阅读说明：本技术 一种可变轮距全角度转向农机底盘 (Variable-wheel-track all-angle steering agricultural machine chassis ) 是由 李奇 张志平 史冬梅 王荣先 于 2021-07-16 设计创作，主要内容包括：本发明公开一种可变轮距全角度转向农机底盘,涉及农机设备领域。该可变轮距全角度转向农机底盘包括底盘本体、滑动箱和行走轮组等,底盘本体固定连接有两个连接架,滑动箱开设有连接孔,行走轮组包括轮架和滚动轮,轮架固定连接有连接轴,连接轴转动连接在连接孔内,连接轴固定连接有转向链轮,滚动轮转动连接在轮架的内腔中,连接盘固定连接有连接杆,连接杆均转动连接两个连接套环内,连接杆的上表面固定连接有转向张紧链轮,两个转向张紧链轮与两个转向链轮之间通过链条传动连接。该可变轮距全角度转向农机底盘具有能够便于使两个滚动轮进行同步的全角度转向同时能够对两个滚动轮之间的轮距进行改变的功能。(The invention discloses a variable-wheel-track all-angle steering agricultural machine chassis, and relates to the field of agricultural machine equipment. This variable wheel base full angle turns to agricultural machinery chassis includes the chassis body, slip case and walking wheelset etc, two links of chassis body fixedly connected with, the connecting hole has been seted up to the slip case, walking wheelset includes wheel carrier and roll wheel, wheel carrier fixedly connected with connecting axle, the connecting axle rotates to be connected in the connecting hole, connecting axle fixedly connected with turns to the sprocket, the roll wheel rotates to be connected in the inner chamber of wheel carrier, connection pad fixedly connected with connecting rod, the connecting rod all rotates and connects two adapter sleeve intra-rings, the last fixed surface of connecting rod is connected with and turns to the tensioning sprocket, two turn to and are connected through chain drive between the sprocket with two. The variable-wheel-track all-angle steering agricultural machine chassis has the function of facilitating synchronous all-angle steering of two rolling wheels and changing the wheel track between the two rolling wheels.)

1. The utility model provides a variable wheel base full angle turns to agricultural machinery chassis which characterized in that includes:

the chassis comprises a chassis body (1), wherein the lower surface of the chassis body (1) is fixedly connected with two connecting frames (101);

the two sliding boxes (2) are connected between the two connecting frames (101) in a sliding mode, connecting holes (202) are formed in the lower surfaces of the sliding boxes (2), the inner cavity of one sliding box (2) is fixedly connected with a steering driving motor (203) through a connecting rod, and a fixed shaft (204) is arranged on the lower surface of the steering driving motor (203);

the two traveling wheel groups (3) comprise wheel carriers (4) and rolling wheels (5), the upper surfaces of the wheel carriers (4) are fixedly connected with connecting shafts (401), the two connecting shafts (401) are respectively and rotatably connected into the two connecting holes (202), the upper surfaces of the connecting shafts (401) are respectively and fixedly connected with steering chain wheels (402), one steering chain wheel (402) is fixedly connected with a fixed shaft (204), and the rolling wheels (5) are rotatably connected into the inner cavity of the wheel carriers (4);

the four articulated arms (6) are respectively fixedly connected with a connecting lantern ring (601) at two ends of each articulated arm (6), and the four articulated arms (6) are sequentially and rotatably connected through the connecting lantern rings (601);

the pneumatic box comprises a pneumatic cylinder (7), a piston rod (701) is connected in the pneumatic cylinder (7) in a sliding mode, and the pneumatic cylinder (7) and the piston rod (701) are respectively fixedly connected with the opposite sides of two sliding boxes (2);

two connection pads (8), the equal fixedly connected with connecting rod (801) of upper surface of connection pad (8), connecting rod (801) all rotates and connects in two connect lantern rings (601), the last fixed surface of connecting rod (801) is connected with and turns to tensioning sprocket (802), two turn to between tensioning sprocket (802) and two and turn to sprocket (402) and be connected through chain drive.

2. The agricultural machine chassis with the variable wheel track and the full-angle steering function according to claim 1, wherein: two first T shape spout (102) have all been seted up to the opposite face of link (101), the first T shape draw runner (201) of the equal fixedly connected with in front and the back of slip case (2), first T shape draw runner (201) set up in the position that is close to slip case (2) upper surface, two in first T shape draw runner (201) two first T shape spouts (102) of sliding connection respectively, the inner chamber to slip case (2) is run through in connecting hole (202).

