CN107298136B

CN107298136B - Caterpillar band driving device

Info

Publication number: CN107298136B
Application number: CN201710483446.8A
Authority: CN
Inventors: 王娟; 尹雨枫
Original assignee: Kunming University of Science and Technology
Current assignee: Kunming University of Science and Technology
Priority date: 2017-06-23
Filing date: 2017-06-23
Publication date: 2023-05-12
Anticipated expiration: 2037-06-23
Also published as: CN107298136A

Abstract

The invention relates to a crawler driving device, and belongs to the technical field of crawler driving machinery. The invention comprises a conversion box I, a left side supporting plate, a bottom plate, a track stepping driving mechanism, a track rotary driving mechanism, a small belt pulley, a short belt, a long belt, a straight gear, a small belt, a small straight gear, an idler shaft, a bolt, a bearing I, a bearing II, a bearing III, a nut, a key I, a conversion box II, a conversion box III, a conversion box IV, an output shaft I, an output shaft II and a right side supporting plate; the left side backup pad, right side backup pad are installed respectively in the bottom plate left and right sides, and transfer box I is settled at the bottom plate right rear portion, and transfer box II is settled at the bottom plate left rear portion, and transfer box III is settled at the bottom plate left front portion, and transfer box IV is settled at the bottom plate right front portion. The invention adopts two motors for driving, has smaller load, lower energy consumption, energy conservation and emission reduction; the road surface energy-saving device is suitable for various road surface environments, and can keep high-efficiency running; the driving is flexible, the disassembly and the replacement are convenient, and the practicability is high; the mechanical innovation is strong, and the popularization value is high.

Description

Caterpillar band driving device

Technical Field

The invention relates to a crawler driving device, and belongs to the technical field of crawler driving machinery.

Background

In order to adapt to various complex road surface environments, a plurality of mechanical devices at present generally adopt tracks to replace traditional wheels, but the driving of the tracks is complex and needs a plurality of motors to be matched, because the plurality of motors are used, the robot has larger load and higher energy consumption and is difficult to work for a long time, and aiming at the problem, researchers reduce the energy consumption of the robot by lightening the self weight of the robot and adopting batteries with higher energy storage and motors with lower energy consumption, thereby prolonging the working time, but the ideal requirement can not be met, and the space can be optimized greatly.

Disclosure of Invention

The invention aims to provide a crawler driving device, which controls four conversion boxes to control crawler movement through two motors, so that the crawler robot can be driven by the two motors, and the problems of short working time and the like caused by too many motors, large load and too high energy consumption of the existing crawler robot can be solved.

