a front dust hood 461, which collects dust and debris carried by the first track roller unit 21. A portion of the track roller of the second track roller unit 22 is located within a middle dust hood 462, which collects dust and debris carried by the second track roller unit 22. A portion of the pulley of the third pulley unit 23 is located inside the rear dust hood 463, which is capable of collecting dust and debris carried by the third pulley unit 23.

[0101] like Figure 1 , Figures 16 to 20 As shown, the suspension device 80 includes multiple suspension units, specifically a first suspension unit, a second suspension unit, and a third suspension unit. Each suspension unit includes a load-bearing wheel assembly 81, a balance elbow 82, a damping assembly 84, and a swing arm assembly 83, as well as a limit sleeve 85 and a limit pointer 87.

[0102] like Figure 16 As shown, the road wheel assembly 81 includes a first road wheel assembly and a second road wheel assembly, which are spaced apart. The first road wheel assembly includes a first road wheel and a first connecting shaft, which is perpendicularly connected to the middle of the first road wheel. The second road wheel assembly includes a second road wheel and a second connecting shaft, which is perpendicularly connected to the middle of the second road wheel. The structure of the first road wheel assembly is the same as that of the second road wheel assembly. Specifically, the first road wheel assembly includes two first road wheels and a first connecting shaft; the two first road wheels are fixedly connected by a connecting sleeve, and the first connecting shaft is perpendicularly connected to the middle of each of the two first road wheels. The first connecting shaft is hinged to a first balance elbow 821 and a second balance elbow. The second connecting shaft is hinged to both the first balance elbow 821 and the second balance elbow.

[0103] like Figure 16 and Figure 19As shown, two balance elbows 82 are provided, namely a first balance elbow 821 and a second balance elbow. The two balance elbows are located on both sides of the load-bearing wheel assembly 81, that is, the load-bearing wheel assembly 81 is located between the two balance elbows 82. The two ends of the first balance elbow 821 are hinged to one end of the first connecting shaft and one end of the second connecting shaft, respectively. The two ends of the second balance elbow are hinged to the other ends of the first connecting shaft and the other end of the second connecting shaft, respectively. The second balance elbow is close to the vibration damping assembly 84. Both balance elbows 82 are provided with elongated holes for weight reduction. The balance elbow 82 is basically an elongated structure, with symmetrical arc-shaped ends and a centrally located symmetrical arc-shaped upper and lower protrusions.

[0104] The swing arm assembly 83 includes a swing arm and a reinforcing crossbeam 833. The swing arm has a bent structure, with the bend located in the middle of the swing arm; one end of the swing arm is hinged to a third connecting shaft, which passes through the middle of the balance elbow 82, and the other end of the swing arm is hinged to the hinge lug 4412 of the load-bearing hinge beam assembly 44 of the frame assembly 40. Specifically, in this embodiment, one end of the swing arm of the first suspension unit is hinged to the hinge lug 4412 (i.e., the first hinge lug) of the first load-bearing hinge beam; one end of the swing arm of the second suspension unit is hinged to the hinge lug 4412 (i.e., the second hinge lug) of the second load-bearing hinge beam; and one end of the swing arm of the third suspension unit is hinged to the hinge lug 4412 (i.e., the third hinge lug) of the third load-bearing hinge beam. The swing arms of the first suspension unit and the second suspension unit are symmetrically arranged; the directions of the swing arms of the second suspension unit and the third suspension unit are basically the same.

[0105] The third connecting shaft, the first connecting shaft, and the second connecting shaft are parallel to each other. The first connecting shaft, the second connecting shaft, and the third connecting shaft are all pin structures.

[0106] like Figures 16 to 19 , Figure 1As shown, specifically, the swing arm includes a single swing arm 831 and a double swing arm. The single swing arm 831 is located away from the damping assembly 84, and the double swing arm is located close to the damping assembly 84. The single swing arm 831 and the double swing arm are arranged in parallel. One end of the single swing arm 831 is hinged to the end of the third connecting shaft away from the damping assembly 84, and the other end of the single swing arm is hinged to the frame assembly 40 via a crank arm mounting shaft. A limit pointer 87 is sleeved on the third connecting shaft, and the limit pointer 87 is located between the single swing arm 831 and the first balance elbow 821. One end of the double swing arm is hinged to the middle of the third connecting shaft, and the other end of the double swing arm is hinged to the frame assembly 40 via an internal hexagonal half-shaft assembly. The first balance elbow 821 is located between the single swing arm 831 and the double swing arm. The double swing arm is located between the first balance elbow 821 and the second balance elbow. The hexagonal bevel shaft assembly consists of a bolt shaft and a nut shaft that engage with each other via internal and external threads, and features hexagonal holes on the outer side for easy fastening and disassembly. The thickness of the double swing arm along the length of the third connecting shaft is less than the distance between the two first load-bearing wheels and less than the distance between the two second load-bearing wheels.