3. The agricultural machine chassis with the variable wheel track and the full-angle steering function according to claim 1, wherein: the rotary wheel frame is characterized in that rotary holes (403) are formed in two sides of the wheel frame (4), the rotary holes (403) penetrate through an inner cavity of the wheel frame (4), a walking driving motor (404) is fixedly connected to the front face of the wheel frame (4), and a walking driving sprocket (405) is fixedly connected to one end of an inner output shaft of the walking driving motor (404).

4. The agricultural machine chassis with the variable wheel track and the full-angle steering function according to claim 3, wherein: the equal fixedly connected with axis of rotation (501) in both sides of rolling wheel (5), two axis of rotation (501) rotate respectively and connect in two rotation holes (403), one the one end fixedly connected with walking driven sprocket (502) of axis of rotation (501), be connected through chain drive between walking driven sprocket (502) and walking drive sprocket (405).

5. The agricultural machine chassis with the variable wheel track and the full-angle steering function according to claim 1, wherein: one end of the articulated arm (6) is rotatably connected to the connecting shaft (401), and the other end of the articulated arm (6) is rotatably connected to the connecting rod (801).

6. The agricultural machine chassis with the variable wheel track and the full-angle steering function according to claim 1, wherein: the lower surface of the inner cavity of the sliding box (2) and the lower surface of the steering chain wheel (402) are both in contact with the connecting lantern ring (601), and the upper surface of the connecting disc (8) and the lower surface of the steering tension chain wheel (802) are both in contact with the connecting lantern ring (601).

7. The agricultural machine chassis with the variable wheel track and the full-angle steering function according to claim 1, wherein: wear groove (205) have all been seted up to the front and the back of slip case (2), wear groove (205) all run through to the inner chamber of slip case (2), wear groove (205) and the both sides of slip case (2) all set up to communicate with each other.

8. The agricultural machine chassis with the variable wheel track and the full-angle steering function according to claim 1, wherein: the upper surface of the steering tension chain wheel (802) is fixedly connected with a sleeve shaft (803), and the connecting disc (8) is rotatably connected with a sliding block (9) through the sleeve shaft (803).

9. The agricultural machine chassis with the variable wheel track and the full-angle steering function according to claim 8, wherein: the lower surface fixedly connected with sleeve (902) of sliding block (9), sleeve (902) rotate to be connected on sleeve axle (803), second T shape spout (901) have been seted up on the front of sliding block (9), second T shape spout (901) run through to the back of sliding block (9) and set up to communicate with each other with the upper surface of sliding block (9), the lower surface of chassis body (1) is fixed with second T shape draw runner (103), second T shape spout (901) sliding connection is on second T shape draw runner (103).

Technical Field

The invention relates to the technical field of agricultural machinery equipment, in particular to a variable-wheel-track all-angle steering agricultural machinery chassis.

Background

Agricultural machinery refers to agricultural machinery, and is often used in the processes of crop planting and animal husbandry production and processing.

The agricultural machine in the prior art has the following defects that part of the agricultural machine needs to move and walk in the using process, wheel sets capable of walking are arranged in a chassis of the agricultural machine, but the positions of the wheel sets are fixed, the wheel sets can only rotate at fixed positions, the steering of the agricultural machine can only depend on the steering of the front wheel set, the rear wheel set cannot steer per se, and only displacement with different distances is generated on the ground according to the steering of the front wheel set, so that the integral steering of the agricultural machine is facilitated, but the agricultural machine has certain limitation depending on the principle to steer, a larger steering space is required around the agricultural machine, when the steering space is too small, the agricultural machine cannot rotate, the wheel distance between two wheel sets in the front wheel set cannot be changed, the rear wheel set is also the same, so that when the walking space is too narrow due to obstacles on the road surface, the invention discloses a variable-wheel-track all-angle steering agricultural machine chassis, aiming at the defects of the prior art, and aiming at solving the problems that the agricultural machine can normally run when the wheel track of a front wheel set or a rear wheel set which can not change the wheel track is large, the agricultural machine can be steered in a small area when each wheel set in the front wheel set or the rear wheel set of the agricultural machine can synchronously steer at all angles, the agricultural machine can run in any direction when the overall position and the angle of the agricultural machine are not changed, and the agricultural machine can still normally run when the walking space is too narrow when the wheel track between each wheel set in the front wheel set or the rear wheel set of the agricultural machine can be changed.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention discloses a variable-wheel-track all-angle steering agricultural machine chassis, which aims to solve the problems in the background art.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: a variable-track all-angle steering agricultural machine chassis, comprising:

