CN110510021B

CN110510021B - Variable crawler chassis

Info

Publication number: CN110510021B
Application number: CN201910951593.2A
Authority: CN
Inventors: 张勤
Original assignee: Huzhou Yuebin Intelligent Technology Co ltd
Current assignee: Yunnan meinuoder Mining Co.,Ltd.
Priority date: 2019-10-09
Filing date: 2019-10-09
Publication date: 2020-09-11
Anticipated expiration: 2039-10-09
Also published as: CN110510021A

Abstract

The invention provides a variable crawler chassis, which comprises a chassis frame and crawler wheels, wherein the crawler wheels comprise a left crawler wheel and a right crawler wheel which are symmetrically arranged left and right, each crawler wheel comprises a driving wheel combination symmetrically arranged front and back, a tensioning mechanism symmetrically arranged front and back, a supporting mechanism symmetrically arranged up and down and a crawler wound on the driving wheel, the tensioning mechanism and the supporting mechanism, the driving wheel combination consists of driving wheels symmetrically arranged up and down, the tensioning mechanism is arranged between the driving wheels symmetrically arranged up and down and is abutted against the crawler, the supporting mechanism is arranged between the driving wheels symmetrically arranged front and back and is abutted against the crawler, the crawler is meshed with the driving wheels, the crawler is arranged to be switched between a quadrangle and a hexagon, the initial state of the crawler is quadrangle, and the ground clearance of the chassis frame is minimum when the crawler is quadrangle; when the track is hexagonal, the ground clearance of the chassis frame is the largest, and the passing performance of the deformed track wheel is obviously enhanced.

Description

Variable crawler chassis

Technical Field

The invention relates to a crawler chassis, in particular to a variable crawler chassis.

Background

The crawler chassis is widely applied to field operation vehicles such as agricultural machinery, engineering machinery, tractors, outdoor exploration robots and the like, has severe walking conditions, requires the walking mechanism to have sufficient strength and rigidity, and has good advancing and steering capabilities, and the applicant searches and discovers that the existing crawler chassis mainly comprises crawler wheels which are arranged in bilateral symmetry and a chassis frame which is fixedly connected with the crawler wheels and the chassis frame, wherein the crawler wheels mainly comprise a crawler belt, a driving wheel, a supporting belt wheel and a tensioning device, the crawler belt is wound on the driving wheel, the supporting belt wheel and the tensioning device and is rectangular or forward-inclined parallelogram in shape, the crawler chassis has the defects that the shape of the crawler wheel is fixed and cannot be deformed, so that the chassis frame has a certain ground clearance, the crawler chassis travels on the high-low and fluctuating outdoor ground in particular, and in order to overcome the defects, the crawler chassis has the need to provide, The variable crawler chassis for the outdoor cross country has the advantages of simple principle, adjustable chassis frame ground clearance and strong passing performance.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide the variable crawler chassis for outdoor cross-country, which has the advantages of ingenious structure, simple principle, adjustable ground clearance of the chassis frame and strong passing performance.

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows.

The variable crawler chassis comprises a chassis frame and crawler wheels which are arranged at a distance from the ground, wherein the crawler wheels of a power driving device which is arranged on the chassis frame and provides power for the crawler wheels comprise a left crawler wheel and a right crawler wheel which are symmetrically arranged left and right, the left crawler wheel is fixedly connected with one end of the chassis frame, the right crawler wheel is fixedly connected with the other end of the chassis frame, the crawler wheels comprise driving wheel combinations which are symmetrically arranged front and back, tensioning mechanisms which are symmetrically arranged front and back, supporting mechanisms which are symmetrically arranged up and down and a crawler which is wound on the driving wheels, the tensioning mechanisms and the supporting mechanisms, the driving wheel combinations comprise driving wheels which are symmetrically arranged up and down, the tensioning mechanisms are arranged between the driving wheels which are symmetrically arranged up and down and abut against the crawler, the supporting mechanisms are arranged between the driving wheels which are symmetrically arranged front and back and abut against the crawler, the tensioning mechanisms are used for tensioning, the crawler belt is meshed with the driving wheel, the crawler belt is switched between a quadrangle and a hexagon and is in a quadrangle in an initial state, and when the crawler belt is in the quadrangle, the ground clearance of the chassis frame is the minimum; when the track is hexagonal, the height of the chassis frame above the ground is maximum;

the crawler wheel also comprises a mounting block which is arranged horizontally in a rectangular shape, the length direction of the mounting block is parallel to the advancing direction of the crawler wheel, the mounting block comprises a first rectangular mounting block, a second rectangular mounting block and a third oval mounting block which are fixedly connected into a whole, the second mounting block is provided with two mounting blocks and is positioned at one end of the first mounting block in the length direction, the third mounting block is provided with two mounting blocks and is positioned at one end of the second mounting block, which is deviated from the first mounting block, the length direction of the first mounting block and the second mounting block is parallel to the advancing direction of the crawler wheel, the width direction of the first mounting block is vertically arranged, the width direction of the first mounting block is larger than that of the second mounting block, the major axis direction of the oval where the third mounting block is located is vertically arranged, the minor axis direction of the, the driving wheel assembly is arranged on the mounting block III, and the chassis frame is fixedly connected with the lower end face of the mounting block I;

the mounting block III is provided with a first penetrating oval mounting groove along the distance direction of the crawler wheels, openings at two ends of the first mounting groove are provided with sealing end covers matched with the first mounting groove, the first mounting groove and the first end cover jointly form a first mounting inner cavity, a first movable shaft with the axial direction parallel to the distance direction of the two crawler wheels is rotatably arranged between the two end covers, the first movable shaft is provided with two movable shafts which are vertically and symmetrically arranged, the end position of the first movable shaft along the axial direction penetrates through the end covers and extends to the outside of the first mounting inner cavity, a rectangular I-shaped frame is rotatably sleeved on the end position of the first movable shaft along the axial direction, one end of the I-shaped frame along the length direction forms an opening I and the other end forms an opening II, the opening I is clamped at the outer sides of the two end covers and is rotatably connected and matched with the first movable shaft, a second movable shaft with the axial direction parallel to the first movable shaft is rotatably arranged between, the driving wheel is coaxially and fixedly sleeved on the second movable shaft and is provided with double wheels, the included angle formed by the I-shaped frames which are vertically and symmetrically arranged and deviate from the second mounting block is an acute angle in the initial state, and the two I-shaped frames which are vertically and symmetrically arranged can be separated from each other around the first movable shaft and rotated and unfolded until the two I-shaped frames form a flat angle;

the crawler wheel further comprises a deformation sliding block sleeved outside the mounting block II, the deformation sliding block and the mounting block II form sliding guide fit along the advancing direction of the crawler wheel, push-pull rods for connecting the upper end face of the deformation sliding block and the middle position of the I-shaped frame positioned above along the length direction of the I-shaped frame, and between the lower end face of the deformation sliding block and the middle position of the I-shaped frame positioned below along the length direction of the I-shaped frame are respectively arranged, one end of each push-pull rod is hinged with the upper end face/lower end face of the deformation sliding block, the axial direction of each hinge shaft is parallel to the axial direction of the corresponding movable shaft I, the other end of each hinge shaft is hinged with the middle position of the I-shaped frame along the length direction of the corresponding I-shaped frame, the axial direction of each hinge shaft is parallel to the axial direction of the corresponding movable shaft I, the mounting block I and the mounting block II, the deformation screw rod comprises a forward threaded section, a smooth section and a reverse threaded section which are equal in length from one axial end to the other axial end of the deformation screw rod, wherein one deformation sliding block and the forward threaded section of the deformation screw rod form threaded connection fit, and the other deformation sliding block and the reverse threaded section of the deformation screw rod form threaded connection fit;

the power driving device comprises an advancing driving mechanism and a deformation driving mechanism, wherein the advancing driving mechanism is used for driving the driving wheel to rotate around the axis of the power driving device, the deformation driving mechanism is used for driving the deformation screw rod to rotate around the axis of the power driving device, and the advancing driving mechanism and the deformation driving mechanism are mutually independent.

