CN117885825A - X-shaped tracked vehicle chassis structure containing inertial container - Google Patents

Abstract

The invention discloses an X-shaped tracked vehicle chassis structure containing an inertial container, and belongs to the field of tracked vehicles. Comprises a frame part and a bionic suspension part; the frame part plays a role in connecting the bionic suspensions at two sides and bearing motors, and is used for bearing steering of the crawler part and driving the motors to move straight; the bionic suspension part is used for installing springs, damping, inertial containers and bearing wheels and providing the function of supporting the whole structure of the tracked vehicle. According to the invention, by designing the frame part and the bionic suspension part, the bionic structure and the inertial container are additionally arranged on the tracked vehicle, and the performance of the tracked vehicle for adapting to complex ground conditions is reserved. The chassis structure of the crawler has good low-frequency vibration isolation effect and high bearing capacity, and can reduce the influence of vibration on people and vehicle-mounted electric control devices. The passive suspension is simple to install, reliable in principle and low in cost, and vibration reduction performance of the chassis structure of the tracked vehicle is improved.

Description

X-shaped tracked vehicle chassis structure containing inertial container

Technical Field

The invention relates to an X-shaped tracked vehicle chassis structure containing an inertial container, and belongs to the field of tracked vehicles.

Background

In aspect of agricultural orchard transportation, the condition of the road surface such as hilly mountain area, weak soil silt is to face inevitably, and traditional transportation mode needs a large amount of labours, and is time consuming hard, and difficult operation environment can directly lead to the harvest period extension of fruit, gathers transport inefficiency and can lead to missing best picking opportunity. Therefore, the mechanized research process of hilly hillside orchard transportation is quickened, so that the transportation efficiency and the production benefit of the orchard are improved.

Tracked vehicles have a strong grip and a sufficient ground contact ratio to face complex roadways, especially in some specific applications. In the field of tracked vehicles, most common tracked vehicle suspensions are torsion bar suspensions, hydraulic suspensions and the like, and the torsion bar suspensions are required to be transversely arranged at the bottom of a vehicle body, so that more internal space is occupied, and the layout of other devices is limited; while hydraulic suspension systems may provide excellent ride stability and adaptability, their response speed may be limited by the dynamics of the hydraulic system, particularly under rapidly changing road conditions. Since the invention of the inertial container, the excellent vibration reduction effect is paid attention to, and an ISD (Inerter-spring-damper) suspension system consisting of the inertial container, a spring and a damper is applied to vibration reduction under various working conditions. With the development of science and technology, by adopting a novel suspension system, such as an ISD suspension, the internal space layout of the vehicle can be optimized, and the adaptability and the running stability of the vehicle under the condition of complex road surfaces can be improved, so that the efficiency and the production benefit of orchard transportation are obviously improved. There is a need for improvements and innovations in tracked vehicle chassis for agricultural orchards.

Disclosure of Invention

Aiming at the problems of low transportation efficiency and hard operation environment of agricultural orchards under complex road conditions such as hilly and mountainous areas, soft soil and silt, the invention provides an X-shaped tracked vehicle chassis structure containing an inertial container, which is an improved tracked vehicle, in particular to the design of a suspension system thereof, so as to improve the transportation efficiency and the production benefit of the orchards. The invention is characterized in that a novel ISD suspension system is adopted, and the system is combined with an inertial container, a spring and a damper, so that the internal space layout of a vehicle is optimized, and meanwhile, the adaptability and the driving stability of the vehicle under complex road conditions are improved. The invention provides an efficient and highly-adaptive tracked vehicle solution for agricultural orchard transportation by introducing a novel ISD suspension system and optimizing the vehicle structure, and is expected to obviously improve the efficiency and the production benefit of orchard transportation in practical application.

