阅读说明：本技术 蛇形坦克 (Snake-shaped tank ) 是由 杨攻略 杨剑 于 2021-09-17 设计创作，主要内容包括：本发明公开了蛇形坦克,主要涉及坦克技术领域；包括若干个坦克单元,若干个坦克单元自前向后依次连接,所述坦克单元的前端设有前对接钩钩梁、用于带动前对接钩钩梁绕着与坦克单元的宽度方向平行的水平轴心线转动的第一液压摆动机构,所述坦克单元的后端设有与前对接钩钩梁相适应的后对接钩钩口、用于带动后对接钩钩口绕着竖直轴心线转动的第二液压摆动机构,相邻两个坦克单元通过前对接钩钩梁与后对接钩钩口的配合进行可拆卸连接；本发明强大耐用、成本低廉、结构精简、行动快速,极大地提高了坦克的越野过障自救能力。(The invention discloses a snake-shaped tank, which mainly relates to the technical field of tanks; the tank type vibration power generation device comprises a plurality of tank units, wherein the tank units are sequentially connected from front to back, the front ends of the tank units are provided with front butt joint hook beams and first hydraulic swing mechanisms for driving the front butt joint hook beams to rotate around a horizontal axis parallel to the width direction of the tank units, the rear ends of the tank units are provided with rear butt joint hook mouths matched with the front butt joint hook beams and second hydraulic swing mechanisms for driving the rear butt joint hook mouths to rotate around a vertical axis, and two adjacent tank units are detachably connected through the matching of the front butt joint hook beams and the rear butt joint hook mouths; the invention has the advantages of strong durability, low cost, simple structure and quick action, and greatly improves the cross-country obstacle-crossing self-rescue capability of the tank.)

1. Snakelike tank, including a plurality of tank unit (1), its characterized in that: a plurality of tank unit (1) connects gradually from preceding backward, the front end of tank unit (1) is equipped with preceding butt joint hook roof beam (2), is used for driving preceding butt joint hook roof beam (2) round the parallel first hydraulic swing mechanism of horizontal axis pivoted with the width direction of tank unit (1), the rear end of tank unit (1) is equipped with preceding butt joint hook roof beam (2) the back butt joint hook mouth (3) that suits, is used for driving back butt joint hook mouth (3) round vertical axis pivoted second hydraulic swing mechanism, and adjacent two tank units (1) can be dismantled with the cooperation of back butt joint hook mouth (3) through preceding butt joint hook roof beam (2) and be connected.

2. The serpentine tank of claim 1, wherein: back butt joint hook mouth (3) are vertical U type, be equipped with wedge bayonet lock (31) on two walls of the left and right sides of back butt joint hook mouth (3), the one end of wedge bayonet lock (31) is equipped with spring (32), and the other end inserts in the hook mouth of back butt joint hook mouth (3), be equipped with the mount pad that suits with spring (32) on the outer wall of back butt joint hook mouth (3), wedge bayonet lock (31) and back butt joint hook mouth (3) sliding connection, the left and right sides of preceding butt joint hook beam (2) all is equipped with bayonet socket (21) that suits with wedge bayonet lock (31).

3. The serpentine tank as defined in claim 2, wherein: the left side and the right side of the front butt joint hook beam (2) are respectively provided with a plurality of anti-jamming wheels (22).

4. The serpentine tank of claim 1, wherein: the front end of the front butt joint hook beam (2) is an elliptic conical hook tip, and the rear butt joint hook opening (3) is an elliptic conical hook opening.

5. The serpentine tank of claim 1, wherein: first hydraulic pressure swing mechanism include with preceding butt joint hook roof beam (2) fixed connection's hook beam axle (41), hook beam axle (41) rotate with tank unit (1) and are connected, the left end of hook beam axle (41) is connected with left swing pneumatic cylinder (42), and the right-hand member is connected with right swing pneumatic cylinder (43), and left swing pneumatic cylinder (42), right swing pneumatic cylinder (43) are all installed on tank unit (1).

6. The serpentine tank of claim 5, wherein: the tank is characterized in that a first bearing (44) is arranged on the hook beam shaft (41), and a first bearing seat (45) matched with the first bearing (44) is arranged on the tank unit (1).

7. The serpentine tank of claim 5, wherein: the left end of hook beam axle (41) is connected with left swing pneumatic cylinder (42) through first clutch sleeve (46), and the right-hand member is connected with right swing pneumatic cylinder (43) through second clutch sleeve (47), is equipped with first clutch sleeve bayonet lock (48) that suit with first clutch sleeve (46) on left swing pneumatic cylinder (42), is equipped with second clutch sleeve bayonet lock (49) that suit with second clutch sleeve (47) on right swing pneumatic cylinder (43).