As a further optimization or improvement of the present solution.

The tensioning mechanism comprises rectangular movable blocks which are arranged outside the end covers and form sliding guide fit with the end covers, the length direction of each movable block is parallel to the advancing direction of the crawler wheel, a guide assembly for connecting the movable blocks and the end covers is arranged between the movable blocks, each guide assembly comprises a guide bulge arranged on the outer side of each end cover and a guide chute arranged on each movable block, sliding guide fit is formed between each guide chute and each guide bulge along the advancing direction of the crawler wheel, a movable shaft III axially parallel to the axial direction of the movable shaft is rotatably arranged between the two movable blocks, the movable shaft III is arranged at one end of the movable block far away from the mounting block, a tensioning wheel is coaxially fixedly sleeved on the movable shaft III, two tensioning wheels are arranged in parallel, the tensioning wheels are arranged between the two movable blocks, the tensioning wheels are abutted to the crawler, and the two tensioning wheels are arranged between the driving wheels symmetrically up and down in the initial state, and the outer.

As a further optimization or improvement of the present solution.

The tensioning mechanism further comprises a sleeve fixedly connected with the third mounting block and the second mounting block, an opening at one end of the sleeve is arranged and the axial direction of the sleeve is parallel to the advancing direction of the crawler wheel, the open end of the sleeve is arranged opposite to the three phases of the movable shaft, a sleeve connecting block is sleeved outside the third movable shaft, a supporting rod coaxially arranged with the sleeve is fixedly arranged on the sleeve connecting block, the supporting rod is movably inserted in the sleeve and forms sliding guide fit along the advancing direction parallel to the crawler wheel, a tensioning spring is movably arranged in the sleeve, one end of the tensioning spring is abutted against the bottom of the sleeve, the other end of the tensioning spring is abutted against the supporting rod, and the elastic force of the tensioning spring is always directed to the supporting rod from the bottom of.

As a further optimization or improvement of the present solution.

The movable block is provided with articulated connecting rods on the upper side and the lower side, the articulated connecting rods comprise a first articulated rod and a second articulated rod which are mutually articulated and connected at the end parts, the axial direction of the articulated shaft is parallel to the axial direction of the first movable shaft, the other end of the first articulated rod is rotatably sleeved on the first movable shaft, the other end of the second articulated rod is articulated with the upper side face/lower side face of the movable block departing from one end of the mounting block, and the axial direction of the articulated shaft is parallel to the axial direction of the first movable shaft.

As a further optimization or improvement of the present solution.

The supporting mechanism comprises a rectangular fixed block fixedly arranged on the upper end face/lower end face of the mounting block, the length direction of the fixed block is parallel to the advancing direction of the crawler wheels, the width direction of the fixed block is parallel to the distance direction of the two crawler wheels, rectangular inner sunken grooves and sliding grooves are formed in the upper end face/lower end face of the fixed block along the length direction of the fixed block, the sliding grooves are provided with two brackets which are respectively positioned on one side of the inner sunken grooves, the middle part of the groove bottom of each inner sunken groove along the length direction of the groove bottom of the inner sunken groove is hinged and provided with a bracket which extends outwards, the axial direction of the hinged shaft is parallel to the width direction of the fixed block, the two brackets are symmetrically arranged along the width direction of the fixed block, the two brackets positioned above the fixed block form a V-shaped structure with an upward opening, the two brackets positioned below the fixed block form a V-shaped structure with a downward opening, two supporting wheels are arranged in parallel along the axial direction of the supporting wheels, and the supporting wheels are abutted to the crawler.

As a further optimization or improvement of the present solution.

The supporting mechanism further comprises a sliding block which is arranged on one side of the support and forms sliding guide fit with the sliding groove, a vertical upward/vertical downward extending vertical block is fixedly arranged on the movable block, a guide assembly which is arranged along the vertical direction is arranged between the vertical block and the side face of the support, the guide assembly comprises a guide sliding groove which is arranged on the vertical block and vertically arranged, and a guide protrusion which is fixedly arranged on the side face of the support along the middle position of the extending direction, the guide sliding groove and the guide protrusion form sliding guide fit along the vertical direction, a fixed cylinder which is fixedly connected with the sliding block and is arranged with one end opening is arranged between the sliding block and the sliding groove, the fixed cylinders are movably arranged in the sliding groove, the openings of the two fixed cylinders which are symmetrically arranged in the left-right direction are mutually deviated, a supporting spring is arranged between the side walls of the fixed cylinders and the sliding groove along the length direction, one end, The other end of the sliding groove is abutted against the side wall of the sliding groove along the length direction of the sliding groove, and the elasticity of the supporting spring always pushes the two fixed cylinders which are symmetrically arranged left and right to move close to each other.

As a further optimization or improvement of the present solution.

The power driving device further comprises a second mounting groove and a third mounting groove which are fixedly arranged on the first mounting block and penetrate through the first mounting groove and the third mounting groove along the spacing direction of the crawler wheels, a cover plate used for sealing openings of the second mounting groove and the third mounting groove is installed on the side face of the first mounting block in a specified mode, the second mounting groove and the cover plates on the two sides form a second mounting inner cavity, the third mounting groove and the cover plates on the two sides form a third mounting inner cavity, and a bracket is fixedly arranged on the cover plate on the inner side.

As a further optimization or improvement of the present solution.