The invention is realized according to the following technical scheme: the crawler belt driving device comprises a conversion box I1, a left side supporting plate 2, a bottom plate 3, a crawler belt stepping driving mechanism 4, a crawler belt rotating driving mechanism 5, a small belt pulley 6, a belt pulley 7, a short belt 8, a long belt 12, a straight gear 13, a small belt 19, a small straight gear 21, an idler shaft 24, a bolt 35, a bearing I36, a bearing II 37, a bearing III 38, a nut 40, a key I41, a conversion box II 42, a conversion box III 43, a conversion box IV 44, an output shaft I48, an output shaft II 49 and a right side supporting plate 56; the left side supporting plate 2 and the right side supporting plate 56 are respectively arranged at the left side and the right side of the bottom plate 3, the conversion box I1 is arranged at the right rear part of the bottom plate 3, the conversion box II 42 is arranged at the left rear part of the bottom plate 3, the conversion box III 43 is arranged at the left front part of the bottom plate 3, the conversion box IV 44 is arranged at the right front part of the bottom plate 3, the output shaft II 49 is respectively arranged on the conversion box I1, the conversion box II 42, the conversion box III 43 and the conversion box IV 44, the belt pulley 7 is respectively arranged at the end parts of the output shaft II 49 of the conversion box I1, the conversion box II 42, the conversion box III 43 and the conversion box IV 44 through the key I41, the left side supporting plate 2 and the right side supporting plate 56 are provided with the small shaft holes I46, the bearing III 38 is arranged in the small shaft holes I46, one end of the output shaft I48 is arranged at the outer side of the left side supporting plate 2 and the right side supporting plate 56 through the bearing III 38 in the small shaft holes I46, the other end of the output shaft I48 is arranged in the conversion box I1 and the conversion box III 43, the straight gear 13 is arranged on an output shaft I48 through a key I41, a middle shaft hole I54 is formed in a left side supporting plate 2, a bearing II 37 is arranged in the middle shaft hole I54, one end of an idler shaft 24 is arranged on the outer side of the left side supporting plate 2 through a bearing II 37, a pinion 21 is arranged on the other end of the idler shaft 24 through a key II 55, the pinion 21 is meshed with the straight gear 13, a pinion hole II 50 is formed in a left side supporting plate 2 and a right side supporting plate 56, a bearing III 38 is arranged in the pinion hole II 50, one end of the output shaft I48 is arranged on the outer side of the left side supporting plate 2 and the right side supporting plate 56 through a bearing III 38 arranged in the pinion hole II 50, the other end of the output shaft I48 is arranged in a conversion box II 42 and a conversion box IV 44, a small belt pulley 6 is arranged on one end of the output shaft I48 through a key I41, and the track step driving mechanism 4 is arranged on the left side of the output shaft I48 through a bolt 35, the nut 40 is arranged in the middle of the bottom plate 3, the track step driving mechanism 4 is matched with the belt pulley 7 arranged on the output shaft II 49 of the conversion box II 42 and the conversion box IV 44 through the short belt 8, the track step driving mechanism 4 is matched with the belt pulley 7 arranged on the output shaft II 49 of the conversion box I1 and the conversion box III 43 through the long belt 12, the left side supporting plate 2 is provided with a middle shaft hole II 52 and a middle shaft hole III 53, the bearing II 37 is respectively arranged in the middle shaft hole II 52 and the middle shaft hole III 53, the track rotary driving mechanism 5 is arranged on the bottom plate 3 through the bolt 35 and the nut 40, one end of the small belt 19 is arranged on the track rotary driving mechanism 5, and the other end of the small belt 19 is arranged on the small belt pulley 6 at one end of the output shaft I48 on the conversion box II 42 and the conversion box IV 44.

The crawler step driving mechanism 4 comprises a belt pulley gear set I9, a driving gear 10, a belt pulley gear set II 11, a transmission shaft support II 14, a transmission shaft II 15, a coupler 16, a step driving motor 17, a motor base 18, a transmission shaft I31, a bolt 35, a bearing I36, a nut 40, a key II 55 and a transmission shaft support I63; the motor seat 18 is arranged on the right side of the middle part of the bottom plate 3 through a bolt 35 and a nut 40, the stepping drive motor 17 is arranged on the motor seat 18, the drive gear 10 is arranged on an output shaft of the stepping drive motor 17 through a key II 55, the belt pulley gear set I9 and the belt pulley gear set II 11 are arranged on the bottom plate 3 through the bolt 35 and the nut 40, and the belt pulley gear set I9 comprises a belt pulley 7, a bearing I36, a bull gear 45, a middle shaft 47 and a belt pulley gear set support 62; the bearing I36 is arranged in the pulley gear set support 62, the middle shaft 47 is arranged on the pulley gear set support 62 through the bearing I36, the large spur gear 45 is arranged at the end part of the middle shaft 47 through the key I41, the pulley 7 is arranged on the middle shaft 47 through the key I41, the pulley gear set II 11 has the same structure as the pulley gear set I9, the pulley gear set I9 and the pulley gear set II 11 are positioned at two sides of one end of the motor seat 18, the large spur gear 45 on the pulley gear set I9 and the pulley gear set II 11 is respectively meshed with the driving gear 10 arranged on the output shaft of the stepping driving motor 17, one end of the short belt 8 is arranged on the pulley 7 of the output shaft II 49 of the conversion box II 42 and the conversion box IV 44, the other end of the short belt 8 is arranged on the pulley 7 of the pulley gear set I9, one end of the long belt 12 is arranged on the pulley 7 of the output shaft II 49 of the conversion box I1 and the conversion box III 43, the other end of the long belt 12 is arranged on the belt pulley 7 of the belt pulley gear group II 11, the transmission shaft support I63 is arranged on the right side of the middle part of the bottom plate 3 through a bolt 35 and a nut 40, the transmission shaft support I63 is positioned at the rear part of the motor base 18, the transmission shaft support II 14 is arranged on the left side of the middle part of the bottom plate 3 through a bolt 35 and a nut 40, one end of the transmission shaft II 15 is arranged on the transmission shaft support II 14 through a bearing I36, one end of the transmission shaft I31 is arranged on the transmission shaft support I63 through a bearing I36, the other end of the transmission shaft I31 is connected with the other end of the transmission shaft II 15 through a coupler 16, the driving gear 10 is arranged on one end of the transmission shaft I31 through a key II 55 and is meshed with a large spur gear 45 on the belt pulley gear group II 11 on the right side of the middle part of the bottom plate 3, and the driving gear 10 is arranged on one end of the transmission shaft II 15 through a key II 55 and is meshed with a belt pulley gear group I9 on the left side of the middle part of the bottom plate 3 The large spur gear 45 of the pulley gear set II 11 is meshed, the pulley gear set I9 arranged on the left side of the middle of the bottom plate 3 and the pulley gear set I9 arranged on the right side of the middle of the bottom plate 3 are matched with the pulleys 7 arranged on the output shafts II 49 of the conversion boxes II 42 and IV 44 through the short belt 8, the pulley gear set II 11 arranged on the left side of the middle of the bottom plate 3 and the pulley gear set II 11 arranged on the right side of the middle of the bottom plate 3 are matched with the pulleys 7 arranged on the output shafts II 49 of the conversion boxes I1 and III 43 through the long belt 12.