8. The serpentine tank of claim 1, wherein: second hydraulic swing mechanism include with back butt joint hook mouth (3) fixed connection's mounting bracket (51), the equal vertical pivot (52) that is equipped with in upper and lower both ends of mounting bracket (51), pivot (52) and mounting bracket (51) fixed connection, pivot (52) are rotated with tank unit (1) and are connected, one of them pivot (52) are connected with vertical wobbling pneumatic cylinder (53), install on tank unit (1) vertical wobbling pneumatic cylinder (53).

9. The serpentine tank as defined in claim 8, wherein: and a second bearing (54) is arranged on the rotating shaft (52), and a second bearing seat (55) matched with the second bearing (54) is arranged on the tank unit (1).

10. The serpentine tank as defined in claim 8, wherein: one of the rotating shafts (52) is connected with the vertical swing hydraulic cylinder (53) through a third clutch sleeve (56), and a third clutch sleeve bayonet lock (57) matched with the third clutch sleeve (56) is arranged on the vertical swing hydraulic cylinder (53).

Technical Field

The invention relates to the technical field of tanks, in particular to a snake-shaped tank.

Background

Firepower, protective power and cross-country power are three major factors of the fighting power of modern tanks, wherein the cross-country power refers to the adaptability and strategic delivery capacity to various different types of places on a battlefield, and data such as the self size of a single tank, such as the length of a vehicle body and the height of a tank inducer, limit various cross-country performance indexes of the single tank for respective fighting.

The cross-country ability index of current single tank has the tank current climbing ability, can cross the width of anti-tambour ditch, can cross the height of vertical wall, wading degree of depth, the every single move angle scope of gun, and above-mentioned cross-country ability index has fixed range value. In military operation, when a modern single tank meets a terrain exceeding the above off-road capability index, the modern single tank needs to generate excessive dependence on logistics support such as a tank bridge girder erection vehicle and a tank rescue vehicle, so that the use cost is increased.

Disclosure of Invention

The invention aims to solve the problems in the prior art, provides a snake-shaped tank which is strong and durable, low in cost, simple in structure and quick in action, and greatly improves the cross-country obstacle-crossing self-rescue capacity of the tank.

In order to achieve the purpose, the invention is realized by the following technical scheme:

snakelike tank, including a plurality of tank unit, a plurality of tank unit connects gradually from preceding backward, the front end of tank unit is equipped with preceding butt joint hook beam, is used for driving preceding butt joint hook beam round with the parallel first hydraulic swing mechanism of horizontal axis line pivoted of the width direction of tank unit, the rear end of tank unit is equipped with the back butt joint hook mouth that suits with preceding butt joint hook beam, is used for driving back butt joint hook mouth round vertical axis line pivoted second hydraulic swing mechanism, and two adjacent tank units can dismantle with the cooperation of back butt joint hook mouth through preceding butt joint hook beam and.

Preferably, back butt joint hook mouth is vertical U type, be equipped with the wedge bayonet lock on the two walls of the left and right sides of back butt joint hook mouth, the one end of wedge bayonet lock is equipped with the spring, and in the other end inserted the hook mouth of back butt joint hook mouth, be equipped with the mount pad that suits with the spring on the outer wall of back butt joint hook mouth, wedge bayonet lock and back butt joint hook mouth sliding connection, the left and right sides of preceding butt joint hook roof beam all is equipped with the bayonet socket that suits with the wedge bayonet lock.

Preferably, the left side and the right side of the front butt joint hook beam are respectively provided with a plurality of anti-blocking wheels.

Preferably, the front end of the front butt-joint hook beam is an elliptic conical hook tip, and the hook opening of the rear butt-joint hook is an elliptic conical hook opening.

Preferably, first hydraulic swing mechanism includes the hook beam axle with preceding butt joint hook beam fixed connection, the hook beam axle rotates with tank unit to be connected, the left end of hook beam axle is connected with left swing hydraulic cylinder, and the right-hand member is connected with right swing hydraulic cylinder, and left swing hydraulic cylinder, right swing hydraulic cylinder all install on tank unit.

Preferably, the hook beam shaft is provided with a first bearing, and the tank unit is provided with a first bearing seat adapted to the first bearing.

Preferably, the left end of the hook beam shaft is connected with the left swing hydraulic cylinder through a first clutch sleeve, the right end of the hook beam shaft is connected with the right swing hydraulic cylinder through a second clutch sleeve, a first clutch sleeve bayonet lock matched with the first clutch sleeve is arranged on the left swing hydraulic cylinder, and a second clutch sleeve bayonet lock matched with the second clutch sleeve is arranged on the right swing hydraulic cylinder.

Preferably, the second hydraulic swing mechanism includes the mounting bracket with back butt joint hook mouth fixed connection, the equal vertical pivot that is equipped with in upper and lower both ends of mounting bracket, pivot and mounting bracket fixed connection, the pivot rotates with tank unit to be connected, one of them the pivot is connected with vertical swing pneumatic cylinder, vertical swing pneumatic cylinder installs on tank unit.