The advancing driving mechanism comprises a first transmission shaft, a second transmission shaft and a third transmission shaft, wherein the first transmission shaft is rotatably arranged between the bracket and the second installation inner cavity, the second transmission shaft is rotatably arranged in the second installation inner cavity, the third transmission shaft is rotatably arranged in the first installation inner cavity, the axial directions of the first transmission shaft, the second transmission shaft and the third transmission shaft are parallel to each other, the axial direction of the first transmission shaft is parallel to the distance direction of the crawler wheels, the output end of the first transmission shaft is positioned in the second installation inner cavity, the drive end of the first transmission shaft is positioned outside the second installation inner cavity, the drive end of the first transmission shaft is connected with the output end of the first power source, the second transmission shaft is provided with two transmission shafts which are symmetrically arranged along the axial direction of the first transmission shaft, the two ends of the second transmission shaft along the axial direction of the second, the second transmission shaft corresponds to the third transmission shaft one by one, the first transmission shaft is used for transmitting power to the second transmission shaft and driving the second transmission shaft to rotate around the axis of the second transmission shaft, and the second transmission shaft is used for transmitting power to the third transmission shaft and driving the third transmission shaft to rotate around the axis of the second transmission shaft;

the advancing driving mechanism also comprises a first driving gear and a first driven gear, wherein the first driving gear is coaxially and fixedly sleeved on the output end of the first transmission shaft, the first driven gear is coaxially and fixedly sleeved on the second transmission shaft, the first driving gear and the first driven gear are both positioned in the second installation cavity, the first driving gear is meshed with the first driven gear, a first belt transmission assembly is arranged between the output end of the second transmission shaft and the third transmission end of the transmission shaft, the first belt transmission assembly comprises a first driving belt wheel, a first driven belt wheel and a first belt wheel, the first driving belt wheel is coaxially and fixedly sleeved on the second output end of the transmission shaft, the first driven belt wheel is arranged between the first driving belt wheel and the first driven belt wheel and is used for connecting the first driving belt wheel and the first driven belt wheel, the second driving gear is coaxially and fixedly sleeved on the third transmission shaft, the second driving, the advancing driving mechanism further comprises a second belt transmission assembly arranged between one end position of the movable shaft and the other end position of the movable shaft, the second belt transmission assembly comprises a second driving belt wheel coaxially fixedly sleeved on one end position of the movable shaft, a second driven belt wheel coaxially fixedly sleeved on the other end position of the movable shaft and a second belt wheel arranged between the second driving belt wheel and the second driven belt wheel and used for connecting the second driving belt wheel and the second driven belt wheel.

As a further optimization or improvement of the present solution.

The deformation driving mechanism comprises a transmission shaft five which is coaxially and rotatably arranged between the bracket and the mounting inner cavity three, a hollow transmission shaft four which is coaxially and rotatably sleeved outside the transmission shaft one, the axial direction of the transmission shaft five is parallel to the axial direction of the transmission shaft four, the output end of the transmission shaft five is positioned in the mounting inner cavity three, the driving end is positioned outside the mounting inner cavity three, the smooth section of the deformation screw rod movably penetrates through the mounting inner cavity three, a driving gear three is coaxially and fixedly sleeved on the output end of the transmission shaft five, a driven gear three is coaxially and fixedly sleeved on the smooth section of the deformation screw rod, the driving gear three and the driven gear three are positioned in the mounting inner cavity three, the driving gear three and the driven gear three are helical gears and are mutually meshed with each other, a belt transmission assembly three is arranged between the output end of the transmission shaft four and the driving end of the transmission shaft, The coaxial fixing sleeve is connected with a third driven belt wheel on the driving end of the fifth transmission shaft and a third belt which is arranged between the third driving belt wheel and the third driven belt wheel and used for connecting the third driving belt wheel and the third driven belt wheel, and the driving end of the fourth transmission shaft is connected with the output end of the second power source.

Compared with the prior art, the crawler wheel type ground clearance adjusting mechanism has the advantages that the crawler wheel type ground clearance adjusting mechanism is ingenious in structure and simple in principle, the shape of the crawler wheel can be switched between a quadrilateral shape and a hexagonal shape, the ground clearance of the chassis frame can be adjusted, when outdoor road conditions are smooth, the crawler wheel is rectangular, the ground clearance of the chassis frame is smaller, the center of gravity of the whole machine is reduced, and the stability of the whole machine can be kept; when the height fluctuation of outdoor road conditions is poor, the crawler wheel changes into the hexagon, the ground clearance of chassis frame is great, and the chassis frame has good trafficability characteristic, and simultaneously, the crawler wheel has good climbing ability, causes the whole machine to have stronger trafficability characteristic.

Drawings

FIG. 1 is a schematic structural diagram of an initial state of the present invention.

Fig. 2 is a structural schematic diagram of a deformed state of the present invention.

Fig. 3 is a matching view of the crawler wheel and the power driving device.

Fig. 4 is a matching view of the crawler wheel and the power driving device.

Fig. 5 is a schematic structural view of the crawler wheel.

Fig. 6 is a partial structural schematic view of the track wheel.

Fig. 7 is a partial structural schematic view of the track wheel.

Fig. 8 is a partial structural schematic view of the track wheel.

Fig. 9 is a schematic diagram of a drum rack.

Fig. 10 is a connection diagram of the jig frame and the driving wheel.

Fig. 11 is a schematic structural view of the tensioning mechanism.

Fig. 12 is a schematic structural view of the tension mechanism.

Fig. 13 is a partial structural view of the tension mechanism.

Fig. 14 is a partial exploded schematic view of the tensioning mechanism.

Fig. 15 is a view of the support mechanism in cooperation with the track.

Fig. 16 is a schematic view of the entire structure of the support mechanism.

Fig. 17 is a partial structural view of the support mechanism.

Fig. 18 is a partial structural view of the support mechanism.

Fig. 19 is a partial structural view of the support mechanism.

Fig. 20 is a view showing the track wheel in cooperation with a travel driving mechanism and a deformation driving mechanism.

Fig. 21 is a partial schematic structural view of the power drive device.

Fig. 22 is a view showing the cooperation of the travel drive mechanism and the drive wheel.

Fig. 23 is a view showing the cooperation of the travel driving mechanism and the driving wheel.

Fig. 24 is a partial structural view of the travel drive mechanism.

Fig. 25 is a view showing the engagement of the strain drive mechanism with the strain lead screw.

Fig. 26 is a view showing the engagement of the strain drive mechanism with the strain lead screw.

Labeled as:

100. a chassis frame;

200. a crawler wheel; 201. mounting blocks; 201a, a first mounting block; 201b, a second mounting block; 201c, a third mounting block; 202a, a first mounting groove; 202b, end caps; 202c, a guide projection; 203. a first movable shaft; 204. a jig frame; 204a, opening one; 204b and a second opening; 205. a second movable shaft; 206. a drive wheel; 207. a deformable slide block; 208. a push-pull rod; 209. a deformation screw rod; 210. a crawler belt; 220. a tensioning mechanism; 221. a movable block; 222. a guide chute; 223. a third movable shaft; 224. a tension wheel; 225. sleeving and connecting blocks; 226. a support bar; 227. a sleeve; 228. tensioning the spring; 229. a hinged connecting rod; 230. a support mechanism; 231. a fixed block; 232. a sliding groove; 233. a support; 234. a support wheel; 235. a slider; 236. erecting a block; 236a, a guide chute; 236b, a guide projection; 237. a fixed cylinder; 238. a support spring;

300. a power drive device; 301. a second mounting groove; 302. a third mounting groove; 303. a cover plate; 304. a bracket; 310. a travel drive mechanism; 311. a first transmission shaft; 312. a second transmission shaft; 313. a third transmission shaft; 314. a first driving gear; 315. a first driven gear; 316. a first belt transmission assembly; 317. a second driving gear; 318. a driven gear II; 319. a belt transmission assembly II; 320. a deformation driving mechanism; 321. a fifth transmission shaft; 322. a driving gear III; 323. a third driven gear; 324. a fourth transmission shaft; 325. and a belt transmission assembly III.