The technical scheme adopted by the invention is as follows: an X-shaped tracked vehicle chassis structure containing an inertial container comprises a supporting chain wheel 1, a driving device, a driving wheel 4, a bionic suspension 5, a bearing wheel 6, T-shaped steel 7, an inertial container 8, a suspension fixing piece 9, a frame 10, a tensioning device 11, a tensioning wheel 12 and a track 13;

The frame 10 comprises a left single-side car body, a right single-side car body, a supporting chain wheel 1, a driving wheel 4, a bearing wheel 6 and a tensioning wheel 12, which are connected in the middle, wherein the supporting chain wheel 1, the driving wheel 4, the bearing wheel 6 and the tensioning wheel 12 are arranged on the frame 10, the crawler 13 surrounds the single-side car body through the supporting chain wheel 1, the driving wheel 4, the bearing wheel 6 and the tensioning wheel 12, the driving device is connected with the driving wheel 4, four bionic suspensions 5 are arranged on the single-side car body, the bionic suspensions 5 are arranged on the frame 10 through suspension fixing pieces 9, the upper ends of T-shaped steel 7 are fixed on the frame 10, the lower ends of the T-shaped steel 7 are connected with the bionic suspensions 5, the ball screw inertial container 8 is arranged on the bionic suspensions 5, and the tensioning device 11 is connected with the tensioning wheel 12.

Specifically, the single bionic suspension 5 includes four groups of short rods 505, two groups of long rods 504, springs 503, damping 502, angular contact ball bearings 501; the single bionic suspension 5 is of a double-sided structure, the front and rear parts are formed by two corresponding double-diamond structures, each group of short rods 505 and each group of long rods 504 are connected to the connecting shafts through angular contact ball bearings 501, seven connecting shafts are provided, the top connecting shaft is connected with the two groups of short rods 505 at the upper end and is fixedly connected with the suspension fixing piece 9, a ball screw inertial container 8 is arranged between the top connecting shaft and the middle connecting shaft, two ends of the middle connecting shaft are simultaneously positioned in hollow grooves at the lower end of the T-shaped steel 7, springs 503 and damping 502 are transversely arranged between the middle connecting shaft and the bottom connecting shaft, and the bottom connecting shaft and the bearing wheel 6 form a revolute pair.

Specifically, the driving device comprises a driving motor 2 and a gearbox 3; the driving motor 2 is fixed at the lower part of the frame 10, the driving shaft of the driving motor 2 is directly connected into the gearbox 3, the output shaft of the gearbox 3 is connected with the driving wheel 4, and the driving wheel 4 drives the crawler belt 13 through torque.

Specifically, the ball screw type inertial container 8 includes a fastening nut 801, a rolling bearing 802, a screw 803, a nut 804, an upper housing 805, a flywheel 806, a lower housing 807; the upper part of the upper shell 805 and the lower part of the lower shell 807 are respectively connected with connecting pieces arranged on the connecting shaft at the top end of the bionic suspension 5 and the connecting shaft at the middle part; the lower end of the screw 803 is fastened and connected with the lower housing 807 by a nut 804, the upper end of the screw 803 is connected with the lower end of the upper housing 805 by a rolling bearing 802, and a flywheel 806 is mounted on the top end of the screw by two fastening nuts 801, and the flywheel 806 is located in the upper housing 805.

Specifically, the two suspension fixing pieces 9 are located above the bionic suspension 5, the bionic suspension 5 is fixedly connected with the frame 10 through a cross groove recess hexagonal head bolt 901 and a cross groove recess hexagonal head nut 902, and a round hole at the lower end of each suspension fixing piece 9 is connected with an upper end connecting shaft of the bionic suspension 5.

Specifically, the tensioning device 11 comprises a fixing nut 1101, a tensioning wheel fixing frame 1102, a tensioning nut sleeve 1103 and a tensioning bolt 1104; two fixing nuts 1101 are installed to clamp a tensioning wheel fixing frame 1102, a tensioning wheel 12 is installed in the tensioning wheel fixing frame 1102, a tensioning nut sleeve 1103 is fixed on the frame 10, the tensioning nut sleeve 1103 is formed by connecting a nut and a tensioning lead, the nut of the tensioning nut sleeve 1103 is connected with a tensioning nut 1104 through bolts, the tensioning nut 1104 stretches into the tensioning nut sleeve 1103, and when the tensioning bolt 1104 is rotated, the tensioning bolt 1104 pushes the tensioning wheel fastening frame 1102 to move forwards.

Specifically, track 13 includes engagement holes 1301, pin ears 1302, inducer teeth 1303, track pins 1304, landing ribs 1305, plate 1306, track pin fixtures 1307; the pair of engagement that track 13 and drive wheel 4 adopted is single round pin type, and the meshing hole 1301 is the meshing point of drive wheel 4, and two tracks are inserted track round pin 1304 from one section through preceding round pin ear 1302, and the other end uses track round pin mounting 1307 to fix, and track round pin 1304 links each track shoe to constitute the track chain link, and track round pin 1304 middle part is equipped with induces tooth 1303, and track round pin 1304 has a grounding muscle 1305 with the one side that contacts on ground, and the plate 1306 of track internal surface directly contacts with sprocket 1, drive wheel 4, bearing wheel 6, take-up pulley 12.