Preferably, a second bearing is arranged on the rotating shaft, and a second bearing seat matched with the second bearing is arranged on the tank unit.

Preferably, one of the rotating shafts is connected with the vertical swing hydraulic cylinder through a third clutch sleeve, and a third clutch sleeve bayonet lock matched with the third clutch sleeve is arranged on the vertical swing hydraulic cylinder.

Compared with the prior art, the invention has the beneficial effects that:

the invention can make the fighting capacity of the tank reach the maximum exertion, utilize the swing hydraulic pressure mechanism that is installed additionally to combine each tank unit, make it possess the unique movement characteristic of the snake-shaped robot, have strong to single tank incomparable cross-country ability by oneself, and when needing to disperse and conceal the goal, as long as separate front butt joint hook beam and back butt joint hook mouth, can realize the fast separation between each tank, do not influence the individual operational capability and performance of each tank, the operational mode is changeable and flexible; powerful and durable, low cost, simple structure, action are quick, have greatly improved the cross-country of tank and have crossed the ability of saving oneself of hindering.

Drawings

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

FIG. 2 is a top view of FIG. 1;

FIG. 3 is an enlarged view of portion A of FIG. 1;

FIG. 4 is an enlarged view of portion B of FIG. 2;

FIG. 5 is an enlarged view of section C of FIG. 2;

FIG. 6 is a state diagram of the present invention driving on a hill;

FIG. 7 is a state diagram of the present invention in driving on a vertical wall;

FIG. 8 is a state diagram of the present invention driving on an inverted trapezoidal obstacle;

FIG. 9 is a diagram of the invention in a condition of travel at an anti-tambour trench;

FIG. 10 is a state diagram of the invention traveling at an ultra-wide anti-tambour trench;

FIG. 11 is a view of the invention in a state of travel at a raised front anti-tambour trench;

FIG. 12 is a state diagram of the present invention driving over a triangular or conical obstacle;

FIG. 13 is a state diagram of the present invention driving over a circular obstacle;

FIG. 14 is a state diagram of the present invention driving on a quadrangular obstacle;

FIG. 15 is a side-tipping prevention view of the present invention;

FIG. 16 is a state diagram of the invention in a lateral direction on a slope;

FIG. 17 is a state diagram of self-rescue when the vehicle runs on soft ground.

The reference numbers in the drawings:

1. a tank unit;

2. a front butt hook beam; 21. a bayonet; 22. anti-jamming wheels;

3. then butt joint with a hook mouth; 31. a wedge-shaped bayonet lock; 32. a spring;

41. a hook beam shaft; 42. a left swing hydraulic cylinder; 43. a right swing hydraulic cylinder; 44. a first bearing; 45. a first bearing housing; 46. a first clutch sleeve; 47. a second clutch sleeve; 48. a first clutch sleeve bayonet; 49. a second clutch sleeve bayonet;

51. a mounting frame; 52. a rotating shaft; 53. a vertical swing hydraulic cylinder; 54. a second bearing; 55. a second bearing housing; 56. a third clutch sleeve; 57. a third clutch sleeve bayonet;

6. and a secondary oil tank.

Detailed Description

The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.

Example (b): as shown in attached figures 1-5, the snake-shaped tank is provided with a plurality of tank units 1, the tank units 1 adopt the existing tank structure, the tank units 1 are sequentially connected from front to back, the front end of each tank unit 1 is provided with a front butt hook beam 2 and a first hydraulic swing mechanism for driving the front butt hook beam 2 to rotate around a horizontal axis parallel to the width direction of the tank unit 1, the back end of each tank unit 1 is provided with a back butt hook opening 3 matched with the front butt hook beam 2 and a second hydraulic swing mechanism for driving the back butt hook opening 3 to rotate around a vertical axis, and two adjacent tank units 1 are detachably connected through the matching of the front butt hook beam 2 and the back butt hook opening 3.

The invention utilizes the correlation theory of snake-shaped robot from the perspective of bionics, combines a strong and reliable hydraulic swing mechanism to combine a plurality of tank units 1 together to form a long snake-shaped tank, and can simulate the unique obstacle crossing and movement characteristics of a biological snake, each tank unit 1 is equivalent to a universal joint, the first hydraulic swing mechanism and the second hydraulic swing mechanism control the freedom degrees in two directions, so that the snake-shaped tank can bend in any direction, thereby simulating various actions of the biological snake such as head raising, head lowering, wriggling, swimming, side shifting, tail bending, tail ending and the like, and still keeping the basic functions of the single tank such as forward movement, backward movement, turning and the like, and the combined snake-shaped tank has incomparable strong obstacle crossing capability of the single tank, and is suitable for complex terrain and self-rescue cross-country capability.