Detailed Description

A variable crawler chassis comprises a chassis frame 100 arranged at a distance from the ground, a crawler wheel 200 and a power driving device 300 arranged on the chassis frame 100 and providing power for the crawler wheel 200, wherein the crawler wheel 200 comprises a left crawler wheel and a right crawler wheel which are symmetrically arranged at the left and right, the left crawler wheel is fixedly connected with one end of the chassis frame 100, the right crawler wheel is fixedly connected with the other end of the chassis frame 100, the crawler wheel 200 comprises a driving wheel combination which is symmetrically arranged at the front and the back, a tensioning mechanism 220 which is symmetrically arranged at the front and the back, a supporting mechanism 230 which is symmetrically arranged at the top and the bottom and a crawler 210 which is wound on the driving wheel 206, the tensioning mechanism 220 is arranged between the driving wheels 206 which are symmetrically arranged at the top and the bottom and is abutted against the crawler 210, the supporting mechanism 230 is arranged between the driving wheels 206 which are symmetrically arranged at the front and the back and is abutted against the crawler, the tensioning mechanism 220 is used for tensioning the track 210, the supporting mechanism 230 is used for supporting the track 210, the track 210 is meshed with the driving wheel 206, the track 210 is arranged to be switched between a quadrilateral shape and a hexagonal shape, the initial state is the quadrilateral shape, and when the track 210 is the quadrilateral shape, the ground clearance of the chassis frame 100 is the minimum; when the crawler belt 210 is hexagonal, the height of the chassis frame 100 from the ground is the largest, and the crawler belt 210 is switched between the quadrangular shape and the hexagonal shape by controlling the distance between the driving wheels 206 which are symmetrically arranged up and down.

In order to facilitate the installation of the driving wheel 206, the track wheel 200 further comprises a rectangular horizontally arranged mounting block 201, the length direction of the mounting block 201 is parallel to the traveling direction of the track wheel 200, the mounting block 201 comprises a first rectangular mounting block 201a, a second rectangular mounting block 201b and a third oval mounting block 201c, the first rectangular mounting block 201a, the second rectangular mounting block 201b and the third oval mounting block 201c are fixedly connected into a whole, the second rectangular mounting block 201b is provided with two ends which are located at one end of the first mounting block 201a in the length direction, the third mounting block 201c is provided with two ends which are located at the end of the second mounting block 201b opposite to the first mounting block 201a, the length directions of the first mounting block 201a and the second mounting block 201b are parallel to the traveling direction of the track wheel 200, the width direction of the first mounting block 201a is vertical, the minor axis direction of the oval where the third mounting block 201c is located is vertical, the minor axis direction is parallel to the, the driving wheel assembly is arranged on the mounting block III 201c, and the chassis frame 100 is fixedly connected with the lower end face of the mounting block I201 a.

Specifically, a first through oval mounting groove 202a is formed in the mounting block three 201c along the distance direction of the crawler wheels 200, sealing end covers 202b matched with the first through oval mounting groove 202a are arranged at openings at two ends of the first mounting groove 202a, the first mounting groove 202a and the first end cover 202b together form a first mounting cavity, a first movable shaft 203 axially parallel to the distance direction of the two crawler wheels 200 is rotatably arranged between the two end covers 202b, the first movable shaft 203 is provided with two vertically symmetrical end covers, the position of the axial end of the first movable shaft 203 penetrates through the end cover 202b and extends to the outside of the first mounting cavity, a rectangular I-shaped frame 204 is rotatably sleeved on the axial end of the first movable shaft 203, an opening 204a is formed at one end of the I-shaped frame 204 along the length direction, an opening two 204b is formed at the other end of the I-shaped frame, the opening 204a is clamped at the outer sides of the two end covers 202, a second movable shaft 205 axially parallel to the first movable shaft 203 is rotatably arranged between the second open mouth 204b, the second movable shaft 205 extends to the outer side of the I-shaped frame 204 along the axial end position of the second movable shaft 205, the driving wheel 206 is coaxially and fixedly sleeved on the second movable shaft 205, the driving wheel 206 is arranged into two wheels, an included angle formed by the I-shaped frames 204 which are vertically and symmetrically arranged and depart from the second mounting block 201b is an acute angle in an initial state, the two I-shaped frames 204 which are vertically and symmetrically arranged can be separated from each other around the first movable shaft 203 and rotatably unfolded until the two I-shaped frames 204 form a flat angle, the I-shaped frames 204 which are vertically and symmetrically arranged are separated from each other around the first movable shaft 203 and rotate to form a flat angle, on one hand, the mounting block 201 is moved upwards, the chassis frame 100 is driven to move upwards, the ground clearance of the chassis frame 100 is.

More specifically, in order to facilitate the upper and lower i-shaped frames 204 to rotate away from each other around the first movable shaft 203, the track wheel 200 further includes a deformation slider 207 sleeved outside the second mounting block 201b, the deformation slider 207 and the second mounting block 201b form a sliding guiding fit along the traveling direction of the track wheel 200, a push-pull rod 208 for connecting the upper end surface of the deformation slider 207 and the middle position of the upper i-shaped frame 204 along the length direction thereof, and a push-pull rod 208 for connecting the lower end surface of the deformation slider 207 and the middle position of the lower i-shaped frame 204 along the length direction thereof are respectively disposed between the upper end surface of the deformation slider 207 and the middle position of the lower i-shaped frame 204 along the length direction thereof, one end of the push-pull rod 208 is hinged to the upper end surface/lower end surface of the deformation slider 207, the axial direction of the hinge shaft is parallel to the axial direction of the first movable shaft 203, the other, the first mounting block 201a and the second mounting block 201b are arranged in a hollow manner, a deformation screw rod 209 axially parallel to the advancing direction of the crawler wheel 200 is rotatably arranged between the ends, away from each other, of the two mounting blocks 201b, the deformation screw rod 209 points to the other end along one axial end of the deformation screw rod 209 and comprises a forward thread section, a smooth section and a reverse thread section which are equal in length, one deformation slider 207 and the forward thread section of the deformation screw rod 209 form threaded connection fit, the other deformation slider 207 and the reverse thread section of the deformation screw rod 209 form threaded connection fit, the deformation slider 207 is driven to rotate by driving the deformation screw rod 209 to enable the deformation slider 207 to mutually approach and slide along the second mounting block 201b, the push-pull rod 208 pulls the upper and lower H-shaped frames 204 to mutually keep away from each other around the first movable shaft 203 and rotate until the H-shaped frames.

In order to transmit power to the driving wheel 206 and enable the track 210 to run, and in order to transmit power to the deformation screw 209 and enable the track 210 to change from a square shape to a hexagon shape, the power driving device 300 comprises a running driving mechanism 310 for driving the driving wheel 206 to rotate around the axis thereof, and a deformation driving mechanism 320 for driving the deformation screw 209 to rotate around the axis thereof, wherein the running driving mechanism 310 and the deformation driving mechanism 320 are independent from each other.