The beneficial effects of the invention are as follows:

The design of the invention inspires biological structures from nature. In nature, many living beings have adopted X-like structures in their skeletal and muscular systems, such as kangaroo legs, which provide good stability and flexibility to allow living beings to move flexibly in a variety of complex environments. By fusing the two nonlinear structures of the double-layer supporting structure and the horizontal spring, the static bearing capacity of the structure is enhanced, the rigidity of a bearing interval is enlarged, and by optimizing the structure, the vibration isolation range and the low-frequency vibration isolation area of the bionic suspension are enlarged, and the combination of the two nonlinear structures improves the low-frequency vibration isolation performance of the bionic suspension.

2. The invention realizes the adjustable large inertia advantage by introducing the ball screw inertial container and introducing larger virtual mass, the ball screw inertial container is matched with the spring and the damping to form an ISD structure, no complex electric control system is used as a passive suspension, the structure is simple and reliable, the cost is low, the maintenance is simple, the response speed is high compared with the structure of an active suspension and an active suspension, and the vibration reduction performance of the chassis of the tracked vehicle is improved.

3. The invention designs a novel tracked vehicle chassis structure applied to agricultural orchard transportation, and the novel tracked vehicle chassis structure is skillfully integrated with the tracked vehicle chassis structure by introducing the bionic suspension structure, so that the bionic suspension can effectively absorb and disperse impact force brought by a road surface in the driving process, and a novel structure is provided for the suspension development of the tracked vehicle.

Drawings

FIG. 1 is a schematic view of an X-shaped crawler chassis with inertial container according to the present invention;

FIG. 2 is a front view of an X-shaped crawler chassis with inertial container according to the present invention;

FIG. 3 is a schematic diagram of a single biomimetic suspension structure of the present invention;

FIG. 4 is a schematic view of a ball screw inertial container of the present invention;

FIG. 5 is a schematic view of a suspension fastener of the present invention;

FIG. 6 is a schematic view of a linear slide bearing installation of the present invention;

Fig. 7 is a schematic view of the track structure of the present invention.

The reference numerals in the figures are: 1-sprocket, 2-drive motor, 3-gearbox, 4-drive wheel, 5-biomimetic suspension, 6-load-bearing wheel, 7-T steel, 8-scotch vessel, 9-suspension mount, 10-carriage, 11-tensioner, 12-tensioner, 13-track, 501-angular ball bearing, 502-damper, 503-spring, 504-long bar, 505-short bar, 801-fastening nut, 802-rolling bearing, 803-lead screw, 804-nut, 805-upper housing, 806-flywheel, 807-lower housing, 901-cross-slot socket hex bolt, 902-cross-slot socket hex nut, 1101-fixture nut, 1102-tensioner mount, 1103-tensioner nut sleeve, 1104-tensioner bolt, engagement hole 1301, pin 1302, inducer tooth 1303, track pin 1304, landing rib, plate 1306, 1305-track pin mount 1307;

Detailed Description

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. 1-6, an X-shaped tracked vehicle chassis structure with a inertial container comprises a chain wheel 1, a driving device, a driving wheel 4, a bionic suspension 5, a bearing wheel 6, a T-shaped steel 7, an inertial container 8, a suspension fixing piece 9, a frame 10, a tensioning device 11, a tensioning wheel 12 and a track 13; the whole structure consists of four support chain wheels 1, two driving motors 2, two gearboxes 3, four driving wheels 4, eight bionic suspensions 5, four bearing wheels 6, sixteen T-shaped steels 7, eight ball screw inertial containers 8, sixteen suspension fixing pieces 9, a frame 10, two tensioning devices 11 and two tensioning wheels 12.