In addition, the combination form of the snake-shaped tank is free, two, three, four, five and ten tank units 1 can be combined into the snake-shaped tank at will (the drawing of the specification takes five tank units 1 as an example), and the snake-shaped tank with any length can be combined as long as the rigidity and the power of the hydraulic swing mechanism can support and control all the tank units 1.

Specifically, the front butt hook beam 2 is installed in the front middle area of the vehicle head of the tank unit 1, and the rear butt hook opening 3 is installed on the lower side of the tank tail auxiliary fuel tank 6.

Back butt hook mouth 3 is vertical U type, be equipped with wedge bayonet lock 31 on the two walls of the left and right sides of back butt hook mouth 3, the open end of butt hook mouth 3 behind the inclined plane orientation of wedge bayonet lock 31, the one end of wedge bayonet lock 31 is equipped with spring 32, and the other end inserts in the hook mouth of back butt hook mouth 3, be equipped with the mount pad that suits with spring 32 on the outer wall of back butt hook mouth 3, wedge bayonet lock 31 and 3 sliding connection of back butt hook mouth, the left and right sides of preceding butt hook beam 2 all is equipped with bayonet 21 that suits with wedge bayonet lock 31, and through the cooperation of wedge bayonet lock 31 with buckle 21, with preceding butt hook beam 2 firm locking in back butt hook mouth 3.

Preferably, in order to ensure that the front butt hook beam smoothly enters and exits the rear butt hook opening and prevent the front butt hook beam from being stuck, a plurality of anti-sticking wheels 22 are arranged on the left side and the right side of the front butt hook beam 2.

Preferably, the front end of the front butt hook beam 2 is an elliptic conical hook tip, and the rear butt hook opening 3 is an elliptic conical hook opening.

Preferably, the first hydraulic swing mechanism comprises a hook beam shaft 41 fixedly connected with the front butt hook beam 2, the front butt hook beam 2 can be directly and vertically welded in the middle of the hook beam shaft 41, a through hole matched with the hook beam shaft 41 can also be formed in the front butt hook beam 2, a key groove is formed in the through hole, a connecting key is installed on the hook beam shaft 41, then the hook beam shaft 41 is embedded into the through hole, the hook beam shaft 41 is rotatably connected with the tank unit 1, further, a first bearing 44 is arranged on the hook beam shaft 41, and a first bearing seat 45 matched with the first bearing 44 is installed on the tank unit 1 through bolts. The left end of hook beam shaft 41 is connected with left swing hydraulic cylinder 42, and the right-hand member is connected with right swing hydraulic cylinder 43, and left swing hydraulic cylinder 42, right swing hydraulic cylinder 43 all install on tank unit 1 through the bolt, can provide sufficient moment of torsion for preceding butt joint hook beam 2 through the cooperation of left swing hydraulic cylinder 42, right swing hydraulic cylinder 43.

Furthermore, the left end of the hook beam shaft 41 is connected with the left swing hydraulic cylinder 42 through a first clutch sleeve 46, the right end of the hook beam shaft is connected with the right swing hydraulic cylinder 43 through a second clutch sleeve 47, a first clutch sleeve bayonet 48 adaptive to the first clutch sleeve 46 is arranged on the left swing hydraulic cylinder 42, a second clutch sleeve bayonet 49 adaptive to the second clutch sleeve 47 is arranged on the right swing hydraulic cylinder 43, the first clutch sleeve 46 and the second clutch sleeve 47 can both adopt spline sleeves, both ends of the hook beam shaft 41 and one ends of the first clutch sleeve bayonet 48 and the second clutch sleeve bayonet 49 close to the hook beam shaft 41 are both splines, the hook beam shaft 41, the left swing hydraulic cylinder 42 and the right swing hydraulic cylinder 43 are in an open or closed state and are determined by the first clutch sleeve 48 and the second clutch bayonet sleeve 49, and the first clutch sleeve bayonet 48 can be controlled manually or through an electromagnetic push-pull device, Second clutch sleeve latch 49.

The second hydraulic swing mechanism comprises an installation frame 51 fixedly connected with the rear butt hook opening 3, rotating shafts 52 are vertically arranged at the upper end and the lower end of the installation frame 51, the rotating shafts 52 can be welded on the installation frame 51, an integrated structure can be adopted between the rotating shafts 52 and the installation frame 51, the rotating shafts 52 are rotatably connected with the tank unit 1, preferably, second bearings 54 are arranged on the rotating shafts 52, and second bearing seats 55 matched with the second bearings 54 are installed on the tank unit 1 through bolts. One of the rotating shafts 52 is connected with a vertical swing hydraulic cylinder 53, and the vertical swing hydraulic cylinder 53 is mounted on the tank unit 1. One of the rotating shafts 52 is connected with the vertical swing hydraulic cylinder 53 through a third clutch sleeve 56, a third clutch sleeve bayonet pin 57 which is matched with the third clutch sleeve 56 is arranged on the vertical swing hydraulic cylinder 53, the third clutch sleeve 56 can adopt a spline cylinder, splines are arranged at the end part of one of the rotating shafts 52 and one end of the third clutch sleeve bayonet pin 57 which is close to the rotating shaft 52, the vertical swing hydraulic cylinder 53 and the rotating shaft 52 are in a separation or combination state and determined by the switch of the third clutch sleeve bayonet pin 57, and the switch of the third clutch sleeve bayonet pin 57 can be controlled manually or through an electromagnetic push-pull device.