[0107] The double swing arm consists of two parallel connecting swing arms, a first connecting swing arm and a second connecting swing arm. The ends of the first and second connecting swing arms are connected by a swing arm reinforcing sleeve 8321, and the bends of the first and second connecting swing arms are also connected by the swing arm reinforcing sleeve 8321. The swing arm reinforcing sleeve 8321 is used for connection and reinforcement between the first and second connecting swing arms.

[0108] The single swing arm 831, the first connecting swing arm, and the second connecting swing arm are all flat, bent structures. These flat, bent structures have thickness, width, and a bending angle. The opening direction of the bending angle is substantially the same as the width direction of the bent structure and perpendicular to its thickness direction. Swing arm weight-reducing holes 801 are provided at the bends of the single swing arm 831, the first connecting swing arm, and the second connecting swing arm. The swing arm weight-reducing holes 801 are circular.

[0109] Two elongated swing arm connecting holes 802 are respectively provided on the single swing arm 831, the first connecting swing arm, and the second connecting swing arm. The swing arm connecting holes 802 allow the reinforcing crossbeam 833 to pass through. There are two sets of reinforcing crossbeams 833. The reinforcing crossbeams 833 are used to connect the double swing arm and the single swing arm 831. Each set of reinforcing crossbeams 833 includes a first reinforcing crossbeam 8332 and a second reinforcing crossbeam 8333. Both the first reinforcing crossbeam 8332 and the second reinforcing crossbeam 8333 have a similar L-shaped structure. Both have a vertically connected flat plate insertion part and a vertical part. The flat plate insertion part is used to insert into the swing arm connecting hole 802. The vertical parts of the first reinforcing crossbeam 8332 and the second reinforcing crossbeam 8333 are close to each other. These two vertical parts are fastened together by bolts, so that the first reinforcing crossbeam 8332 and the second reinforcing crossbeam 8333 are connected as one unit. Both vertical sections have keyways on their end faces for mounting the round-hole key 8331, which is secured by bolts. The round-hole key 8331 enhances the crossbeam 833's ability to withstand shear forces.

[0110] One end of the damping assembly 84 is hinged to one end of the third connecting shaft, and the other end is hinged to the support assembly of the frame assembly 40. The damping assembly 84 includes a first spring 841 and a damping support assembly. The first spring 841 is wound around the damping support assembly, and the extension and contraction direction of the first spring 841 is the same as the length direction of the damping support assembly. The damping support assembly has a closed cavity, and putty is placed inside the cavity. In this embodiment, specifically, the damping support assembly of the first suspension unit and the front bracket 4514 can be hinged via a pin structure. The damping support assembly of the second suspension unit and the middle bracket 4523 can be hinged via a pin structure. The damping support assembly of the third suspension unit and the rear bracket 4533 can be hinged via a pin structure.

[0111] like Figure 17 As shown, the limiting sleeve 85 has a U-shaped structure with two straight sections and an arc-shaped bottom. Limiting holes are provided on the two straight sections. The limiting holes of the limiting sleeve 85 are fitted onto the third connecting shaft, so that the end of the vibration damping component 84 is located between the two straight sections of the limiting sleeve 85, thereby positioning the vibration damping component 84.

[0112] like Figure 1 , Figures 21 to 29 As shown, the idler wheel assembly 70 is located at the second end of the chassis body 41 and is capable of adaptively tensioning the track 30. The idler wheel assembly 70 includes an idler wheel unit, a rocker arm unit 72, and an adaptive adjuster 73.