The crawler belt rotary driving mechanism 5 comprises a motor base 18, a belt pulley gear set III 20, a pinion 21, a rear left output shaft 22, a support I23, a front left output shaft 25, a bevel gear 26, a front right output shaft 27, a rotary driving motor 28, a worm base 29, a worm wheel 30, a worm 32, a worm wheel shaft 33, a rear right output shaft 34, a bolt 35, a bearing I36, a bearing II 37, a nut 40, a key II 55, a support II 57, a support III 58, a support V59, a support VI 60 and a support VII 61; the motor base 18 is arranged on the left side of the middle part of the bottom plate 3 through a bolt 35 and a nut 40, the rotary driving motor 28 is arranged on the motor base 18, the worm base 29 is arranged on the middle part of the bottom plate 3 through the bolt 35 and the nut 40, the bearing I36 is arranged on the worm base 29, one end of the worm 32 is arranged on the rotary driving motor 28, the other end of the worm 32 is arranged on the worm base 29 through the bearing I36, and the pulley gear set III 20 comprises a small pulley 6, a spur gear 13 and a short shaft 39; the left side supporting plate 2 and the right side supporting plate 56 are provided with a big shaft hole 51, a bearing I36 is arranged in the big shaft hole 51, a short shaft 39 is arranged in the big shaft hole 51 of the left side supporting plate 2 and the right side supporting plate 56 through the bearing I36, a small belt pulley 6 is arranged at one end of the short shaft 39 through a key I41, a straight gear 13 is arranged at the other end of the short shaft 39 through a key I41, one end of a small belt 19 is arranged on the small belt pulley 6 of the belt pulley gear group III 20, the other end of the small belt 19 is arranged on the small belt pulley 6 at one end of an output shaft I48 on the conversion box II 42 and the conversion box IV 44, a support I23, a support II 57, a support III 58, a support V59, a support VI 60 and a support VII 61 are respectively arranged on the bottom plate 3 through bolts 35 and nuts 40, the bearing I36 is arranged on the support I23, the support II 57, the support III, the support V59, the support VI 60, one end of a worm wheel shaft 33 is arranged on a support VI 60 through a bearing I36, the other end of the worm wheel shaft 33 is arranged on a support II 57 through a bearing I36, a worm wheel 30 is arranged on the worm wheel shaft 33 through a key II 55, the worm wheel 30 is meshed with the worm 32, bevel gears 26 are respectively arranged at two ends of the worm wheel shaft 33 through a key II 55, one end of a front left output shaft 25 is arranged on the left support plate 2 through a bearing II 37 in a center shaft hole III 53 on the left support plate 2, the other end of the front left output shaft 25 is arranged on the support VI 60 through a bearing I36, a pinion 21 is arranged at one end of the front left output shaft 25 through a key II 55, the pinion 21 is meshed with a pinion 21 arranged at the other end of an idler shaft 24 on a shaft hole I54 in the left support plate 2, a bevel gear 26 is arranged at the other end of the front left output shaft 25 through a key II 55, one end of a front right output shaft 27 is arranged on a support V59 through a bearing I36, bevel gear 26 is mounted on one end of front right output shaft 27 by key II 55, the other end of front right output shaft 27 is mounted on right support plate 56 by bearing II 37 in central shaft hole II 52 of right support plate 56, pinion 21 is mounted on the other end of front right output shaft 27 by key II 55, pinion 21 is meshed with spur gear 13 mounted on pulley gear set III 20 in large shaft hole 51 of right support plate 56, one end of rear left output shaft 22 is mounted on left support plate 2 by bearing II 37 in central shaft hole II 52 of left support plate 2, the other end of rear left output shaft 22 is mounted on support III 58 by bearing I36, pinion 21 is mounted on one end of rear left output shaft 22 by key II 55, the pinion gear 21 is meshed with the spur gear 13 mounted on the inner pulley gear group III 20 in the large shaft hole 51 of the left support plate 2, the bevel gear 26 is mounted on the other end of the rear left output shaft 22 through a key II 55, one end of the rear right output shaft 34 is mounted on the support I23 through a bearing I36, the bevel gear 26 is mounted on one end of the rear right output shaft 34 through a key II 55, the other end of the rear right output shaft 34 is mounted on the right support plate 56 through a bearing II 37 in a central shaft hole III 53 in the right support plate 56, the pinion gear 21 is mounted on the other end of the rear right output shaft 34 through a key II 55, and the pinion gear 21 is meshed with the pinion gear 21 mounted on the other end of the idler shaft 24 in the shaft hole I54 in the right support plate 56.