The battle effectiveness of the tank army has four characteristics of collection, scattering, moving and static, and the combination of the collection and the moving is most suitable for the exertion of the tank battle effectiveness. Therefore, the combination of the 'sets' can exert the battle power and off-road power of the tank to the maximum extent.

The invention aims to greatly improve the super-strong obstacle-crossing self-rescue capacity of the tank in the battle action. When the hidden target needs to be dispersed, the snake-shaped tank can be quickly divided into various tank units 1 for action battle; when meeting barriers that a single tank can not pass over or needing to be intensively combined to deal with complex terrains, the snake-shaped tank can be quickly combined to act. In the design structure, only need make a little change to modern tank, install a set of simplified hydraulic swing mechanism additional and just can put into practice. The invention aims to design a snake-shaped tank which is strong and durable, low in cost, simple in structure and quick in action.

When a single tank encounters an obstacle which cannot be crossed or easily collapsed terrain which cannot be moved and complex terrain in military operation, a plurality of tanks are needed to be combined and butted into a snake-shaped tank to move, and the butting work of the snake-shaped tank is divided into three steps:

1. the position of putting is as shown in figure 1, and two tank units 1 of preparation butt joint are opened to relatively flat subaerial in tandem respectively, drive the tank track through the tank drive wheel and carry out the correcting position, let the tank shirt rim or the central line of two tanks arrange into a straight line as far as possible can, and at this moment, the position work of putting of two butt joint tanks is ready to finish, will carry out next butt joint procedure.

2. The front part of each tank unit for placing the butt hook is provided with a front butt hook beam 2, after the two tank units 1 are in a correct position, at the moment, the tank unit 1 at the rear side is locked with a first clutch sleeve bayonet lock 48 and a second clutch sleeve bayonet lock 49, so that a first clutch sleeve 46 and a second clutch sleeve 47 are respectively connected with the left swing hydraulic cylinder 42, and the shaft of the right swing hydraulic cylinder 43 is in a closed state, namely, the front butt hook beam is rigidly connected. At this time, the left swing hydraulic cylinder 42 and the right swing hydraulic cylinder 43 can control the rotation of the hook beam shaft 41 together, and drive the front butt hook beam 2 to swing up and down. After the first clutch sleeve bayonet pin 48 and the second clutch sleeve bayonet pin 49 are locked, the left swing hydraulic cylinder 42 is started again to be connected, the right swing hydraulic cylinder 43 starts to work, and the hook beam shaft 41 and the front butt hook beam 2 are rigidly connected into a whole, so the front butt hook beam 2 at the front end of the tank unit 1 at the rear side is swung out in a rotating mode along the arc arrow direction, and the swinging can be stopped until the front butt hook beam 2 is in a straight horizontal state, at the moment, the left swing hydraulic cylinder 42 is connected, the right swing hydraulic cylinder 43 stops working, the front butt hook beam 2 of the tank unit 1 at the rear side is already put, and the butt joint is waited. Meanwhile, a vertical U-shaped rear butt hook opening 3 is provided below the secondary fuel tank 6 of the tank unit 1, and the third clutch sleeve pin 57 is locked to bring the third clutch sleeve 56 into engagement with the shaft of the vertical swing hydraulic cylinder 53, that is, into rigid connection. The rear butt hook opening 3 can freely swing left and right along the axis of the second bearing 54. After the third clutch sleeve bayonet 57 is locked, the vertical swing hydraulic cylinder 53 is started to start working, and the elliptic conical hook opening of the rear butt hook opening 3 of the tank unit 1 on the front side is aligned with the elliptic conical hook tip of the front butt hook beam 2 of the tank unit 1 on the rear side. So far, the butt hook releasing working procedures of the two tank units 1 are finished, and the next working procedure is about to be entered.