[0113] like Figure 21 , Figure 22 and Figure 24As shown, the inducer unit includes a first inducer 711, a second inducer 712, an inducer central shaft 713, a first support sleeve 715, a second support sleeve 714, a third support sleeve 716, and a sealing ring 717. The first inducer 711 and the second inducer 712 are parallel to each other and are both fitted onto the inducer central shaft 713, with the first support sleeve 715 positioned between them. The sealing ring 717 is an O-ring, fitted onto the inducer central shaft 713, used for limiting and sealing the first inducer 711 and the second inducer 712. The third support sleeve 716 is fitted onto the inducer central shaft 713 and located on the side of the second inducer 712 away from the first inducer 711. Alternatively, the third support sleeve 716 can also be provided on the side of the rocker arm body away from the second inducer 712, and this third support sleeve 716 is also fitted onto the inducer central shaft 713.

[0114] like Figure 25 and Figure 29 As shown, the central shaft 713 of the inducer wheel has a fixed end and a free end arranged opposite each other along its length. The diameter of the fixed end is larger than the diameter of the free end, and the free end is provided with an external thread. An oil injection hole 7131 is provided along the length of the central shaft 713 near the fixed end, and an oil drain hole 7133 is provided along its radial direction. The oil injection hole 7131 and the oil drain hole 7133 are connected. There is one or more oil drain holes 7133, for example, two. One oil drain hole 7133 is located near the middle of the central shaft 713, corresponding to the position of the first inducer wheel 711, and the other oil drain hole 7133 is located corresponding to the position of the second inducer wheel 712, thereby facilitating lubrication of the first inducer wheel 711 and the second inducer wheel 712. The central axis of the oil injection hole 7131 coincides with the central axis of the central shaft 713. A central shaft oil cup 7132 is provided near the fixed end of the central shaft for injecting oil into the oil injection hole 7131.

[0115] like Figure 22 , Figure 23 and Figure 24 As shown, the rocker arm unit 72 includes a rocker arm body and a lower hinge point shaft 724. The rocker arm body has a first end and a second end disposed opposite each other along its length. The first end has a first hole 721 through which the central shaft 713 of the inducer wheel passes. The first hole 721 matches the central shaft 713 of the inducer wheel. A second support sleeve 714 is disposed between the first end and the first inducer wheel 711. The second end has a second hole 722 through which the lower hinge point shaft 724 passes. The second hole 722 matches the lower hinge point shaft 724. The diameter of the second hole 722 is larger than the diameter of the first hole 721. The outer contour of the rocker arm body has a structure similar to an ellipse, and elongated weight-reducing holes are provided on both sides.

[0116] like Figure 22 , Figure 23 and Figure 25 As shown, a groove 723 is provided on the top of the first end of the rocker arm body. The groove 723 has a first sidewall and a second sidewall disposed opposite to each other, and a pin hole is provided on both the first sidewall and the second sidewall for the pin 74 to pass through. The pin hole matches the pin 74. Both the first sidewall and the second sidewall of the groove 723 have an arc-shaped structure.

[0117] like Figure 22 , Figures 25 to 27 As shown, one end of the adaptive adjuster 73 is hinged to the rocker arm body, and this end is located within the groove 723. The adaptive adjuster 73 includes a vibration damping support body, a first ball joint bearing 7311, a second ball joint bearing 7312, and a second spring 734. The vibration damping support body consists of a thick section and a thin section. The thick section is cylindrical. The diameter of the thick section is larger than the diameter of the thin section. An upper stop 732 is provided at one end of the thick section, and the upper stop 732 is circular. The diameter of the upper stop 732 is larger than the diameter of the thick section. The thick section has a receiving cavity filled with cushioning putty. A lower stop 733 is provided at one end of the thin section, and the shape and size of the lower stop 733 are the same as those of the upper stop 732. The other end of the thin segment has a T-shaped cross-section (the cross-section passing through the center line of the thin segment at this end is T-shaped). At least a portion of this T-shaped structure is located within the receiving cavity and can move within the receiving cavity along the length of the vibration damping support body, thereby forming a buffer cavity 7301. A first ball joint bearing 7311 is connected to one side of the lower stop 733 and is located away from the upper stop 732. The first ball joint bearing 7311 is located within the groove 723. A second ball joint bearing 7312 is connected to one side of the upper stop 732 and is located away from the lower stop 733. A second spring 734 is wound around the outer surface of the vibration damping support body and is located between the upper stop 732 and the lower stop 733.