the lower surface of the chassis body is fixedly connected with two connecting frames;

the sliding boxes are connected between the two connecting frames in a sliding mode, connecting holes are formed in the lower surfaces of the sliding boxes, the inner cavity of one sliding box is fixedly connected with a steering driving motor through a connecting rod, and a fixed shaft is arranged on the lower surface of the steering driving motor;

the walking wheel sets comprise wheel frames and rolling wheels, connecting shafts are fixedly connected to the upper surfaces of the wheel frames and are respectively and rotatably connected into the two connecting holes, steering chain wheels are fixedly connected to the upper surfaces of the connecting shafts, one steering chain wheel is fixedly connected with the fixed shaft, and the rolling wheels are rotatably connected into the inner cavity of the wheel frames;

the four articulated arms are fixedly connected with connecting lantern rings at two ends and are sequentially and rotatably connected through the connecting lantern rings;

the pneumatic cylinder is internally and slidably connected with a piston rod, and the pneumatic cylinder and the piston rod are respectively and fixedly connected with the opposite sides of the two sliding boxes;

the connecting rod is connected with the two connecting sleeves in a rotating mode, the upper surface of the connecting plate is fixedly connected with a connecting rod, the connecting rod is connected with the two connecting sleeve rings in a rotating mode, the upper surface of the connecting rod is fixedly connected with a steering tension chain wheel, and the steering tension chain wheel is connected with the two steering chain wheels through a chain in a transmission mode.

Preferably, two first T shape spout has all been seted up to the opposite face of link, the first T shape draw runner of the equal fixedly connected with in front and the back of slip case, first T shape draw runner sets up the position that is close to the slip case upper surface, two in the first T shape draw runner is two first T shape spouts of sliding connection respectively, the connecting hole runs through to the inner chamber of slip case.

Preferably, the two sides of the wheel carrier are provided with rotating holes, the rotating holes penetrate through the inner cavity of the wheel carrier, the front surface of the wheel carrier is fixedly connected with a walking driving motor, and one end of an output shaft in the walking driving motor is fixedly connected with a walking driving sprocket.

Preferably, the two sides of the rolling wheel are fixedly connected with rotating shafts respectively, the two rotating shafts are respectively connected in the two rotating holes in a rotating mode, one end of each rotating shaft is fixedly connected with a walking driven sprocket, and the walking driven sprocket is connected with the walking driving sprocket in a chain transmission mode.

Preferably, one end of each hinged arm is rotatably connected to the connecting shaft, and the other end of each hinged arm is rotatably connected to the connecting rod.

Preferably, the lower surface of the inner cavity of the sliding box and the lower surface of the steering chain wheel are both contacted with the connecting lantern ring, and the upper surface of the connecting disc and the lower surface of the steering tension chain wheel are both contacted with the connecting lantern ring.

Preferably, the front and the back of the sliding box are both provided with penetrating grooves, the penetrating grooves penetrate through the inner cavity of the sliding box, and the penetrating grooves are communicated with the two sides of the sliding box.

Preferably, the upper surface of the steering tension chain wheel is fixedly connected with a sleeve shaft, and the connecting disc is rotatably connected with a sliding block through the sleeve shaft.

Preferably, the lower fixed surface of sliding block is connected with the sleeve, the sleeve rotates to be connected on the sleeve axle, second T shape spout has been seted up in the front of sliding block, second T shape spout runs through to the back of sliding block and sets up to communicating with each other with the upper surface of sliding block, the lower fixed surface of chassis body has second T shape draw runner, second T shape spout sliding connection is on second T shape draw runner.

The invention discloses a variable-wheel-track all-angle steering agricultural machine chassis, which has the following beneficial effects:

1. the wheel-track-variable all-angle steering agricultural machine chassis is characterized in that a chassis body, sliding boxes, traveling wheel groups, hinged arms, a pneumatic cylinder and connecting discs are arranged, the two sliding boxes can drive the two traveling wheel groups to slide between two connecting frames, so that the wheel track between two rolling wheels can be changed, the two steering chain wheels are connected through chain transmission, so that the two rolling wheels can perform synchronous all-angle steering, a diamond movable assembly formed by the four hinged arms and the two connecting discs are used, the two steering tension chain wheels are also connected with chains between the two steering chain wheels, when the distance between the two sliding boxes is changed, the distance between the two connecting discs is reversely changed, so that the chains on the two steering chain wheels are always tightened, and the change of the wheel track between the two rolling wheels can also perform synchronous all-angle steering between the two rolling wheels, the device has the function of facilitating the synchronous full-angle steering of the two rolling wheels and simultaneously changing the wheel track between the two rolling wheels.