3. Drive docking when the rear docking hook ports 3 of two tank units 1 are aligned with the front docking hook beam 2, drive docking can be prepared. The tank unit 1 on the front side is started and the docking is completed by reversing in the direction of the arrow in fig. 1, and the tank unit 1 on the rear side is also started and the docking is completed by advancing in the direction of the arrow. Under the drive of tank self power, the oval conical hook point of butt joint hook roof beam 2 in the front slowly gets into in the oval conical hook mouth of butt joint hook mouth 3 behind, because oval conical has the effect of direction, so uneven ground or the position just can not influence the tank butt joint in certain scope. When the tank is driven by the tank to move forward or backward continuously, and the two bayonets 21 at the two sides of the front butt hook beam 2 are aligned with the wedge-shaped bayonet 31 on the rear butt hook opening 3, under the action of the elastic force of the spring 32, the wedge-shaped bayonet 31 can automatically pop out to lock the front butt hook beam 2, so that the front butt hook beam 2 and the rear butt hook opening 3 are rigidly butted together. So far, the two tank units 1 drive the docking operation procedure to be finished. The docking method of any other tank unit 1 is the same, and when five tanks are docked, the snake tanks are assembled.

The basic actions of obstacle-crossing self-rescue of the snake-shaped tank are head raising, head lowering, creeping, swimming, side shifting, tail bending, tail ending, advancing, backing, turning and the like. In military operations, obstacles that snakelike tanks can cross and self-rescue conditions mainly have the following types:

1. slope as shown in figure 6, when the snake-shaped tank meets the slope with any angle within 90 degrees, the tank can advance under the thrust of the five tanks, and the left swing hydraulic cylinder 42 and the right swing hydraulic cylinder 43 are started to control different up-down swing angles of the tank in the midway. When the tank inducer of the first tank unit 1 contacts with a slope, a left swinging hydraulic cylinder 42 and a right swinging hydraulic cylinder 43 are started to rotate upwards to lift the head of the first tank unit 1, namely, the head raising action of the snake-shaped tank is completed, the first tank unit 1 completely ascends the slope to continue to advance, when the front inducer of the second tank unit 1 contacts with the slope, a left swinging hydraulic cylinder 42 and a right swinging hydraulic cylinder 43 of a third tank unit 1 are started to swing upwards to lift the slope on the body of the second tank unit 1, and simultaneously, a left swinging hydraulic cylinder 42 and a right swinging hydraulic cylinder 43 of the second tank unit 1 are also started to swing downwards, namely, the head lowering action of the snake-shaped tank is completed, the tank track of the first tank unit 1 clings to the slope to continue to advance, and when the body of the first tank unit 1 crosses the highest point of the slope, a left swinging hydraulic cylinder 42 and a right swinging hydraulic cylinder 43 of the second tank unit 1 are started to continue to swing downwards, the tank tracks of the left swing hydraulic cylinder 42 and the right swing hydraulic cylinder 43 are enabled to be attached to the ground and move forward continuously in the horizontal direction, and the third tank unit 1, the fourth tank unit 1 and the fifth tank unit 1 behind continue climbing by repeating the same action of the first tank unit 1 and the second tank unit 1. And finally all the tank units 1 climb through the climbing slope under the combined action of pulling forward and pushing backward to complete the obstacle crossing of the slope.

2. Vertical wall and the obstacle of falling trapezoidal form are as shown in fig. 7-8, and when snakelike tank meets vertical wall or the obstacle of falling trapezoidal form, at first snakelike tank will be stopped at an appropriate position to prevent when doing the new line action that the locomotive of first tank unit 1 meets vertical wall or the obstacle of falling trapezoidal form and damages the tank. After the snake-shaped tank stops, a left swinging hydraulic cylinder 42 and a right swinging hydraulic cylinder 43 of a second tank unit 1 or a third tank unit 1 are started to lift up a first tank unit 1 or two tanks of the first tank unit 1 and the second tank unit 1 upwards, when the highest point of a track of the lifted tank unit 1 is higher than the highest points of the vertical wall and the inverted trapezoidal obstacle, all the other tank units 1 on the ground are started to move forward, and the tank track of the first tank unit 1 stops moving forward when being pressed to the highest points of the vertical wall and the inverted trapezoidal obstacle. Then start the whole body shape of snakelike tank of the slow alignment of the downward wobbling of left pendulum pneumatic cylinder 42, right pendulum pneumatic cylinder 43 of following tank unit 1, then the subaerial tank of back continues to advance again, after the automobile body of first tank unit 1 is whole to cross vertical wall and the trapezoidal obstacle that falls, two left pendulum pneumatic cylinders 42, the downward wobbling of right pendulum pneumatic cylinder 43 of second tank unit 1 do the low head action, it goes forward to lay flat first tank unit 1 and go on ground, produce the effect of pulling force to following tank unit 1. After the third tank unit 1 crosses the highest point of the vertical wall and the inverted trapezoidal obstacle, according to the lever principle, the total weight of the front three tank units 1 is larger than that of the rear two tanks, so that the rear two tank units 1 are suspended, the last ending action of the snake-shaped tank is completed under the forward pulling force of the front three tank units 1 and under the control of the left swinging hydraulic cylinder 42 and the right swinging hydraulic cylinder 43, and finally all the tanks cross the vertical wall and the inverted trapezoidal obstacle.