The working principle of the crawler belt driving device is as follows: when the tracked robot runs on a relatively flat road surface, the stepping driving motor 17 is operated to drive the tracked stepping driving mechanism 4 to operate, power is transmitted to the conversion boxes II 42, IV 44, I1 and III 43 through the short belt and the long belt 12 to drive the tracked robot to move, so that the robot moves forwards and backwards.

The invention has the following beneficial effects:

1. the two motors are adopted for driving, so that the load is small, the energy consumption is low, and the energy conservation and emission reduction are realized;

2. the road surface energy-saving device is suitable for various road surface environments, and can keep high-efficiency running;

3. the driving is flexible, the disassembly and the replacement are convenient, and the practicability is high;

4. the mechanical innovation is strong, and the popularization value is high.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a schematic view of the internal structure of the present invention;

FIG. 4 is a schematic view of a track step-by-step drive mechanism according to the present invention;

FIG. 5 is a schematic view of a track rotation driving mechanism according to the present invention;

FIG. 6 is a schematic diagram of a pulley gear set I of the present invention;

FIG. 7 is a schematic diagram of a pulley gear set III according to the present invention;

FIG. 8 is a schematic diagram of a link structure of the present invention;

FIG. 9 is a schematic view of the structure of the left and right support plates of the present invention;

FIG. 10 is a schematic view of the bearing type of the present invention;

fig. 11 is a schematic diagram of the key types of the present invention.