The frame 10 comprises a left single-side car body, a right single-side car body, a supporting chain wheel 1, a driving wheel 4, a bearing wheel 6 and a tensioning wheel 12, which are connected in the middle, wherein the supporting chain wheel 1, the driving wheel 4, the bearing wheel 6 and the tensioning wheel 12 are arranged on the frame 10, the crawler 13 surrounds the single-side car body through the supporting chain wheel 1, the driving wheel 4, the bearing wheel 6 and the tensioning wheel 12, the driving device is connected with the driving wheel 4, four bionic suspensions 5 are arranged on the single-side car body, the bionic suspensions 5 are arranged on the frame 10 through suspension fixing pieces 9, the upper ends of T-shaped steel 7 are fixed on the frame 10, the lower ends of the T-shaped steel 7 are connected with the bionic suspensions 5, the ball screw inertial container 8 is arranged on the bionic suspensions 5, and the tensioning device 11 is connected with the tensioning wheel 12.

Further, as shown in fig. 2, the driving device consists of a driving motor 2 and a gearbox 3; the driving motor 2 on one side of the tracked vehicle is fixed on the frame 10 in a welding mode, the driving motor 2 transmits torque to the gearbox 3 through a driving shaft, required driving torque is transmitted to two driving wheels 4 through speed change of the gearbox 3, the driving wheels are welded on a shaft driven by the gearbox 3, the two driving wheels are clamped into two grooves of the tracked vehicle 13, the horizontal freedom degree of the tracked vehicle 13 is limited, the two grooves of the tracked vehicle 13 are kept fixed in the vertical direction of each wheel, the tracked vehicle is prevented from being de-linked by the two grooves of the tracked vehicle, the tracked vehicle can be moved forwards or backwards by the same speed of the driving wheels 4, the tracked vehicle can be rotated by the speed difference, and the transmission device gives the tracked vehicle the most basic functions.

Further, as shown in fig. 1, the T-shaped steel 7 and the frame 10 are fixed on two sides through the hexagon head grooved bolt and the hexagon head grooved nut, the upper end connecting shaft of the bionic suspension 5, the frame 10 and the T-shaped steel 7 are fixed by the straight-head nut in the center, the groove at the lower end of the T-shaped steel 7 is a displacement groove of the bionic suspension 5, the diameter of the nut selected when the straight-head nut is used for fixing is larger than the width of the displacement groove, the bionic suspension is limited to have freedom degree only in the vertical direction relative to the frame 10, and the two T-shaped steels 7 are matched with one bionic suspension 5, so that the bionic suspension 5 is easier to detach and maintain due to the existence of the T-shaped steel 7, and the suspension reliability and durability of the crawler are greatly improved.

Further, as shown in fig. 1, the bearing wheel 6 is rotated by the connection shaft at the underground end of the bionic suspension 5, the bearing wheel 6 has special grooves, the crawler 13 is also provided with crawler pins 1304, so that the bearing wheel 6 and the crawler 13 are contacted, the bearing wheel with a branched chain wheel structure does not need to fulfill the obligation of a branched chain, so that the bearing wheel with a branched chain wheel structure does not need to have a large diameter, the bearing wheel with a small size can effectively reduce the crawler running device and simultaneously can improve the suspension stroke of the bearing wheel, and the bearing wheel and the crawler act together to reduce the vibration and impact of the vehicle in the running process.

Further, as shown in fig. 1, the sprocket wheel 1 is mounted on the sprocket wheel support frame through a bearing, the sprocket wheel 1 contacts with the clamping groove of the crawler 13 to prevent chain detachment, and the upper crawler is supported by the sprocket wheel, so that the swing amplitude of the upper crawler is small, the energy loss is small, the sprocket wheel support frame is fixed on the frame 10, and the stability of the crawler is better in the normal running process because the crawler is of a sprocket wheel structure.

Further, as shown in fig. 3, the single bionic suspension 5 comprises an angular contact ball bearing 501, a damping 502, a spring 503, a long rod 504, a short rod 505 and a ball screw inertial container 8; the bionic suspension 5 is of a double-sided structure, the double-sided structure is linked through seven connecting shafts, and two fixing points are formed between the double-sided structure and the frame 10 through two suspension fixing pieces 9; the two groups of short rods 505 are internally provided with the wrap angle contact ball bearings 501, the four groups of long rods 504 and the group of short rods 505 are combined, the two groups of short rods 505 are respectively provided with the wrap angle contact ball bearings 501, the positions on the left side and the right side of the bionic suspension 5 are respectively provided with the wrap angle contact ball bearings 501, the two groups of long rods 504 are respectively provided with the wrap angle contact ball bearings 501, the middle connecting shaft is provided with the wrap angle contact ball bearings 501, and the long rods 504 and the short rods 505 are matched to form a double-diamond bionic suspension vibration reduction structure.