3. When the serpentine tank meets the anti-tambour trench with the width lower than 40% of the total length of the serpentine tank as shown in the attached figure 9, the serpentine tank can directly advance through the anti-tambour trench under the condition of depending on the serpentine tank. At this time, the left and right rocking cylinders 42 and 43 of each tank unit 1 control the body shape of the serpentine tank to maintain a rigid straight state, and then go straight in the direction of the arrow. According to the lever balance principle, the starting point of the anti-tambour trench is taken as a fulcrum, when the two front tank units 1 advance to the upper surface of the anti-tambour trench and are in a suspended state, the total weight of the three rear tank units is larger than that of the two front tank units 1, so the snake-shaped tank can not tip into the anti-tambour trench. After the serpentine tank has proceeded to the tank track of the first tank unit 1 and landed on the opposite side of the anti-tambour trench, the serpentine tank is now a bridge spanning the two ends of the anti-tambour trench and moving like a wheel. When the third tank unit 1 has passed over the anti-tankmaking trench, the total weight of the front three tank units 1 is enough to prevent the two rear suspended tank units 1 from tipping into the anti-tankmaking trench, and the two rear tank units 1 are pulled over the anti-tankmaking trench by the pulling of the front three tank units 1. And at this point, obstacle crossing of the anti-flat-and-bottom trench is completed.

4. When the snake-shaped tank meets the ultra-wide anti-flat-bottom ditch as shown in the attached drawing 10, namely the width of the anti-flat-bottom ditch is more than 40% of the total length of the snake-shaped tank, if the snake-shaped tank linearly advances through the ditch, the snake-shaped tank can tip into the ditch because the gravity center is unbalanced when the third tank unit 1 passes through the ditch according to the lever principle. So snakelike tank is when meetting super wide anti-tambour ditch, if the degree of depth of ditch does not exceed 40% of snakelike tank total length, then can take to lower the head earlier and let first tank unit 1 go down the ground in the ditch, the parallel forward progress of ground of head raising in the ditch of second tank unit 1, four tank unit 1 at the back then repeat the action cooperation of first tank unit 1 and follow and go forward. When the first tank unit 1 moves forward to the opposite side of the ultra-wide anti-tankmg trench, the head is raised again to enable the tank track of the first tank unit 1 to be higher than the highest point of the trench, then the tank track moves forward continuously, the first tank unit 1 is completely sent out of the trench by utilizing the matching of the left swing hydraulic cylinder 42 and the right swing hydraulic cylinder 43 of the second tank unit 1, when the first four tank units 1 successively cross the trench, the fifth tank unit 1 moves downwards to suspend in the air to close the tail under the pulling of the previous tank unit 1, at the moment, all tanks already cross the ultra-wide anti-tankmg trench, and obstacle crossing is completed.

5. Front raised anti-tambour when a serpentine tank encounters a front raised anti-tambour as shown in figure 11, there are two situations: firstly, if the width of the front raised anti-tankmaking trench is lower than 40% of the total length of the snake-shaped tank, only one more raising action is needed to be carried out at the starting point of the trench, namely, the tank crawler belt of the tank unit 1 is raised to be higher than the highest point of the opposite surface of the trench, and then the same trench passing method as that shown in the attached figure 9 is adopted for direct passing; secondly, if the width of the trench is more than 40 percent of the total length of the snake-shaped tank, and the heightened height of the opposite side of the trench is less than 40 percent of the total length of the snake-shaped tank, the same trench-crossing method as that shown in the figure 10 needs to be adopted to cross various front heightened anti-tame trenches.

6. Triangular or conical obstacle when snake-shaped tank meets triangular or conical obstacle shown as attached soil 12, firstly, the left-right swing hydraulic cylinder of the second tank unit 1 is started to swing upwards, so that the first tank unit 1 finishes upward head raising action, then four tanks on the ground continue to advance, when the tank track of the first tank unit 1 is pressed on the highest point of the triangular or conical obstacle, the first tank unit 1 is put flat to creep forwards and slowly advance, when the vehicle body of the first tank unit 1 completely passes through the highest point of the triangular or conical obstacle, the front part of the snake-shaped tank can descend due to self weight, the tip of the triangular or conical obstacle can touch the front butt-joint hook beam 2, and if the anti-blocking wheel 22 is blocked, the snake-shaped tank continues to advance. If the front butt hook beam 2 is blocked, the tank behind needs to do head raising action, and the blocked place is lifted and suspended to advance to prevent blocking. When the vehicle body of the first tank unit 1 crosses the peak of a triangular or conical obstacle, a left swing hydraulic cylinder 42 and a right swing hydraulic cylinder 43 of the second tank unit 1 are started to swing downwards to finish the head lowering action, the tank track of the first tank unit 1 is landed, the snake-shaped tank continues to advance again, when the first tank unit 1 advances to travel forwards in parallel with the ground, other tanks at the back finish obstacle crossing by repeating the same action of the first tank unit 1 until the snake-shaped tank finishes the ending action until all the tank units cross the obstacle, and the obstacle crossing is finished at the moment.