2. This full angle of variable wheel base turns to agricultural machinery chassis is through setting up the wearing groove, and the wearing groove that the slip box was seted up makes articulated arm and chain homoenergetic wear to come to be connected with the connecting axle with turn to the sprocket, has guaranteed that the connecting axle can normally be connected with chain and articulated arm with turning to the sprocket, and the device has the function that makes the connecting axle and turn to the sprocket and can normally be connected with chain and articulated arm.

3. This variable wheel base full angle turns to agricultural machinery chassis is through setting up second T shape draw runner, sleeve shaft and sliding block, second T shape draw runner is in on the well vertical plane of chassis body, the sliding block can slide along second T shape draw runner, the sleeve shaft rotates to be connected in the sleeve, according to the characteristic of the activity rhombus subassembly that four articulated arms are constituteed, when the distance between two slip casees changes, two connection pads remove along the direction of second T shape draw runner all the time, make between two slip casees about the well vertical plane symmetry of chassis body all the time, the device has the function that can make two slip casees about the well vertical plane symmetry of chassis body all the time.

Drawings

FIG. 1 is a schematic structural view of the present invention before a track change;

FIG. 2 is a schematic view of the present invention after the track width is changed;

FIG. 3 is a schematic structural diagram of the chassis body according to the present invention;

FIG. 4 is a schematic view of the connection of the sliding box, the traveling wheel set, the articulated arm, the pneumatic cylinder, the connecting disc and the sliding block of the present invention;

FIG. 5 is a schematic view of the structure of the sliding box of the present invention;

FIG. 6 is a schematic structural view of a running wheel set according to the present invention;

FIG. 7 is a schematic view of the articulated arm of the invention;

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

FIG. 9 is a schematic structural diagram of the slider of the present invention.

In the figure: 1. a chassis body; 101. a connecting frame; 102. a first T-shaped chute; 103. a second T-shaped slide bar; 2. a slide box; 201. a first T-shaped slide bar; 202. connecting holes; 203. a steering drive motor; 204. a fixed shaft; 205. penetrating a groove; 3. a traveling wheel set; 4. a wheel carrier; 401. a connecting shaft; 402. a steering sprocket; 403. rotating the hole; 404. a travel driving motor; 405. a traveling drive sprocket; 5. a rolling wheel; 501. a rotating shaft; 502. a traveling driven sprocket; 6. an articulated arm; 601. a connecting lantern ring; 7. a pneumatic cylinder; 701. a piston rod; 8. a connecting disc; 801. a connecting rod; 802. a steering tension sprocket; 803. a sleeve shaft; 9. a slider; 901. a second T-shaped chute; 902. a sleeve.

Detailed Description

Example 1:

the embodiment of the invention discloses a variable-wheel-track all-angle steering agricultural machinery chassis, which comprises a chassis body 1, a sliding box 2, a traveling wheel set 3, an articulated arm 6, a pneumatic cylinder 7 and a connecting disc 8, wherein the lower surface of the chassis body 1 is fixedly connected with two connecting frames 101, the opposite surfaces of the two connecting frames 101 are respectively provided with a first T-shaped sliding groove 102, the sliding box 2 is respectively and slidably connected between the two connecting frames 101, the front surface and the back surface of the sliding box 2 are respectively and fixedly connected with a first T-shaped sliding strip 201, the first T-shaped sliding strip 201 is arranged at a position close to the upper surface of the sliding box 2, the two first T-shaped sliding strips 201 are respectively and slidably connected into the two first T-shaped sliding grooves 102, the lower surface of the sliding box 2 is respectively provided with a connecting hole 202, the connecting hole 202 penetrates through the inner cavity of the sliding box 2, the inner cavity of one sliding box 2 is fixedly connected with a steering driving motor 203 through a connecting rod, the lower surface of the steering driving motor 203 is provided with a fixed shaft 204, the walking wheel set 3 comprises a wheel frame 4 and rolling wheels 5, the upper surface of the wheel frame 4 is fixedly connected with a connecting shaft 401, the two connecting shafts 401 are respectively and rotatably connected in the two connecting holes 202, the upper surface of the connecting shaft 401 is respectively and fixedly connected with a steering chain wheel 402, one steering chain wheel 402 is fixedly connected with the fixed shaft 204, the rolling wheels 5 are rotatably connected in the inner cavity of the wheel frame 4, the two sides of the wheel frame 4 are respectively provided with a rotating hole 403, the rotating holes 403 are respectively penetrated into the inner cavity of the wheel frame 4, the front surface of the wheel frame 4 is fixedly connected with a walking driving motor 404, one end of an output shaft in the walking driving motor 404 is fixedly connected with a walking driving chain wheel 405, the two sides of the rolling wheels 5 are respectively and fixedly connected with rotating shafts 501, the two rotating shafts 501 are respectively and rotatably connected in the two rotating holes 403, one end of one rotating shaft 501 is fixedly connected with a walking driven chain wheel 502, the walking driven sprocket 502 is connected with the walking driving sprocket 405 through chain transmission, two ends of each articulated arm 6 are fixedly connected with a connecting sleeve ring 601, the four articulated arms 6 are sequentially connected through the connecting sleeve rings 601 in a rotating way, one end of each articulated arm 6 is connected on the connecting shaft 401 in a rotating way, the other end of each articulated arm 6 is connected on the connecting rod 801 in a rotating way, so that the four articulated arms 6 can form a diamond-shaped movable assembly, the distance between the two sliding boxes 2 is shortened to increase the distance between the two connecting discs 8, the upper chains of the steering tension sprocket 802 and the steering sprocket 402 can be ensured to be always in a tight state, a piston rod 701 is connected in the pneumatic cylinder 7 in a sliding way, the pneumatic cylinder 7 and the piston rod 701 are respectively and fixedly connected with the opposite sides of the two sliding boxes 2, the connecting rod 801 is fixedly connected on the upper surface of the connecting disc 8, and the connecting rods 801 are all rotatably connected in the two connecting sleeve rings 601, the upper surface of the connecting rod 801 is fixedly connected with a steering tension sprocket 802, the two steering tension sprockets 802 are in transmission connection with the two steering sprockets 402 through chains, the lower surface of the inner cavity of the sliding box 2 and the lower surface of the steering sprocket 402 are both in contact with the connecting lantern ring 601, the upper surface of the connecting disc 8 and the lower surface of the steering tension sprocket 802 are both in contact with the connecting lantern ring 601, the two sliding boxes 2 can both slide between the two connecting frames 101 through the matching of the first T-shaped sliding strip 201 and the first T-shaped sliding groove 102, the connecting shaft 401 fixed on the upper surface of the wheel frame 4 is rotatably connected in the connecting hole 202 formed in the lower surface of the sliding box 2, the wheel frame 4 can rotate at a full angle under the sliding box 2, the rolling wheels 5 can rotate in the wheel frame 4 through the matching of the rotating shaft 501 and the rotating hole 403, and the full-angle rotation of the wheel frame 4 can also drive the rolling wheels 5 to perform full-angle steering, a walking driving motor 404 is fixedly connected to the front of the wheel frame 4, a walking driving sprocket 405 is fixedly connected to an output shaft rotating in the walking driving motor 404, a walking driven sprocket 502 is also fixed to a rotating shaft 501, a chain is sleeved on the walking driving sprocket 405 and the walking driven sprocket 502, when the walking driving motor 404 is started to drive the walking driving sprocket 405 to rotate, the rolling wheels 5 can be driven to rotate and walk on the ground, the walking driving motor 404 can rotate along with the wheel frame 4, a fixed shaft 204 arranged on a steering driving motor 203 in a sliding box 2 is fixedly connected with a steering sprocket 402, the steering driving motor 203 is started to drive the steering sprocket 402 to rotate through the fixed shaft 204, so that the wheel frame 4 and the rolling wheels 5 can be steered at a full angle, the chain is arranged between the two steering sprockets 402 for transmission, and the steering of one wheel frame 4 can drive the other wheel frame 4 to be steered, one sliding box 2 is fixedly connected with a pneumatic cylinder 7, the other sliding box 2 is fixedly connected with a piston rod 701 which is connected with the pneumatic cylinder 7 in a sliding way, the distance between the two sliding boxes 2 can be changed by starting the pneumatic cylinder 7, so that the wheel distance between two rolling wheels 5 can be changed, each connecting shaft 401 is rotatably connected with a connecting lantern ring 601 at one end of two hinged arms 6, four connecting lantern rings 601 which are not connected with the connecting shaft 401 are rotatably connected with two connecting rods 801, the four hinged arms 6 form a diamond-shaped movable assembly, the two connecting shafts 401 are positioned on one diagonal line of the diamond-shaped movable assembly, the two connecting rods 801 are positioned on the other diagonal line of the diamond-shaped movable assembly, a chain between two steering chain wheels 402 is also connected with two steering tension chain wheels 802, when the distance between the two sliding boxes 2 is shortened, the distance between the two connecting discs 8 is simultaneously increased, the chain on the two steering chain wheels 402 can be tightened all the time, transmission can be guaranteed between the two steering chain wheels 402 all the time, synchronous full-angle steering can be conducted between the two rolling wheels 5, the rolling wheels 5 can be conveniently steered at full angles, the wheel distance between the two rolling wheels 5 can be changed, the angle between the two wheel sets of the rear wheel set of the agricultural machine is only shown in the drawing, the front wheel set of the agricultural machine can be set in the same way, and the device has the function of facilitating synchronous full-angle steering of the two rolling wheels 5 and changing the wheel distance between the two rolling wheels 5.