The reference numerals in the figures are: 1: including transfer box I, 2: left side backup pad, 3: bottom plate, 4: track step-by-step actuating mechanism, 5: track rotation driving mechanism, 6: small pulley, 7: pulley, 8: short belt, 9: pulley gear set i, 10: drive gear, 11: pulley gear sets ii, 12: long belt, 13: spur gear, 14: transmission shaft support II, 15: transmission shafts II, 16: coupling, 17: step-by-step driving motor, 18: motor cabinet, 19: small belt, 20: pulley gear set iii, 21: pinion gear, 22: rear left output shaft, 23: support I, 24: idler shaft, 25: front left output shaft, 26: bevel gear, 27: front right output shaft, 28: rotary driving motor, 29: worm seat, 30: worm wheel, 31: transmission shafts i, 32: worm, 33: worm wheel shaft, 34: rear end right side output shaft, 35: bolts, 36: bearing i, 37: bearings ii, 38: bearings iii, 39: short axis, 40: nut, 41: bond I, 42: transfer case ii, 43: transfer case iii, 44: transfer cases IV, 45: large spur gear, 46: small shaft holes i, 47: center shaft, 48: output shafts i, 49: output shafts II, 50: small shaft holes II, 51: large shaft hole, 52: middle shaft holes II, 53: center shaft holes iii, 54: middle shaft holes I, 55: bond II, 56: right side support plate, 57: support ii, 58: support iii, 59: support v, 60: support vi, 61: support VII, 62: pulley gearset support, 63: and a transmission shaft support I.

Description of the embodiments

The invention will be further described with reference to the drawings and examples, but the invention is not limited to the scope.

Example 1: as shown in fig. 1 to 11, a crawler belt driving device comprises a conversion box i 1, a left side supporting plate 2, a bottom plate 3, a crawler belt stepping driving mechanism 4, a crawler belt rotating driving mechanism 5, a small belt pulley 6, a belt pulley 7, a short belt 8, a long belt 12, a straight gear 13, a small belt 19, a small straight gear 21, an idler shaft 24, a bolt 35, a bearing i 36, a bearing ii 37, a bearing iii 38, a nut 40, a key i 41, a conversion box ii 42, a conversion box iii 43, a conversion box iv 44, an output shaft i 48, an output shaft ii 49, and a right side supporting plate 56; the left side supporting plate 2 and the right side supporting plate 56 are respectively arranged at the left side and the right side of the bottom plate 3, the conversion box I1 is arranged at the right rear part of the bottom plate 3, the conversion box II 42 is arranged at the left rear part of the bottom plate 3, the conversion box III 43 is arranged at the left front part of the bottom plate 3, the conversion box IV 44 is arranged at the right front part of the bottom plate 3, the output shaft II 49 is respectively arranged on the conversion box I1, the conversion box II 42, the conversion box III 43 and the conversion box IV 44, the belt pulley 7 is respectively arranged at the end parts of the output shaft II 49 of the conversion box I1, the conversion box II 42, the conversion box III 43 and the conversion box IV 44 through the key I41, the left side supporting plate 2 and the right side supporting plate 56 are provided with the small shaft holes I46, the bearing III 38 is arranged in the small shaft holes I46, one end of the output shaft I48 is arranged at the outer side of the left side supporting plate 2 and the right side supporting plate 56 through the bearing III 38 in the small shaft holes I46, the other end of the output shaft I48 is arranged in the conversion box I1 and the conversion box III 43, the straight gear 13 is arranged on an output shaft I48 through a key I41, a middle shaft hole I54 is formed in a left side supporting plate 2, a bearing II 37 is arranged in the middle shaft hole I54, one end of an idler shaft 24 is arranged on the outer side of the left side supporting plate 2 through a bearing II 37, a pinion 21 is arranged on the other end of the idler shaft 24 through a key II 55, the pinion 21 is meshed with the straight gear 13, a pinion hole II 50 is formed in a left side supporting plate 2 and a right side supporting plate 56, a bearing III 38 is arranged in the pinion hole II 50, one end of the output shaft I48 is arranged on the outer side of the left side supporting plate 2 and the right side supporting plate 56 through a bearing III 38 arranged in the pinion hole II 50, the other end of the output shaft I48 is arranged in a conversion box II 42 and a conversion box IV 44, a small belt pulley 6 is arranged on one end of the output shaft I48 through a key I41, and the track step driving mechanism 4 is arranged on the left side of the output shaft I48 through a bolt 35, the nut 40 is arranged in the middle of the bottom plate 3, the track step driving mechanism 4 is matched with the belt pulley 7 arranged on the output shaft II 49 of the conversion box II 42 and the conversion box IV 44 through the short belt 8, the track step driving mechanism 4 is matched with the belt pulley 7 arranged on the output shaft II 49 of the conversion box I1 and the conversion box III 43 through the long belt 12, the left side supporting plate 2 is provided with a middle shaft hole II 52 and a middle shaft hole III 53, the bearing II 37 is respectively arranged in the middle shaft hole II 52 and the middle shaft hole III 53, the track rotary driving mechanism 5 is arranged on the bottom plate 3 through the bolt 35 and the nut 40, one end of the small belt 19 is arranged on the track rotary driving mechanism 5, and the other end of the small belt 19 is arranged on the small belt pulley 6 at one end of the output shaft I48 on the conversion box II 42 and the conversion box IV 44.