Further, two ends of a connecting shaft at the upper end of the bionic suspension 5 are provided with threads, the bionic suspension 5, the frame 10 and the T-shaped steel 7 are fixed through a straight-head nut, two fixing points are formed with the frame, and the bionic suspension 5 and the frame 10 are fixed in four points; the left and right connecting rods of the double-diamond structure of the bionic suspension 5 provide mounting space for the springs 503 and the damping 502, and are formed based on the most basic elements of the vehicle suspension; the bottom connecting shaft of the bionic suspension 5 and the bearing wheel 6 form a revolute pair, the bearing wheel is used as a support for the weight of the whole vehicle, and stability is provided for the whole vehicle and impact force from the ground is absorbed; the upper end connecting shaft and the middle connecting shaft of the bionic suspension 5 are provided with ball screw inertial containers 8 which are used as passive mechanical elements in a vehicle vibration isolation system to realize the improvement of the performance of the vehicle passive suspension, and the bionic suspension 5 containing the ball screw inertial containers 8, a spring 503 and a damper 502 form an ISD suspension system; when the designed tracked vehicle is assembled, four bionic suspension structures of the half vehicle are designed for having larger ground specific pressure and reducing mass center positions, the eight bionic suspension structures of the whole vehicle form a tracked vehicle suspension system, the tracked vehicle can better adapt to different road conditions and working environments, the overall reliability and durability of the tracked vehicle are improved, and the vibration and impact of the vehicle in the running process are reduced.

Further, as shown in fig. 4, the ball screw type inertial container 8 includes a fastening nut 801, a rolling bearing 802, a screw 803, a nut 804, an upper housing 805, a flywheel 806, a lower housing 807; the threaded hole at the upper part of the upper shell 805 is in threaded fit with a connecting piece sleeved on the connecting shaft at the upper end of the bionic suspension 5, the threaded hole at the lower part of the lower shell 807 is in threaded fit with a connecting piece sleeved on the connecting shaft at the middle part of the bionic suspension 5, and the ball screw inertial container 8 is stably and vertically fixed in the upper diamond of the bionic suspension 5 in a threaded hole fixing mode; the screw 803 is connected with the other end of the upper housing 805 through the rolling bearing 802, and the other end of the screw 803 is connected with the other end of the lower housing 807 through the nut 804, so that force and motion can be effectively transmitted, friction and abrasion can be reduced, and the service life of the system can be prolonged. ; the flywheel 806 is fixed by two fastening nuts 801 on top of the screw 803 extending into the other end of the upper housing 805, the ball screw inertial container 8 acting as a mechanical element mainly acting to generate a force proportional to the relative acceleration in a dynamic system, which force can be used to reduce the vibration and impact of the system and to improve the stability and performance of the inertial container.

Further, as shown in fig. 5, the suspension fixing member 9 acts to fix the bionic suspension 5 and the frame 10, the upper cross recess hexagonal head bolt 901 contacts the frame 10, the lower cross recess hexagonal head nut 902 contacts the suspension fixing member 9 itself, the cross recess hexagonal head bolt 901 and the threads of the cross recess hexagonal head nut 902 fasten the frame 10 and the suspension fixing frame 9, and the round hole at the lower end of the cross recess hexagonal head bolt 901 is connected with the upper end connecting shaft of the bionic suspension 5. The suspension fixtures ensure that they operate in the correct position by connecting and securing the suspension system, keeping the overall structure of the suspension system stable.

Further, the tensioning device as shown in fig. 6 comprises a fixing nut 1101, a tensioning wheel fixing frame 1102, a tensioning nut sleeve 1103 and a tensioning bolt 1104; the tensioning nut sleeve 1103 is welded with the frame 10, and plays a role in fixation; the tensioning nut sleeve 1103 is formed by welding a nut and a tensioning lead, and the screw thread provided by the nut plays a role in fixing a position; the nut of the tensioning nut sleeve 1103 forms a bolt connection with the tensioning nut 1104, the tensioning nut 1104 stretches into the tensioning nut sleeve 1103, when the tensioning bolt 1104 is rotated, the tensioning nut 1104 is provided with a horizontal forward moving pair, meanwhile, the tensioning bolt 1104 pushes the tensioning wheel fastening frame 1102 forward to move forward, and the tensioning bolt 1104 stops rotating and is not provided with the moving pair due to the screw connection; the tensioning wheel fixing frame 1102 fixes the position of the tensioning wheel 12 through two fixing nuts 1101; the idler 12 is in direct contact with the track 13.