The device is provided with a chassis body 1, a sliding box 2, traveling wheel sets 3, articulated arms 6, pneumatic cylinders 7 and connecting discs 8, wherein the two sliding boxes 2 can drive the two traveling wheel sets 3 to slide between two connecting frames 101, so that the wheel distance between the two rolling wheels 5 can be changed, and the two steering chain wheels 402 are connected through chain transmission, so that the two rolling wheels 5 can perform synchronous full-angle steering, the two connecting discs 8 and the diamond movable assembly formed by the four articulated arms 6 are used, two steering tension chain wheels 802 are also connected with the chain between the two steering chain wheels 402, when the distance between the two sliding boxes 2 is changed, the distance between the two connecting discs 8 is reversely changed, the chains on the two steering chain wheels 402 are tightened all the time, and the synchronous all-directional steering between the two rolling wheels 5 can be realized by ensuring that the wheel distance between the two rolling wheels 5 is changed, the device has the function of facilitating the synchronous full-angle steering of the two rolling wheels 5 while enabling the track width between the two rolling wheels 5 to be varied.

Example 2

Example 2 is a further modification to example 1:

wear groove 205 has all been seted up to the front and the back of slip case 2, wear groove 205 all runs through to the inner chamber of slip case 2, wear groove 205 and the both sides of slip case 2 all set up to communicate with each other, can be connected with the chain between the sprocket 402 in order to guarantee two, and two connecting axles 401 can constitute rhombus movable assembly with four articulated arms 6 and two connection pads 8, wear groove 205 has been seted up at the front and the back of slip case 2, make articulated arm 6 and chain all can pass wear groove 205 and come to be connected with connecting axle 401 and steering sprocket 402, it can normally be connected with chain and articulated arm 6 to have guaranteed like this that connecting axle 401 and steering sprocket 402 can normally be connected, the device has the function that makes connecting axle 401 and steering sprocket 402 can normally be connected with chain and articulated arm 6.

The device is through setting up wearing groove 205, and the wearing groove 205 that sliding box 2 was seted up makes articulated arm 6 and chain all can wear to come to be connected with connecting axle 401 and steering sprocket 402, has guaranteed that connecting axle 401 and steering sprocket 402 can normally be connected with chain and articulated arm 6, and the device has the function that makes connecting axle 401 and steering sprocket 402 can normally be connected with chain and articulated arm 6.

Example 3

Example 3 is a further modification to example 1:

the upper surface of the steering tension sprocket 802 is fixedly connected with a sleeve shaft 803, the connecting disc 8 is rotatably connected with a sliding block 9 through the sleeve shaft 803, the lower surface of the sliding block 9 is fixedly connected with a sleeve 902, the sleeve 902 is rotatably connected on the sleeve shaft 803, the front surface of the sliding block 9 is provided with a second T-shaped sliding chute 901, the second T-shaped sliding chute 901 penetrates through the back surface of the sliding block 9 and is communicated with the upper surface of the sliding block 9, the lower surface of the chassis body 1 is fixedly provided with a second T-shaped sliding strip 103, the second T-shaped sliding chute 901 is slidably connected on the second T-shaped sliding strip 103, the sleeve 902 arranged on the lower surface of the sliding block 9 is rotatably connected on the sleeve shaft 803 connected with the steering tension sprocket 802, the second T-shaped sliding chute 901 arranged on the sliding block 9 is slidably connected on the second T-shaped sliding strip 103 connected with the lower surface of the chassis body 1, the second T-shaped sliding strip 103 is positioned on the vertical plane of the chassis body 1, the sliding blocks 9 can only slide along the direction of the second T-shaped sliding strip 103, so that when the distance between the two sliding boxes 2 changes and drives the distance between the two connecting discs 8 to change, the two connecting discs 8 can only move along the direction of the second T-shaped sliding strip 103, and according to the characteristics of the diamond-shaped movable assembly formed by the four hinge arms 6, the two connecting discs 8 are positioned on one diagonal line of the diamond-shaped movable assembly, so that the two sliding boxes 2 are always symmetrical about the second T-shaped sliding strip 103, and after the distance between the two sliding boxes 2 changes, the two sliding boxes are also symmetrical about the second T-shaped sliding strip 103, namely the vertical plane of the chassis body 1, and the device has the function of enabling the two sliding boxes 2 to be always symmetrical about the vertical plane of the chassis body 1.

The device is through setting up second T shape draw runner 103, sleeve spindle 803 and sliding block 9, second T shape draw runner 103 is in chassis body 1 on the perpendicular plane in the middle, sliding block 9 can slide along second T shape draw runner 103, sleeve spindle 803 rotates and connects in sleeve 902, according to the characteristic of the movable rhombus subassembly that four articulated arms 6 are constituteed, when the distance between two slip casees 2 changes, two connection pads 8 move along the direction of second T shape draw runner 103 all the time, make between two slip casees 2 all the time about chassis body 1's perpendicular plane symmetry in the middle, the device has the function that can make two slip casees 2 all the time about chassis body 1's perpendicular plane symmetry in the middle.

The working principle is as follows: when the device is used, the first T-shaped sliding strip 201 is matched with the first T-shaped sliding groove 102, so that the two sliding boxes 2 can slide between the two connecting frames 101, the connecting shaft 401 fixed on the upper surface of the wheel frame 4 is rotatably connected in the connecting hole 202 formed in the lower surface of the sliding box 2, and the wheel frame 4 can rotate at a full angle below the sliding box 2.

Through the cooperation of axis of rotation 501 and rotation hole 403, make rolling wheel 5 rotate in wheel carrier 4, the full angle of wheel carrier 4 is rotated and also can be taken rolling wheel 5 to carry out the full angle and turn to, fixedly connected with walking driving motor 404 in the front of wheel carrier 4, fixedly connected with walking drive sprocket 405 on the output shaft of walking drive motor 404 internal rotation, and an axis of rotation 501 is also fixed with walking driven sprocket 502, the chain cover is on walking drive sprocket 405 and walking driven sprocket 502, walking driving motor 404 starts and just can drive rolling wheel 5 and rotate the walking when driving sprocket 405 rotates and walk subaerially, walking driving motor 404 can rotate along with wheel carrier 4.

A fixed shaft 204 arranged on a steering driving motor 203 in a sliding box 2 is fixedly connected with a steering chain wheel 402, the steering driving motor 203 can drive the steering chain wheel 402 to rotate through the fixed shaft 204 when being started, so that one wheel frame 4 and the rolling wheel 5 can be steered in a full angle, a chain is arranged between the two steering chain wheels 402 for transmission, and the steering of one wheel frame 4 can drive the other wheel frame 4 to steer.

One sliding box 2 is fixedly connected with the pneumatic cylinder 7, the other sliding box 2 is fixedly connected with the piston rod 701 which is slidably connected with the pneumatic cylinder 7, and the distance between the two sliding boxes 2 can be changed by starting the pneumatic cylinder 7, so that the wheel track between the two rolling wheels 5 can be changed.

Each connecting shaft 401 is rotatably connected with a connecting lantern ring 601 at one end of each of two hinged arms 6, four connecting lantern rings 601 which are not connected with the connecting shaft 401 are rotatably connected with two connecting rods 801, the four hinged arms 6 form a diamond-shaped movable assembly, the two connecting shafts 401 are positioned on one diagonal line of the diamond-shaped movable assembly, the two connecting rods 801 are positioned on the other diagonal line of the diamond-shaped movable assembly, a chain between the two steering chain wheels 402 is also connected with two steering tension chain wheels 802, when the distance between the two sliding boxes 2 is shortened, the distance between the two connecting discs 8 is simultaneously increased, chains on the two steering chain wheels 402 can be always tightened, the two steering chain wheels 402 can be ensured to be always driven, the two rolling wheels 5 can be synchronously turned in a full-angle manner, and the rolling wheels 5 can be conveniently turned in a full-angle manner, the track between the two rolling wheels 5 can also be changed, the device having the function of facilitating the simultaneous full-angle steering of the two rolling wheels 5 and the change of the track between the two rolling wheels 5.