During the operation of the crawler chassis, the crawler 210 is quadrilateral in the initial state and the ground clearance of the chassis frame 100 is smaller, at this time, the traveling driving mechanism 310 transmits power to the driving wheel 206 and drives the driving wheel 206 to rotate, the crawler wheel 200 is suitable for the whole carrying machine to travel on a flat outdoor ground, when the crawler wheel 200 needs to be caused to carry the whole carrying machine to travel on an uneven outdoor ground, at this time, the deformation driving mechanism 320 transmits power to the deformation screw 209 and drives the deformation screw 209 to rotate, the deformation screw 209 rotates and drives the deformation sliding blocks 207 to slide close to each other along the mounting blocks two 201b, the push-pull rod 208 pulls the vertically symmetrically arranged i-shaped frames 204 to rotate away from each other around the first movable shaft 203 until the two i-shaped frames 204 form a flat angle, the mounting blocks 201 move vertically upwards, the chassis frame 100 moves synchronously upwards and the ground clearance increases, the tensioning mechanism 220 will support the track 210 outward and convert the track 210 from a quadrilateral to a hexagonal shape, with good passage of both the track wheel 200 and chassis frame 100.

The tensioning mechanism 220 comprises a rectangular movable block 221 which is arranged outside the end cover 202b and forms sliding guide fit with the end cover 202b, the length direction of the movable block 221 is parallel to the advancing direction of the track wheel 200, a guide assembly for connecting the movable block 221 and the end cover 202b is arranged between the two, the guide assembly comprises a guide protrusion 202c arranged on the outer side of the end cover 202b and a guide sliding groove 222 arranged on the movable block 221, the guide sliding groove 222 and the guide protrusion 202c form sliding guide fit along the advancing direction of the track wheel 200, a movable shaft three 223 axially parallel to the axial direction of the movable shaft one 203 is rotatably arranged between the two movable blocks 221, the movable shaft three 223 is positioned at one end of the movable block 221, which is far away from the mounting block three 201c, a tensioning wheel 224 is coaxially and fixedly sleeved on the movable shaft three 223, two tensioning wheels 224 are arranged in parallel, the tensioning wheel 224 is positioned between the two movable blocks 221, and, in the initial state, the two tension wheels 224 are located between the driving wheels 206 which are symmetrically arranged up and down, and the outer edges of the tension wheels 224 are flush with the outer edges of the driving wheels 206 up and down, so that the tension wheels 224 can always tension the track 210 by sliding the movable blocks 221 away from the first mounting blocks 201 a.

Specifically, in order to enable the tensioning wheel 224 to tension the track 210, the tensioning mechanism 220 further includes a sleeve 227 fixedly connected to one end of the mounting block three 201c away from the mounting block two 201b, one end of the sleeve 227 is open and arranged and axially parallel to the traveling direction of the track wheel 200, the open end of the sleeve 227 is arranged opposite to the movable shaft three 223, a sleeve block 225 is movably sleeved outside the movable shaft three 223, a support rod 226 coaxially arranged with the sleeve 227 is fixedly arranged on the sleeve block 225, the support rod 226 is movably inserted into the sleeve 227 and forms a sliding guide fit along the traveling direction parallel to the track wheel 200, a tensioning spring 228 is movably arranged in the sleeve 228, one end of the tensioning spring 228 abuts against the bottom of the sleeve 227, the other end of the tensioning spring abuts against the support rod 226, the elastic force of the tensioning spring 228 always points to the support rod 226 from the bottom of the sleeve 227, and the elastic force of the tensioning spring 228 always acts, the tensioner 224 is always urged against and tensioned against the track 210.

More specifically, in order to guarantee the gliding stability of movable block 221 along the direction of direction subassembly, both sides all are provided with articulated connecting rod 229 about the movable block 221, and articulated connecting rod 229 includes that the articulated rod one of tip articulated connection each other is with articulated rod two and the axial of this articulated shaft is on a parallel with the axial of movable shaft 203, and articulated rod one other end rotates to cup joint on movable shaft 203, and the articulated rod two other ends and movable block 221 deviate from the articulated connection of the side of going up/downside of installation piece one 201a one end and the axial of this articulated shaft is on a parallel with the axial of movable shaft 203.

In the initial state, two tension wheels 224 are positioned between the driving wheels 206 which are symmetrically arranged up and down, and the outer edges of the tension wheels 224 are flush with the outer edges of the driving wheels 206 up and down, so that the track 210 is quadrilateral in the initial state, when the I-shaped frames 204 which are symmetrically arranged up and down rotate away from each other around the first movable shaft 203 until the I-shaped frames 204 form a flat angle, in the process, the track 210 is loosened, the tensioning mechanism 220 tensions the track 210 and enables the track 210 to be meshed with the driving wheels 206 for tensioning, specifically, the elastic potential energy of the tensioning spring 228 is gradually released and pushes the supporting rod 226 to slide towards the outside of the sleeve 227, the supporting rod 226 pushes the third movable shaft 223 to move away from the three mounting blocks 201c, the tension wheels 224 and the track 210 are pressed against each other, on one hand, the track 210 is tensioned, on the other hand, the, the climbing capacity of the crawler wheel 200 is improved, and the passing performance of the crawler wheel 200 is indirectly improved.

The supporting mechanism 230 positioned above is used for supporting the track 210 and avoiding the track 210 from falling and deforming under the action of self gravity, the supporting mechanism positioned above is used for supporting the track 210 so as to enable the track 210 to be in close contact with the ground and improve the ground gripping force of the track 210, the supporting mechanism 230 comprises a rectangular fixing block 231 fixedly arranged on the upper end surface/lower end surface of the first mounting block 201a, the length direction of the fixing block 231 is parallel to the advancing direction of the track wheels 200, the width direction of the fixing block is parallel to the spacing direction of the two track wheels 200, rectangular inner sunken grooves and sliding grooves 232 are formed in the upper end surface/lower end surface of the fixing block 231 along the length direction of the fixing block, the sliding grooves 232 are provided with two brackets 233 which are arranged in an outward extending mode and hinged mode along the middle position of the length direction of the groove bottoms of the inner sunken grooves, and the axial direction of the hinged shafts is parallel to the width direction of the fixing block 231, the two brackets 233 are arranged symmetrically in the width direction of the fixed block 231, the two brackets 233 located above form a V-shaped structure with an upward opening, the two brackets 233 located below form a V-shaped structure with a downward opening, the extending ends of the brackets 233 are rotatably provided with the support wheels 234, the axial direction of the rotating shafts is parallel to the width direction of the fixed block 231, the support wheels 234 are arranged side by side in the axial direction thereof, and the support wheels 234 are abutted against the crawler 210.

Specifically, in order to make the support wheel 234 effectively support the crawler 210, the support mechanism 230 further includes a sliding block 235 disposed on one side of the bracket 233 and forming a sliding guiding fit with the sliding groove 232, an upright block 236 vertically extending upwards/downwards is fixedly disposed on the movable block 235, a guide assembly disposed along the vertical direction is disposed between the upright block 236 and the side surface of the bracket 233, the guide assembly includes a guide sliding slot 236a vertically disposed on the upright block 236 and fixedly disposed on the side surface of the bracket 233 and a guide protrusion 236b along the middle position of the extending direction thereof, the guide sliding slot 236a and the guide protrusion 236b form a sliding guiding fit along the vertical direction, in order to effectively support the bracket 233, a fixed cylinder 237 fixedly connected with the sliding block 235 and having an opening at one end is disposed between the sliding block 235 and the sliding groove 232, the fixed cylinder 237 is movably arranged in the sliding groove 232, the openings of the two fixed cylinders 237 symmetrically arranged left and right are deviated from each other, a supporting spring 238 is arranged between the fixed cylinder 237 and the sliding groove 232 along the side wall of the fixed cylinder in the length direction, one end of the supporting spring 238 abuts against the cylinder bottom of the fixed cylinder 237, the other end of the supporting spring abuts against the side wall of the sliding groove 232 in the length direction, and the elastic force of the supporting spring pushes the two fixed cylinders 237 symmetrically arranged left and right to move close to each other all the time.