Claims

1. A track drive, characterized by: the device comprises a conversion box I (1), a left side supporting plate (2), a bottom plate (3), a track stepping driving mechanism (4), a track rotary driving mechanism (5), a small belt pulley (6), a belt pulley (7), a short belt (8), a long belt (12), a spur gear (13), a small belt (19), a small spur gear (21), an idler shaft (24), a bolt (35), a bearing I (36), a bearing II (37), a bearing III (38), a nut (40), a key I (41), a conversion box II (42), a conversion box III (43), a conversion box IV (44), an output shaft I (48), an output shaft II (49) and a right side supporting plate (56); the left side backup pad (2), right side backup pad (56) are installed respectively in the left and right sides of bottom plate (3), transfer case I (1) is settled at the right rear portion of bottom plate (3), transfer case II (42) is settled at the left rear portion of bottom plate (3), transfer case III (43) is settled at the left front portion of bottom plate (3), transfer case IV (44) is settled at the right front portion of bottom plate (3), output shaft II (49) are installed respectively on transfer case I (1), transfer case II (42), transfer case III (43), belt pulley (7) are installed respectively at transfer case I (1) through key I (41), transfer case II (42), transfer case III (43), transfer case IV (44) output shaft II (49) tip, offer shaft hole I (46) on left side backup pad (2), right side backup pad (56), bearing III (38) are installed in shaft hole I (46), output shaft I (48) one end is installed in shaft I (48) through shaft hole I (38) in shaft hole I (46) on the left side backup pad (2), transfer case I (48) is installed on the right side backup pad (41) through key I (48), output shaft I (48) is installed on the other end I (13), a middle shaft hole I (54) is formed in the left side supporting plate (2), a bearing II (37) is arranged in the middle shaft hole I (54), one end of an idler shaft (24) is arranged on the outer side of the left side supporting plate (2) through the bearing II (37), a pinion (21) is arranged on the other end of the idler shaft (24) through a key II (55), the pinion (21) is meshed with the spur gear (13), a small shaft hole II (50) is formed in the left side supporting plate (2) and the right side supporting plate (56), a bearing III (38) is arranged in the small shaft hole II (50), one end of an output shaft I (48) is arranged on the outer side of the left side supporting plate (2) and the right side supporting plate (56) through a bearing III (38) arranged in the small shaft hole II (50), the other end of the output shaft I (48) is arranged in a conversion box II (42) and a conversion box IV (44), a small belt pulley (6) is arranged on one end of the output shaft I (48) through a key I (41), a track step driving mechanism (4) is arranged in the middle of a bottom plate (3) through a bolt (35) and a nut (40), the output shaft I (4) is arranged in the conversion box IV (44) through a short belt pulley II (8) and the step driving mechanism (7) arranged in the conversion box II (44), the crawler belt stepping driving mechanism (4) is matched with a belt pulley (7) arranged on an output shaft II (49) of a conversion box I (1) and a conversion box III (43) through a long belt (12), a middle shaft hole II (52) and a middle shaft hole III (53) are formed in a left supporting plate (2), a bearing II (37) is respectively arranged in the middle shaft hole II (52) and the middle shaft hole III (53), the crawler belt rotating driving mechanism (5) is arranged on a bottom plate (3) through a bolt (35) and a nut (40), one end of a small belt (19) is arranged on the crawler belt rotating driving mechanism (5), and the other end of the small belt (19) is arranged on a small belt pulley (6) arranged at one end of an output shaft I (48) on the conversion box II (42) and the conversion box IV (44).