The device is provided with a chassis body 1, a sliding box 2, traveling wheel sets 3, articulated arms 6, pneumatic cylinders 7 and connecting discs 8, wherein the two sliding boxes 2 can drive the two traveling wheel sets 3 to slide between two connecting frames 101, so that the wheel distance between the two rolling wheels 5 can be changed, and the two steering chain wheels 402 are connected through chain transmission, so that the two rolling wheels 5 can perform synchronous full-angle steering, the two connecting discs 8 and the diamond movable assembly formed by the four articulated arms 6 are used, two steering tension chain wheels 802 are also connected with the chain between the two steering chain wheels 402, when the distance between the two sliding boxes 2 is changed, the distance between the two connecting discs 8 is reversely changed, the chains on the two steering chain wheels 402 are tightened all the time, and the synchronous all-directional steering between the two rolling wheels 5 can be realized by ensuring that the wheel distance between the two rolling wheels 5 is changed, the device has the function of facilitating the synchronous full-angle steering of the two rolling wheels 5 while enabling the track width between the two rolling wheels 5 to be varied.

In order to ensure that the two steering chain wheels 402 can be connected with a chain, and the two connecting shafts 401 can form diamond-shaped movable assemblies with the four articulated arms 6 and the two connecting discs 8, the front and the back of the sliding box 2 are provided with through grooves 205, so that the articulated arms 6 and the chain can penetrate through the through grooves 205 to be connected with the connecting shafts 401 and the steering chain wheels 402, the connecting shafts 401 and the steering chain wheels 402 can be normally connected with the chain and the articulated arms 6, and the device has the function of enabling the connecting shafts 401 and the steering chain wheels 402 to be normally connected with the chain and the articulated arms 6.

The device is through setting up wearing groove 205, and the wearing groove 205 that sliding box 2 was seted up makes articulated arm 6 and chain all can wear to come to be connected with connecting axle 401 and steering sprocket 402, has guaranteed that connecting axle 401 and steering sprocket 402 can normally be connected with chain and articulated arm 6, and the device has the function that makes connecting axle 401 and steering sprocket 402 can normally be connected with chain and articulated arm 6.

A sleeve 902 arranged on the lower surface of the sliding block 9 is rotationally connected to a sleeve shaft 803 connected with a steering tension sprocket 802, a second T-shaped sliding groove 901 arranged on the sliding block 9 is slidably connected to a second T-shaped sliding strip 103 connected with the lower surface of the chassis body 1, the second T-shaped sliding strip 103 is positioned on the vertical plane of the chassis body 1, the sliding block 9 can only slide along the direction of the second T-shaped sliding strip 103, thus when the distance between the two sliding boxes 2 is changed to drive the distance between the two connecting discs 8 to be changed, the two connecting discs 8 can only move along the direction of the second T-shaped sliding strip 103, and according to the characteristics of a diamond-shaped movable assembly formed by the four hinge arms 6, and the two connecting discs 8 are positioned on a diagonal line of the diamond-shaped movable assembly, so that the two sliding boxes 2 are always symmetrical with respect to the second T-shaped sliding strip 103, and the distance between the two sliding boxes 2 is also changed with respect to the second T-shaped sliding strip 103, namely the vertical plane of the chassis body 1 The device has the function of enabling the two sliding boxes 2 to be always symmetrical about the mid-vertical plane of the chassis body 1.

The device is through setting up second T shape draw runner 103, sleeve spindle 803 and sliding block 9, second T shape draw runner 103 is in chassis body 1 on the perpendicular plane in the middle, sliding block 9 can slide along second T shape draw runner 103, sleeve spindle 803 rotates and connects in sleeve 902, according to the characteristic of the movable rhombus subassembly that four articulated arms 6 are constituteed, when the distance between two slip casees 2 changes, two connection pads 8 move along the direction of second T shape draw runner 103 all the time, make between two slip casees 2 all the time about chassis body 1's perpendicular plane symmetry in the middle, the device has the function that can make two slip casees 2 all the time about chassis body 1's perpendicular plane symmetry in the middle.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.