In the working process of the supporting mechanism 230, the elastic force of the supporting spring 238 always pushes the two fixed cylinders 237 which are symmetrically arranged left and right to move close to each other, the sliding block 235 will slide close to each other along the sliding groove 232, so that the guiding protrusion 236b slides vertically and upwards along the guiding sliding groove 236a, so that the two brackets 233 which are symmetrically arranged left and right rotate close to each other around the hinge shaft thereof, the V-shaped opening formed by the brackets 233 gradually shrinks, so that the supporting wheel 234 can effectively support the crawler 210, it should be noted that the tensioning force of the tensioning mechanism 220 on the crawler 210 is much greater than the supporting force of the supporting mechanism 230 on the crawler 210, the supporting mechanism 230 is adopted in the sense that the supporting mechanism 230 located above supports the crawler 210, the crawler 210 is prevented from falling and deforming under the action of its own gravity, the supporting mechanism located above supports the crawler 210, so that the crawler 210 is in close contact with the ground, the grip of the track 210 is raised.

In order to transmit power to the driving wheels 206 and synchronously rotate the four driving wheels 206 in the same direction to enable the crawler wheel 200 to move forward or backward, the power driving device 300 further comprises a second mounting groove 301 and a third mounting groove 302 which are fixedly arranged on the first mounting block 201a and arranged in a penetrating manner along the pitch direction of the crawler wheel 200, a cover plate 303 used for sealing the openings of the second mounting groove 301 and the third mounting groove 302 is fixedly arranged on the side surface of the first mounting block 201a, the second mounting groove 301 and the cover plates 303 on the two sides form a second mounting inner cavity, the third mounting groove 302 and the cover plates 303 on the two sides form a third mounting inner cavity, and a bracket 304 is fixedly arranged on the cover plate 303 on the inner side.

The advancing driving mechanism 310 comprises a first transmission shaft 311 rotatably arranged between the bracket 304 and the second installation inner cavity, a second transmission shaft 312 rotatably arranged in the second installation inner cavity and a third transmission shaft 313 rotatably arranged in the first installation inner cavity, the axial directions of the first transmission shaft 311, the second transmission shaft 312 and the third transmission shaft 313 are mutually parallel, the axial direction of the first transmission shaft 311 is parallel to the spacing direction of the crawler wheels 200, the output end of the first transmission shaft 311 is positioned in the second installation inner cavity, the driving end is positioned outside the second installation inner cavity, the driving end of the first transmission shaft 311 is connected with the output end of the first power source, the second transmission shaft 312 is provided with two transmission shafts which are symmetrically arranged along the axial direction of the first transmission shaft 311, the two ends of the second transmission shaft 312 along the axial direction are output ends, the output ends extend to the outside of the cover plate 303, the third transmission shaft 313 is positioned between the two first movable shafts 203, the three transmission, the second transmission shafts 312 correspond to the third transmission shafts 313 one by one, the first transmission shafts 311 are used for transmitting power to the second transmission shafts 312 and driving the second transmission shafts 312 to rotate around the own axes, and the second transmission shafts 312 are used for transmitting power to the third transmission shafts 313 and driving the third transmission shafts 313 to rotate around the own axes.

Specifically, the traveling driving mechanism 310 further comprises a first driving gear 314 coaxially and fixedly sleeved on the output end of the first transmission shaft 311, a first driven gear 315 coaxially and fixedly sleeved on the second transmission shaft 312, the first driving gear 314 and the first driven gear 315 are both positioned in the second installation cavity, the first driving gear 314 is meshed with the first driven gear 315, a first belt transmission component 316 is arranged between the output end of the second transmission shaft 312 and the driving end of the third transmission shaft 313, the first belt transmission component 316 comprises a first driving pulley coaxially and fixedly sleeved on the output end of the second transmission shaft 312, a first driven pulley coaxially and fixedly sleeved on the driving end of the third transmission shaft 313, and a first belt arranged between the first driving pulley and the first driven pulley and used for connecting the first driving pulley and the first driven pulley, the traveling driving mechanism 310 further comprises a second driving gear 317 coaxially and fixedly sleeved on the third transmission shaft 313, and a second driven, the second driving gear 317 and the second driven gear 318 are both located in the first installation cavity and are meshed with each other, the advancing driving mechanism 310 further comprises a second belt transmission assembly 319 arranged between the end position of the first movable shaft 203 and the end position of the second movable shaft 205, and the second belt transmission assembly 319 comprises a second driving belt wheel coaxially and fixedly sleeved on the end position of the first movable shaft 203, a second driven belt wheel coaxially and fixedly sleeved on the end position of the second movable shaft 205 and a second belt wheel arranged between the second driving belt wheel and the second driven belt wheel and used for connecting the second driving belt wheel and the second driven belt wheel.

During operation of the traveling driving mechanism 310, the first driving pulley 314 and the first driven gear 315 cooperate to transmit power of the first transmission shaft 311 to the second transmission shaft 312 and drive the second transmission shaft 312 to rotate around the own axis, the first belt transmission assembly 316 transmits power of the second transmission shaft 312 to the third transmission shaft 313 and drives the third transmission shaft 313 to rotate around the own axis, the second driving gear 317 and the second driving gear 318 cooperate to transmit power of the third transmission shaft 313 to the first movable shaft 203 and drive the first movable shaft 203 to rotate around the own axis, the second belt transmission assembly 319 transmits power of the first movable shaft 203 to the second movable shaft 205 and drives the second movable shaft 205 to rotate around the own axis, so that the driving wheel 206 rotates, the driving wheel 206 drives the track 210 to travel, the rotation direction of the first transmission shaft 311 is changed, and the heating rotation direction of the driving wheel 206 can be controlled, so that the track wheel 200 moves forward or backward.

In order to transmit power to the deformation screw rod 209, the deformation driving mechanism 320 includes a transmission shaft five 321 coaxially and rotatably disposed between the bracket 304 and the mounting cavity three, a hollow transmission shaft four 324 coaxially and rotatably sleeved outside the transmission shaft one 311, an axial direction of the transmission shaft five 321 is parallel to an axial direction of the transmission shaft four 324, an output end of the transmission shaft five 321 is located inside the mounting cavity three, a driving end of the transmission shaft five is located outside the mounting cavity three, a smooth section of the deformation screw rod 209 movably penetrates through the inside of the mounting cavity three, a driving gear three 322 is coaxially and fixedly sleeved on an output end of the transmission shaft five 321, a driven gear three 323 is coaxially and fixedly sleeved on the smooth section of the deformation screw rod 209, the driving gear three 322 and the driven gear three 323 are located inside the mounting cavity three, the driving gear three 322 and the driven gear three 323 are helical gears and are mutually engaged, in order to transmit the power of, a third belt transmission assembly is arranged between the output end of the fourth transmission shaft 324 and the drive end of the fifth transmission shaft 321, the third belt transmission assembly comprises a third driving belt wheel which is coaxially and fixedly sleeved on the output end of the fourth transmission shaft 324, a third driven belt wheel which is coaxially and fixedly sleeved on the drive end of the fifth transmission shaft 321, and a third belt wheel which is arranged between the third driving belt wheel and the third driven belt wheel and is used for connecting the third driving belt wheel and the third driven belt wheel, and the drive end of the fourth transmission shaft 324 is connected with the output end.