2. The track drive of claim 1 wherein: the crawler step driving mechanism (4) comprises a belt pulley gear set I (9), a driving gear (10), a belt pulley gear set II (11), a transmission shaft support II (14), a transmission shaft II (15), a coupler (16), a step driving motor (17), a motor seat (18), a transmission shaft I (31), a bolt (35), a bearing I (36), a nut (40), a key II (55) and a transmission shaft support I (63); the motor seat (18) is arranged on the right side of the middle part of the bottom plate (3) through a bolt (35) and a nut (40), the stepping drive motor (17) is arranged on the motor seat (18), the drive gear (10) is arranged on an output shaft of the stepping drive motor (17) through a key II (55), the belt pulley gear set I (9) and the belt pulley gear set II (11) are arranged on the bottom plate (3) through the bolt (35) and the nut (40), and the belt pulley gear set I (9) comprises a belt pulley (7), a bearing I (36), a bull gear (45), a center shaft (47) and a belt pulley gear set support (62); the bearing I (36) is arranged in the belt pulley gear set support (62), the middle shaft (47) is arranged on the belt pulley gear set support (62) through the bearing I (36), the large spur gear (45) is arranged at the end part of the middle shaft (47) through the key I (41), the belt pulley (7) is arranged on the middle shaft (47) through the key I (41), the belt pulley gear set II (11) and the belt pulley gear set I (9) are identical in structure, the belt pulley gear set I (9) and the belt pulley gear set II (11) are positioned at two sides of one end of a motor base (18), the large spur gear (45) on the belt pulley gear set I (9) and the belt pulley gear set II (11) are respectively meshed with the driving gear (10) arranged on the output shaft of the stepping driving motor (17), one end of the short belt (8) is arranged on the belt pulley (7) of the output shaft II (49) of the conversion box II (42) and the conversion box IV (44), one end of the short belt (8) is arranged on the belt pulley (7) of the belt pulley I (9), one end of the long belt (12) is arranged on the long belt pulley (7) of the output shaft II (49) of the conversion box I (1) and the belt pulley II (43) is arranged on the long belt pulley (7) of the belt pulley II (7), the transmission shaft support I (63) is arranged on the right side of the middle part of the bottom plate (3) through a bolt (35) and a nut (40), the transmission shaft support I (63) is positioned at the rear part of the motor base (18), the transmission shaft support II (14) is arranged on the left side of the middle part of the bottom plate (3) through the bolt (35) and the nut (40), one end of the transmission shaft II (15) is arranged on the transmission shaft support II (14) through a bearing I (36), one end of the transmission shaft I (31) is arranged on the transmission shaft support I (63) through the bearing I (36), the other end of the transmission shaft I (31) is connected with the other end of the transmission shaft II (15) through a coupler (16), the driving gear (10) is arranged at one end of the transmission shaft I (31) through a key II (55) and is meshed with a large spur gear (45) on a pulley gear group II (11) on the right side of the middle part of the bottom plate (3), the driving gear (10) is arranged at one end of the transmission shaft II (15) through the key II (55) and is meshed with a large spur gear (9) of the pulley group II (11) on the left side of the middle part of the bottom plate (3), install at the left belt pulley gear group I (9) in bottom plate (3) middle part and install at the right belt pulley gear group I (9) in bottom plate (3) middle part through short belt (8) with install belt pulley (7) on output shaft II (49) of transfer case II (42), transfer case IV (44) cooperate, install at the left belt pulley gear group II (11) in bottom plate (3) middle part and install at the right belt pulley gear group II (11) in bottom plate (3) middle part through long belt (12) with install belt pulley (7) on output shaft II (49) of transfer case I (1), transfer case III (43).