Further, as shown in fig. 7, the crawler 13 includes engagement holes 1301, pin ears 1302, guide teeth 1303, crawler pins 1304, landing ribs 1305, plate 1306, crawler pin fixtures 1307; the whole external structure of the tracked vehicle is formed by internally wrapping the contact supporting chain wheel 1, the driving wheel 4, the bearing wheel 6 and the tensioning wheel 12; because the tracked vehicle is a small-sized vehicle, the meshing pair adopted by the tracked belt 13 and the driving wheels 4 is a single pin type, the meshing hole 1301 is the meshing point of the driving wheels 4, and the two meshing holes 1301 enable the two driving wheels 4 of the half vehicle to have larger contact area and friction force, so that stress concentration caused by the single meshing hole 1301 is reduced; the front and rear pin lugs 1302 of two tracks are inserted into the track pins 1304 from one section, the other end is fixed by the track pin fixing pieces 1307, the track pins 1304 link the track plates to form a track link, and the middle part is provided with guide teeth 1303 for regulating the tracks and preventing the tracks of the tracked vehicle from falling off when crossing the ditches and barriers; on the ground-contacting side there is a landing rib 1305, which increases the traction of the tracked vehicle and increases the robustness of the track shoe by increasing the grip of the track on the ground. The plate 1306 on the inner surface of the crawler belt is in direct contact with the supporting sprocket 1, the driving wheel 4, the bearing wheel 6 and the tensioning wheel 12.

The working principle of the invention is as follows: when the driving wheel 4 outputs anticlockwise torque to drive the tracked vehicle to advance, the engagement hole 1301 of the tracked vehicle is engaged with the driving wheel 4 to drive the tracked vehicle 13 to rotate, and in the acceleration operation stage, the vehicle body is slightly inclined backwards due to acceleration, as shown in fig. 1, the tracked vehicle on the upper side and the lower right side of the driving wheel are subjected to different forces, the tracked vehicle on the upper side of the driving wheel is in a loose state, and the branched chain wheel supports the tracked vehicle to enable the whole structure to normally operate; the crawler belt at the right lower side of the driving wheel is in a straight state under the tensioning force, and the first bionic suspension 5 and the bearing wheel 6 at the right side are subjected to the tensioning force of the crawler belt at the right lower side of the driving wheel besides the whole weight of the crawler vehicle at the moment, so that the extrusion degree of the first bionic suspension 5 and the bearing wheel 6 at the right side is larger than that of the remaining three bionic suspensions 5 and the bearing wheel 6, and the extrusion degree is gradually decreased from right to left; in the stable running stage, because no acceleration exists, the four bionic suspension structures and the branched chain wheels are not subjected to pressure difference and run stably; in the deceleration stage, the principle is the same as that of the acceleration stage, the extrusion degree of the first bionic suspension 5 and the bearing wheel 6 at the left side is larger than that of the rest three bionic suspensions 5 and bearing wheels 6, and the extrusion degree is gradually decreased from left to right; in the steering phase, the vehicle is steered by a speed difference of the two side tracks 13 due to the different torques provided by the driving wheels 4.

While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (7)

1. An X-type crawler chassis structure comprising an inertial container, characterized in that: comprises a chain wheel (1), a driving device, a driving wheel (4), a bionic suspension (5), a bearing wheel (6), T-shaped steel (7), an inertial container (8), a suspension fixing piece (9), a frame (10), a tensioning device (11), a tensioning wheel (12) and a crawler belt (13);

The frame (10) is including the same and two unilateral automobile bodies about intermediate junction of structure, branched chain wheel (1), drive wheel (4), bearing wheel (6), take-up pulley (12) are installed on frame (10), track (13) are through propping sprocket (1), drive wheel (4), bearing wheel (6), take-up pulley (12) are around on unilateral automobile body, drive arrangement is connected with drive wheel (4), be equipped with four bionic suspension (5) on the unilateral automobile body, bionic suspension (5) are installed on frame (10) through suspension mounting (9), T word steel (7) upper end is fixed on frame (10), lower one end is connected with bionic suspension (5), ball is used container (8) to be installed on bionic suspension (5), overspeed device tensioner (11) are connected with take-up pulley (12).