In the working process of the deformation driving mechanism 320, the belt transmission assembly three 325 transmits the power of the transmission shaft four 324 to the transmission shaft five 321 and drives the transmission shaft five 321 to rotate, the transmission shaft five 321 drives the driving gear three 322 to rotate, the driving gear three 322 drives the driven gear three 323 to rotate, the transmission gear three 323 drives the deformation screw rod 209 to rotate, the deformation screw rod 209 rotates to deform the crawler wheel 200, the deformation screw rod 209 rotates positively and = moves, the crawler 210 is changed from a quadrangle to a hexagon, the deformation screw rod 209 rotates reversely, the crawler 210 is reset from the hexagon to the quadrangle, and the positive and negative rotation of the screw rod 209 is controlled by the positive and negative rotation of the transmission shaft four 324.

Claims

1. Variable track chassis, its characterized in that: the crawler wheel comprises a left crawler wheel and a right crawler wheel which are arranged in a bilateral symmetry manner, the left crawler wheel is fixedly connected with one end of the chassis frame, the right crawler wheel is fixedly connected with the other end of the chassis frame, the crawler wheel comprises a driving wheel combination which is arranged in a front-back symmetry manner, a tensioning mechanism which is arranged in a front-back symmetry manner, a supporting mechanism which is arranged in a front-back symmetry manner, and a crawler which is wound on the driving wheel, the tensioning mechanism and the supporting mechanism, the driving wheel combination comprises driving wheels which are arranged in a winding manner, the tensioning mechanism is arranged between the driving wheels which are arranged in the front-back symmetry manner and is abutted against the crawler, the supporting mechanism is arranged between the driving wheels which are arranged in the front-back symmetry manner and is abutted against the crawler, the tensioning mechanism is used for tensioning the crawler, and the supporting mechanism is used for supporting/supporting the crawler, the crawler belt is meshed with the driving wheel, the crawler belt is switched between a quadrangle and a hexagon and is in a quadrangle in an initial state, and when the crawler belt is in the quadrangle, the ground clearance of the chassis frame is the minimum; when the track is hexagonal, the height of the chassis frame above the ground is maximum;

the crawler wheel also comprises mounting blocks which are arranged horizontally in a rectangular shape, the length direction of the mounting blocks is parallel to the advancing direction of the crawler wheel, the mounting blocks comprise a first rectangular mounting block, a second rectangular mounting block and a third oval mounting block which are fixedly connected into a whole, the second mounting block is provided with two mounting blocks which are respectively positioned at two ends of the first mounting block in the length direction, the third mounting block is provided with two mounting blocks which are respectively positioned at two ends of the first mounting block in the length direction, the two mounting blocks are respectively mounted at one end of the second mounting block, which is deviated from the first mounting block, the length direction of the first mounting block and the second mounting block is parallel to the advancing direction of the crawler wheel, the width direction of the first mounting block is vertically arranged, the width direction of the first mounting block is larger than that of the second mounting block, the major axis direction of an oval where the third mounting block is located is vertically arranged, the minor axis, the driving wheel assembly is arranged on the mounting block III, and the chassis frame is fixedly connected with the lower end face of the mounting block I;

the crawler wheel further comprises a deformation sliding block sleeved outside the mounting block II, the deformation sliding block and the mounting block II form sliding guide fit along the advancing direction of the crawler wheel, push-pull rods for connecting the upper end face of the deformation sliding block and the middle position of the I-shaped frame positioned above the deformation sliding block along the length direction of the I-shaped frame and between the lower end face of the deformation sliding block and the middle position of the I-shaped frame positioned below the deformation sliding block along the length direction of the I-shaped frame are arranged, one end of each push-pull rod is hinged with the upper end face/lower end face of the deformation sliding block, the axial direction of a hinge shaft formed by the hinged position of the push-pull rod and the deformation sliding block is parallel to the axial direction of the first movable shaft, the other end of each push-pull rod is hinged with the middle position of the I-shaped frame along the length direction of the hinge shaft, the axial direction of the hinge shaft formed by the push-pull rod and the I-shaped frame is parallel to the The deformation screw rod comprises a forward thread section, a smooth section and a reverse thread section which are equal in length along one axial end pointing to the other axial end, wherein one deformation sliding block and the forward thread section of the deformation screw rod form threaded connection fit, and the other deformation sliding block and the reverse thread section of the deformation screw rod form threaded connection fit;

2. The variable track undercarriage of claim 1 wherein: the tensioning mechanism comprises rectangular movable blocks which are arranged outside the end covers and form sliding guide fit with the end covers, the length direction of each movable block is parallel to the advancing direction of the crawler wheel, a guide assembly for connecting the movable blocks and the end covers is arranged between the movable blocks, each guide assembly comprises a guide bulge arranged on the outer side of each end cover and a guide chute arranged on each movable block, sliding guide fit is formed between each guide chute and each guide bulge along the advancing direction of the crawler wheel, a movable shaft III axially parallel to the axial direction of the movable shaft is rotatably arranged between the two movable blocks, the movable shaft III is arranged at one end of the movable block far away from the mounting block, a tensioning wheel is coaxially fixedly sleeved on the movable shaft III, two tensioning wheels are arranged in parallel, the tensioning wheels are arranged between the two movable blocks, the tensioning wheels are abutted to the crawler, and the two tensioning wheels are arranged between the driving wheels symmetrically up and down in the initial state, and the outer.

3. The variable track undercarriage of claim 1 or 2 wherein: the tensioning mechanism further comprises a sleeve fixedly connected with the third mounting block and the second mounting block, an opening at one end of the sleeve is arranged and the axial direction of the sleeve is parallel to the advancing direction of the crawler wheel, the open end of the sleeve is arranged opposite to the three phases of the movable shaft, a sleeve connecting block is sleeved outside the third movable shaft, a supporting rod coaxially arranged with the sleeve is fixedly arranged on the sleeve connecting block, the supporting rod is movably inserted in the sleeve and forms sliding guide fit along the advancing direction parallel to the crawler wheel, a tensioning spring is movably arranged in the sleeve, one end of the tensioning spring is abutted against the bottom of the sleeve, the other end of the tensioning spring is abutted against the supporting rod, and the elastic force of the tensioning spring is always directed to the supporting rod from the bottom of.