7. Circular obstacle and quadrangular obstacle the obstacle crossing method is the same as that of fig. 12 when the serpentine tank encounters the circular obstacle and quadrangular obstacle as shown in fig. 13 to 14.

8. The limit angle of a single tank for transverse driving on a slope is about 30 degrees, which depends on the gravity center position and the width of the tank body of the single tank. If it exceeds 30 degrees, the tank will roll over due to imbalance of the center of gravity. As figure 16, when snake-shaped tank is run on the slope and needs to run transversely, because the body shape of snake-shaped tank is very long, every tank unit 1 is equivalent to a universal joint, has the degree of freedom of two directions, and self has the function that imitates biological snake to move about and can advance in S-shaped, because S-shaped is more than the straight line form and can increase the width, so the ability of preventing turning on one' S side is stronger. First, the first clutch sleeve bayonet lock 48, the second clutch sleeve bayonet lock 49 and the third clutch sleeve bayonet lock 57 on three swing hydraulic cylinders on the snake-shaped tank are pulled out, so that the shafts of the three clutch sleeves and the three swing hydraulic cylinders are in a separated state, namely, each tank unit 1 can freely turn like a universal joint. The snake-shaped tank moves forward on a slope in an S shape under the driving of each tank unit 1, so that rollover on the slope can be prevented better, and the snake-shaped tank can pass through the slope more safely and transversely.

9. Prevent turning on one's side as shown in figure 15, when snakelike tank had met for example when the action that the soft ground need be done the new head hinders more, owing to raised two preceding tank units 1, leaded to the focus of snakelike tank to show and increased, and ground is soft unstability again, leads to snakelike tank to turn on one's side very easily. At this moment, can only take the action of the curved tail of snakelike tank, be exactly that each subaerial tank unit 1 is the bending form subaerial, like the tail of biological snake is crooked the same, increase the support width of subaerial snakelike tank and just can prevent to turn on one's side better.

10. Sidesway self-rescue can be carried out by adopting the sidesway shown in figure 17 to carry out self-rescue and escape when the snake-shaped tank moves forwards and falls into soft ground to be incapable of moving forwards or backing up to escape accidentally. When a snake-shaped tank falls into soft ground and needs self rescue, at the moment, a left swing hydraulic cylinder 42 of a second tank unit 1 and a third tank unit 1 is started first, a right swing hydraulic cylinder 43 lifts the head of the first tank unit 1 or the second tank unit 1 in front, the tank track is lifted to be higher than the hard ground beside, then a vertical swing hydraulic cylinder 53 is started to enable the lifted tank to rotate to the hard ground, when the lifted tank rotates to the hard ground, the head lowering action is carried out again, the first tank unit 1 or the second tank unit 1 is made to land, if the first tank unit 1 or the second tank unit 1 can directly pull the rear tank out of the soft ground, self rescue and escape are completed. If the first tank unit 1 and the second tank unit 1 which have gone up the stereoplasm ground can not be pulled out soft ground with the tank in the back, then still need to use the subaerial tank of stereoplasm as the fulcrum and continue to let snakelike tank do the side and move the action, continue to let third tank unit 1 or fourth tank unit 1 also side move and go up the stereoplasm road surface under the power of each vertical swing pneumatic cylinder, pull out fifth tank unit 1 again. So far, the sidesway of snakelike tank is removed and is saved oneself and get rid of poverty and accomplish.

11. The separation of tank is at last when snakelike tank target is too big in military operation, needs the dispersion to hide the target, and snakelike tank can be separately independently operated for each tank unit fast and fight so. Only after the wedge-shaped clamping pin 31 on the hook opening 3 of the rear butt hook is turned off, the front tank forwards or the rear tank backwards to enable the butt hook to be quickly separated, at the moment, each tank can independently act and fight, the separation working procedure of the snake-shaped tank is finished!

The invention relates to a snake-shaped tank, which is mainly characterized in that a character is collected, so that the fighting capacity of the tank can be exerted to the maximum extent. Utilize and install powerful swing hydraulic pressure mechanism additional and combine each tank unit, make it possess the unique motion characteristics of snake-shaped robot, self possess powerful to single tank incomparable cross-country ability, and when needs dispersion conceal the target, as long as turn off the wedge bayonet lock 31 on the butt hook mouth 3 of back, just can realize the quickly separating between each tank, do not influence the independent operational capability and the performance of every tank again, the changeable flexibility of operational mode.