2. The inertial container-containing X-crawler chassis structure of claim 1, wherein: the single bionic suspension (5) comprises four groups of short rods (505), two groups of long rods (504), springs (503), damping (502) and angular contact ball bearings (501); the single bionic suspension (5) is of a double-side structure, the front and the rear are formed by two corresponding double-diamond structures, each group of short rods (505) and each group of long rods (504) are connected onto a connecting shaft through angular contact ball bearings (501), seven connecting shafts are provided, a top connecting shaft is connected with two groups of short rods (505) at the upper end and is fixedly connected with a suspension fixing piece (9), a ball screw inertial container (8) is installed between the top connecting shaft and a middle connecting shaft, two ends of the middle connecting shaft are simultaneously positioned in hollow grooves at the lower end of T-shaped steel (7), springs (503) and damping (502) are transversely installed between the middle connecting shaft and the bottom connecting shaft, and a rotating pair is formed by the bottom connecting shaft and a bearing wheel (6).

3. The inertial container-containing X-crawler chassis structure of claim 1, wherein: the driving device comprises a driving motor (2) and a gearbox (3); the driving motor (2) is fixed at the lower part of the frame (10), a driving shaft of the driving motor (2) is directly connected into the gearbox (3), an output shaft of the gearbox (3) is connected with the driving wheel (4), and the driving wheel (4) drives the crawler belt (13) through torque.

4. The inertial container-containing X-crawler chassis structure of claim 2, wherein: the ball screw type inertial container (8) comprises a fastening nut (801), a rolling bearing (802), a screw (803), a nut (804), an upper shell (805), a flywheel (806) and a lower shell (807); the upper part of the upper shell (805) and the lower part of the lower shell (807) are respectively connected with connecting pieces arranged on a top connecting shaft and a middle connecting shaft of the bionic suspension (5) in a connecting manner; the lower end of the screw rod (803) is tightly connected with the lower shell (807) through a nut (804), the upper end of the screw rod (803) is connected with the lower end of the upper shell (805) through a rolling bearing (802), a flywheel (806) is mounted at the top end of the screw rod through two fastening nuts (801), and the flywheel (806) is positioned in the upper shell (805).

5. The inertial container-containing X-crawler chassis structure of claim 1, wherein: the two suspension fixing pieces (9) are located above the bionic suspension (5), the bionic suspension (5) is fixedly connected with the frame (10) through cross groove recess hexagonal head bolts (901) and cross groove recess hexagonal head nuts (902), and round holes at the lower ends of the suspension fixing pieces (9) are connected with an upper end connecting shaft of the bionic suspension (5).

6. The inertial container-containing X-crawler chassis structure of claim 1, wherein: the tensioning device (11) comprises a fixing nut (1101), a tensioning wheel fixing frame (1102), a tensioning nut sleeve (1103) and a tensioning bolt (1104); two fixing nuts (1101) are installed to clamp a tensioning wheel fixing frame (1102), a tensioning wheel (12) is installed in the tensioning wheel fixing frame (1102), a tensioning nut sleeve (1103) is fixed on a frame (10), the tensioning nut sleeve (1103) is formed by connecting a nut and a tensioning lead, the nut of the tensioning nut sleeve (1103) is connected with the tensioning nut (1104) through bolts, the tensioning nut (1104) stretches into the tensioning nut sleeve (1103), and when the tensioning bolt (1104) is rotated, the tensioning bolt (1104) pushes the tensioning wheel fixing frame (1102) to move forwards.

7. The inertial container-containing X-crawler chassis structure of claim 1, wherein: the crawler belt (13) comprises an engagement hole (1301), a pin lug (1302), an induction tooth (1303), a crawler belt pin (1304), a landing rib (1305), a plate body (1306) and a crawler belt pin fixing piece (1307); the pair of engagement that track (13) and drive wheel (4) adopted is single round pin type, and meshing hole (1301) are the meshing point of drive wheel (4), and two tracks are inserted track round pin (1304) from one section through round pin ear (1302) around, and the other end uses track round pin mounting (1307) to fix, and track round pin (1304) links each track shoe to constitute the track chain link, and track round pin (1304) middle part is equipped with and induces tooth (1303), and track round pin (1304) have land muscle (1305) with one side that ground contacted, and track internal surface plate body (1306) and branched chain wheel (1), drive wheel (4), bearing wheel (6), take-up pulley (12) direct contact.