[0118] like Figure 22 , Figure 25 and Figure 28 As shown, the pin 74 passes sequentially through the pin hole on the first side wall of the groove 723, the first ball bearing 7311, and the pin hole on the second side wall of the groove 723 to hinge the adaptive adjuster 73 to the rocker arm body.

[0119] like Figure 28 As shown, the pin 74 has an oil inlet hole (unmarked) along its length and an oil outlet hole 742 along its radial direction. The oil inlet hole and the oil outlet hole 742 are connected, and the central axis of the oil inlet hole coincides with the central axis of the pin 74. The oil outlet hole 742 is located near the middle of the pin 74. The pin 74 has a fixed end and a free end. The oil inlet hole is located near the fixed end of the pin. An oil cup can also be provided at the fixed end of the pin for injecting oil into the oil inlet hole.

[0120] The second end of the rocker arm body is movably connected to the frame assembly 40 (specifically, the bottom sides of the frame body 41) via a lower hinge point shaft 724 and a sliding bearing 725, specifically in a rotatable manner. The rocker arm body can rotate around the lower hinge point shaft 724. An adjusting shim 726 is fitted onto the lower hinge point shaft 724, and the adjusting shim 726 and the sliding bearing 725 are positioned opposite each other, located on opposite sides of the second end of the rocker arm body. The adaptive adjuster 73 is movably connected to the idler wheel support 47 of the frame assembly 40 via an upper hinge point shaft 75, specifically in a rotatable manner. The adaptive adjuster 73 can rotate around the upper hinge point shaft 75.

[0121] The track 30 is arranged around the drive sprocket unit 10, the track roller assembly, the idler wheel assembly 70, and the road wheels of the suspension device 80. The track unit encloses the drive sprocket unit 10, the track roller assembly, the frame assembly 40, the idler wheel assembly 70, the track limiter 90, the first suspension unit, the second suspension unit, and the third suspension unit to form an independent powered track unit. The internal space enclosed by the track unit is the track compartment 100, which provides sufficient space for the arrangement of the tracked vehicle's power energy equipment and facilities.

[0122] Example 2

[0123] This embodiment provides a tracked vehicle, including the embedded tracked vehicle mobility system as described in Embodiment 1. In use, the embedded tracked vehicle mobility system of Embodiment 1 is used in pairs for stable support.

[0124] This utility model is not limited to the above-described embodiments. Any modifications, improvements, or substitutions that can be conceived by those skilled in the art without departing from the essential content of this utility model fall within the scope of this utility model.

Claims

1. An embedded tracked vehicle mobility system, characterized in that, It includes the drive sprocket unit, track roller assembly, track unit, frame assembly, idler wheel assembly, and suspension system; The frame assembly includes a frame body, a front support assembly, a drive wheel support assembly, and a support assembly. The frame body has a cuboid-like frame structure. The front support assembly is located at the first end of the frame body, and the drive wheel support assembly is used to mount the drive wheel unit. The drive wheel support assembly is connected to the front support assembly, and the distance between them is adjustable. The support assembly is basically vertically arranged, and there are multiple of them, which are spaced apart along the length of the frame body on the same side. The track roller assembly includes multiple track roller units, which are spaced apart on the top of the frame body along the length direction of the frame body; The idler wheel assembly is located at the second end of the vehicle frame body and is configured to adaptively tension the tracks. The suspension device includes multiple suspension units, each suspension unit including a load-bearing wheel assembly, a balance elbow, a damping assembly, and a swing arm assembly; the load-bearing wheel assembly includes a first load-bearing wheel assembly and a second load-bearing wheel assembly, which are spaced apart; the first load-bearing wheel assembly includes a first connecting shaft; the second load-bearing wheel assembly includes a second connecting shaft; Two balance elbows are provided, namely the first balance elbow and the second balance elbow; the two balance elbows are located on both sides of the road wheel assembly. The two ends of the first balance elbow are hinged to the first connecting shaft and the second connecting shaft, respectively. The two ends of the second balance elbow are hinged to the first connecting shaft and the second connecting shaft, respectively. The swing arm assembly includes a swing arm with a bent structure. One end of the swing arm is hinged to a third connecting shaft, which is configured to pass through the middle of the two balance elbows. The other end of the swing arm is hinged to the crossbeam unit of the frame body. The third connecting shaft, the first connecting shaft, and the second connecting shaft are parallel to each other. One end of the vibration damping assembly is hinged to the third connecting shaft, and the other end is hinged to the support assembly. The track unit includes tracks, which are arranged around the drive sprocket unit, the track roller assembly, the idler wheel assembly, and the road wheels.