3. The track drive of claim 1 wherein: the crawler belt rotary driving mechanism (5) comprises a motor seat (18), a belt pulley gear set III (20), a pinion (21), a rear end left output shaft (22), a support I (23), a front end left output shaft (25), a bevel gear (26), a front end right output shaft (27), a rotary driving motor (28), a worm seat (29), a worm wheel (30), a worm (32), a worm wheel shaft (33), a rear end right output shaft (34), a bolt (35), a bearing I (36), a bearing II (37), a nut (40), a key II (55), a support II (57), a support III (58), a support V (59), a support VI (60) and a support VII (61); the motor base (18) is arranged on the left side of the middle part of the bottom plate (3) through a bolt (35) and a nut (40), the rotary driving motor (28) is arranged on the motor base (18), the worm base (29) is arranged on the middle part of the bottom plate (3) through the bolt (35) and the nut (40), the bearing I (36) is arranged on the worm base (29), one end of the worm (32) is arranged on the rotary driving motor (28), the other end of the worm (32) is arranged on the worm base (29) through the bearing I (36), and the belt pulley gear set III (20) comprises a small belt pulley (6), a spur gear (13) and a short shaft (39); the left side supporting plate (2) and the right side supporting plate (56) are provided with big shaft holes (51), the bearing I (36) is arranged in the big shaft holes (51), the short shaft (39) is arranged in the big shaft holes (51) of the left side supporting plate (2) and the right side supporting plate (56) through the bearing I (36), the small belt pulley (6) is arranged at one end of the short shaft (39) through a key I (41), the spur gear (13) is arranged at the other end of the short shaft (39) through the key I (41), one end of the small belt (19) is arranged on the small belt pulley (6) of the belt pulley gear group III (20), the other end of the small belt (19) is arranged on the small belt pulley (6) at one end of the output shaft I (48) on the conversion box II (42) and the conversion box IV (44), the support I (23), the support II (57), the support III (58), the support V (59), the support VI (60), the support VII (61) and the nut (40) are respectively arranged on the bottom plate (3) through bolts (35) and nuts (40), the bearing I (36) is arranged on the support I (23), the support II (58) and the support IV (60), one end of a worm wheel shaft (33) is arranged on a support VI (60) through a bearing I (36), the other end of the worm wheel shaft (33) is arranged on a support II (57) through a bearing I (36), a worm wheel (30) is arranged on the worm wheel shaft (33) through a key II (55), the worm wheel (30) is meshed with a worm (32), bevel gears (26) are respectively arranged at two ends of the worm wheel shaft (33) through a key II (55), one end of a front left output shaft (25) is arranged on a left support plate (2) through a bearing II (37) in a middle shaft hole III (53) on the left support plate (2), the other end of the front left output shaft (25) is arranged on the support VI (60) through a bearing I (36), a pinion (21) is arranged at one end of the front left output shaft (25) through a key II (55), the pinion (21) is meshed with a pinion (21) arranged at the other end of the idler shaft (24) on the middle shaft hole I (54) of the left support plate (2), the bevel gears (26) are arranged at one end of the front right output shaft (27) through a key II (55) through a key II (27) on the front end of the front output shaft (27), the other end of the front right output shaft (27) is arranged on the right support plate (56) through a bearing II (37) in a middle shaft hole II (52) on the right support plate (56), a pinion (21) is arranged on the other end of the front right output shaft (27) through a key II (55), the pinion (21) is meshed with a spur gear (13) arranged on an inner pulley gear group III (20) of a large shaft hole (51) of the right support plate (56), one end of a rear left output shaft (22) is arranged on the left support plate (2) through a bearing II (37) in a middle shaft hole II (52) on the left support plate (2), the other end of the rear left output shaft (22) is arranged on a support III (58) through a bearing I (36), the pinion (21) is arranged on one end of the rear left output shaft (22) through a key II (55), the pinion (21) is meshed with a spur gear (13) arranged on the inner pulley gear group III (20) of the large shaft hole (51) of the left support plate (2), one end of the bevel gear (26) is meshed with a spur gear (13) arranged on the other end of the right support plate (20) through a key II (55), the other end of the rear left output shaft (22) is arranged on the support III (23) through a bearing I (36), bevel gear (26) are installed in rear end right side output shaft (34) one end through key II (55), and rear end right side output shaft (34) other end is installed on right side backup pad (56) through inside bearing II (37) of axis hole III (53) on right side backup pad (56), and pinion (21) are installed in rear end right side output shaft (34) other end through key II (55), and pinion (21) are engaged with pinion (21) of idler shaft (24) other end of installing on axis hole I (54) on right side backup pad (56).