4. The variable track undercarriage of claim 2 wherein: the movable block is characterized in that hinged connecting rods are arranged on the upper side and the lower side of the movable block, the hinged connecting rods comprise first hinged rods and second hinged rods which are hinged to each other at the end parts, the axial direction of a hinged shaft formed by the first hinged rods and the second hinged rods is parallel to the axial direction of a movable shaft, the other end of each hinged rod is rotatably sleeved on the first movable shaft, the other end of each hinged rod and the movable block deviate from the upper side face/lower side face of one end of the installation block to be hinged to each other, and the axial direction of a hinged shaft formed by the second hinged rods and the hinged positions of the movable blocks is parallel.

5. The variable track undercarriage of claim 1 wherein: the supporting mechanism comprises a rectangular fixed block fixedly arranged on the upper end face/lower end face of the mounting block, the length direction of the fixed block is parallel to the advancing direction of the crawler wheels, the width direction of the fixed block is parallel to the spacing direction of the two crawler wheels, rectangular inner sunken grooves and sliding grooves are formed in the upper end face/lower end face of the fixed block along the length direction of the fixed block, the sliding grooves are provided with two brackets which are respectively positioned on one side of each inner sunken groove, the middle positions of the bottoms of the inner sunken grooves along the length direction of the inner sunken grooves are hinged with outwards extending brackets, the axial direction of a hinge shaft formed by the hinged positions of the inner sunken grooves and the brackets is parallel to the width direction of the fixed block, the brackets are provided with two brackets which are symmetrically arranged along the width direction of the fixed block, the two brackets positioned above form a V-shaped structure with an upward opening, the two brackets positioned below form a V-shaped structure with a downward opening, the extending ends of, two supporting wheels are arranged in parallel along the axial direction of the supporting wheels, and the supporting wheels are abutted to the crawler.

6. The variable track undercarriage of claim 2 wherein: the supporting mechanism further comprises a sliding block which is arranged on one side of the support and forms sliding guide fit with the sliding groove, a vertical upward/vertical downward extending vertical block is fixedly arranged on the movable block, a guide assembly which is arranged along the vertical direction is arranged between the vertical block and the side face of the support, the guide assembly comprises a guide sliding groove which is arranged on the vertical block and vertically arranged, and a guide protrusion which is fixedly arranged on the side face of the support along the middle position of the extending direction, the guide sliding groove and the guide protrusion form sliding guide fit along the vertical direction, a fixed cylinder which is fixedly connected with the sliding block and is arranged with one end opening is arranged between the sliding block and the sliding groove, the fixed cylinders are movably arranged in the sliding groove, the openings of the two fixed cylinders which are symmetrically arranged in the left-right direction are mutually deviated, a supporting spring is arranged between the side walls of the fixed cylinders and the sliding groove along the length direction, one end, The other end of the sliding groove is abutted against the side wall of the sliding groove along the length direction of the sliding groove, and the elasticity of the supporting spring always pushes the two fixed cylinders which are symmetrically arranged left and right to move close to each other.

7. The variable track undercarriage of claim 1 wherein: the power driving device further comprises a second mounting groove and a third mounting groove which are fixedly arranged on the first mounting block and penetrate through the first mounting groove and the third mounting groove along the spacing direction of the crawler wheels, a cover plate used for sealing openings of the second mounting groove and the third mounting groove is installed on the side face of the first mounting block in a specified mode, the second mounting groove and the cover plates on the two sides form a second mounting inner cavity, the third mounting groove and the cover plates on the two sides form a third mounting inner cavity, and a bracket is fixedly arranged on the cover plate on the inner side.

8. The variable track undercarriage of claim 1 wherein: the advancing driving mechanism comprises a first transmission shaft, a second transmission shaft and a third transmission shaft, wherein the first transmission shaft is rotatably arranged between the bracket and the second installation inner cavity, the second transmission shaft is rotatably arranged in the second installation inner cavity, the third transmission shaft is rotatably arranged in the first installation inner cavity, the axial directions of the first transmission shaft, the second transmission shaft and the third transmission shaft are parallel to each other, the axial direction of the first transmission shaft is parallel to the distance direction of the crawler wheels, the output end of the first transmission shaft is positioned in the second installation inner cavity, the drive end of the first transmission shaft is positioned outside the second installation inner cavity, the drive end of the first transmission shaft is connected with the output end of the first power source, the second transmission shaft is provided with two transmission shafts which are symmetrically arranged along the axial direction of the first transmission shaft, the two ends of the second transmission shaft along the axial direction of the second, the second transmission shaft corresponds to the third transmission shaft one by one, the first transmission shaft is used for transmitting power to the second transmission shaft and driving the second transmission shaft to rotate around the axis of the second transmission shaft, and the second transmission shaft is used for transmitting power to the third transmission shaft and driving the third transmission shaft to rotate around the axis of the third transmission shaft.

9. The variable track undercarriage of claim 8 wherein: the advancing driving mechanism also comprises a first driving gear and a first driven gear, wherein the first driving gear is coaxially and fixedly sleeved on the output end of the first transmission shaft, the first driven gear is coaxially and fixedly sleeved on the second transmission shaft, the first driving gear and the first driven gear are both positioned in the second installation cavity, the first driving gear is meshed with the first driven gear, a first belt transmission assembly is arranged between the output end of the second transmission shaft and the third transmission end of the transmission shaft, the first belt transmission assembly comprises a first driving belt wheel, a first driven belt wheel and a first belt wheel, the first driving belt wheel is coaxially and fixedly sleeved on the second output end of the transmission shaft, the first driven belt wheel is arranged between the first driving belt wheel and the first driven belt wheel and is used for connecting the first driving belt wheel and the first driven belt wheel, the second driving gear is coaxially and fixedly sleeved on the third transmission shaft, the second driving, the advancing driving mechanism further comprises a second belt transmission assembly arranged between one end position of the movable shaft and the other end position of the movable shaft, the second belt transmission assembly comprises a second driving belt wheel coaxially fixedly sleeved on one end position of the movable shaft, a second driven belt wheel coaxially fixedly sleeved on the other end position of the movable shaft and a second belt wheel arranged between the second driving belt wheel and the second driven belt wheel and used for connecting the second driving belt wheel and the second driven belt wheel.

10. The variable track undercarriage of claim 1 wherein: the deformation driving mechanism comprises a transmission shaft five which is coaxially and rotatably arranged between the bracket and the mounting inner cavity three, a hollow transmission shaft four which is coaxially and rotatably sleeved outside the transmission shaft one, the axial direction of the transmission shaft five is parallel to the axial direction of the transmission shaft four, the output end of the transmission shaft five is positioned in the mounting inner cavity three, the driving end is positioned outside the mounting inner cavity three, the smooth section of the deformation screw rod movably penetrates through the mounting inner cavity three, a driving gear three is coaxially and fixedly sleeved on the output end of the transmission shaft five, a driven gear three is coaxially and fixedly sleeved on the smooth section of the deformation screw rod, the driving gear three and the driven gear three are positioned in the mounting inner cavity three, the driving gear three and the driven gear three are helical gears and are mutually meshed with each other, a belt transmission assembly three is arranged between the output end of the transmission shaft four and the driving end of the transmission shaft, The coaxial fixing sleeve is connected with a third driven belt wheel on the driving end of the fifth transmission shaft and a third belt which is arranged between the third driving belt wheel and the third driven belt wheel and used for connecting the third driving belt wheel and the third driven belt wheel, and the driving end of the fourth transmission shaft is connected with the output end of the second power source.