2. The embedded tracked vehicle mobility system according to claim 1, characterized in that, The main frame has three longitudinal beams and one inner curved beam, which form the long side of a cuboid-like frame structure; the three longitudinal beams are the first longitudinal beam, the second longitudinal beam and the third longitudinal beam, the first longitudinal beam is located directly above the third longitudinal beam, and the second longitudinal beam is located basically directly above the inner curved beam; an upper crossbeam is set between the first longitudinal beam and the second longitudinal beam. The main body of the frame also includes a second vertical beam, which is located at the second end of the main body of the frame, away from the front support.

3. The embedded tracked vehicle mobility system according to claim 2, characterized in that, The support structure includes a front support, a middle support, and a rear support. The front support includes a first column, a first diagonal brace, a front bracket, and a front support column; the lower part of the front bracket is provided with a first shock absorber connection hole; there is one or more first columns, one end of which is connected to the second longitudinal beam and the other end is connected to the top of the front bracket; the front support column is horizontally arranged, one end of which is connected to one end of the front bracket and the other end is connected to the front bracket; one end of the first diagonal brace is connected to the other end of the front bracket and the other end is connected to the inner curved beam. The central support includes a second column, a second diagonal brace beam, and a central bracket. The lower part of the central bracket is provided with a second vibration damper connection hole. There is one or more second columns, one end of which is connected to the second longitudinal beam and the other end is connected to the top of the central bracket. There are two second diagonal braces beams, which are symmetrically arranged. One end of each second diagonal brace beam is connected to both ends of the central bracket, and the other end is connected to the inner curved beam. The rear support includes a third column, a third diagonal brace, a rear bracket, and a rear support column; the lower part of the rear bracket is provided with a third vibration damper connection hole; there is one or more third columns; one end of the third column is connected to the second longitudinal beam, and the other end is connected to the top of the rear bracket; one end of the third diagonal brace is connected to one end of the rear bracket, and the other end is connected to the inner curved beam, and the extension direction of the third diagonal brace is towards the central support; the rear support column is horizontally arranged, one end of which is connected to the second vertical beam, and the other end is connected to the other end of the rear bracket.

4. The embedded tracked vehicle mobility system according to claim 3, characterized in that: The crossbeam unit of the main frame includes a load-bearing articulated beam, which consists of three parallel load-bearing articulated beams; each of these three load-bearing articulated beams is provided with a first articulated lug, a second articulated lug, and a third articulated lug. The suspension unit is configured as three units, namely a first suspension unit, a second suspension unit, and a third suspension unit; one end of the swing arm of the first suspension unit is hinged to the first hinge lug; one end of the swing arm of the second suspension unit is hinged to the second hinge lug; one end of the swing arm of the third suspension unit is hinged to the third hinge lug; the swing arms of the first suspension unit and the second suspension unit are symmetrically arranged; the directions of the swing arms of the second suspension unit and the third suspension unit are basically the same. The damping component of the first suspension unit is hinged to the front support; the damping component of the second suspension unit is hinged to the middle support; and the damping component of the third suspension unit is hinged to the rear support.

5. The embedded tracked vehicle mobility system according to claim 2, characterized in that: The multiple track support roller units are designated as a first track support roller unit, a second track support roller unit, and a third track support roller unit; the third track support roller unit is disposed at the second end of the main frame body; the second track support roller unit is located between the first track support roller unit and the third track support roller unit; both the first track support roller unit and the second track support roller unit have one track support roller; the third track support roller unit has two parallel track support rollers. The frame assembly also includes a dust collection hood unit, which is disposed on the frame body with its opening facing upwards. The dust collection hood unit includes a front dust collection hood, a middle dust collection hood, and a rear dust collection hood. The front dust collection hood is configured to collect dust and debris carried by the first track roller unit. The middle dust collection hood is configured to collect dust and debris carried by the second track roller unit. The rear dust collection hood is configured to collect dust and debris carried by the third track roller unit.

6. The embedded tracked vehicle mobility system according to claim 1, characterized in that: The front support frame comprises a rear panel, a lower support plate, a bottom load-bearing plate, and a front baffle. The rear panel is located at the first end of the main frame body. The lower support plate is a flat plate that is vertically connected to the lower part of the rear panel and is located away from the main frame body. The bottom load-bearing plate consists of multiple plates, all located below the lower support plate. The front baffle is connected to the end face of the bottom load-bearing plate away from the rear panel. The drive wheel bracket comprises a drive wheel upright plate, a front connecting plate, a secondary upright plate, a drive wheel base plate, and a guide plate. The drive wheel upright plate, front connecting plate, secondary upright plate, and drive wheel base plate together form a space for mounting the drive wheel unit. The drive wheel upright plate and secondary upright plate are positioned opposite each other and are perpendicularly connected to the front connecting plate and drive wheel base plate, with the drive wheel base plate located at the bottom. The front connecting plate is connected to the rear back plate of the vehicle head bracket, and the distance between them is adjustable. The bottom of the secondary upright plate has a secondary upright plate groove with an L-shaped cross-section. The guide plate has an L-shaped cross-section and is connected to one end of the drive wheel base plate. The guide plate and the secondary upright plate groove are positioned opposite each other. The guide plate, secondary upright plate groove, and drive wheel base plate together form a limiting guide rail for limiting the movement of the lower support plate of the vehicle head bracket. The embedded tracked vehicle mobility system also includes a track limiter, one end of which is fixed to the front baffle, and the other end is configured to contact the track.

7. The embedded tracked vehicle mobility system according to claim 2, characterized in that, The idler wheel assembly includes an idler wheel unit, a rocker arm unit, and an adaptive adjuster; The inducer unit includes a first inducer, a second inducer, and an inducer central shaft. The first inducer and the second inducer are parallel to each other and are sleeved on the inducer central shaft. A first support sleeve is provided between them. The rocker arm unit includes a rocker arm body and a lower hinge point shaft; the rocker arm body has a first end and a second end arranged opposite to each other along its length direction, the first end is provided with a first hole, the first hole is configured to allow the central shaft of the inducer wheel to pass through, and a second support sleeve is provided between the first end and the first inducer wheel; the second end is provided with a second hole, the second hole is configured to allow the lower hinge point shaft to pass through; a groove is provided on the top of the first end of the rocker arm body; The rocker arm body is configured to be connected to the frame assembly via the lower hinge point axis; One end of the adaptive adjuster is hinged to the rocker arm body, and this end is located in the groove; the other end of the adaptive adjuster is configured to be connected to the frame assembly via the upper hinge point shaft.

8. The embedded tracked vehicle mobility system according to claim 7, characterized in that: The adaptive adjuster includes a vibration damping support body, a first ball joint bearing, a second ball joint bearing, and a second spring. The vibration damping support body consists of a thick section and a thin section. One end of the thick section is provided with an upper stop block, and the thick section has a receiving cavity filled with buffer putty. One end of the thin section is provided with a lower stop block, and the other end of the thin section has a T-shaped cross-section. At least a portion of the T-shaped structure is located within the receiving cavity and is configured to move within the receiving cavity along the length direction of the vibration damping support body, thereby forming a buffer cavity. The first ball joint bearing is connected to one side of the lower stop block and is located away from the upper stop block, and is situated within the groove. The second ball joint bearing is connected to one side of the upper stop block and is located away from the lower stop block. The second spring is wound around the outer surface of the vibration damping support body and is located between the upper and lower stop blocks. The inducer wheel unit also includes a sealing ring and a third support sleeve; the sealing ring is sleeved on the central shaft of the inducer wheel and is used to limit the first inducer wheel and the second inducer wheel; the third support sleeve is sleeved on the central shaft of the inducer wheel and is located on the side of the second inducer wheel away from the first inducer wheel.

9. The embedded tracked vehicle mobility system according to claim 8, characterized in that: The frame assembly also includes an idler wheel support, which is vertically disposed at the second end of the frame body, with its upper end connected to the first longitudinal beam and its lower end connected to the third longitudinal beam; The second ball joint bearing is configured to be connected to the inducer support via the upper hinge point shaft; Both the upper hinge point and the lower hinge point are arranged along the length direction perpendicular to the main body of the vehicle frame.

10. A tracked vehicle, characterized in that, Including the embedded tracked vehicle mobility system as described in any one of claims 1 to 9.

Images