CN101716955B

Movatterモバイル変換

Info

Publication number: CN101716955B
Application number: CN2009102440132A
Authority: CN
Inventors: 王新明; 孙家军; 陈俊斌
Original assignee: Sany Electric Co Ltd
Current assignee: Sany Electric Co Ltd
Priority date: 2009-12-24
Filing date: 2009-12-24
Publication date: 2011-11-02
Anticipated expiration: 2029-12-24
Also published as: CN101716955A

Abstract

本发明公开了一种履带式转向装置及具有该转向装置的履带式车辆。该转向装置包括：至少四个履带行走装置，对称地布置在所述车辆的两侧并且每排包括两个履带行走装置，其中，每个履带行走装置均具有固定支座，所述固定支座包括沿其车辆的行走方向设置的第一固定支座和第二固定支座；以及转向机构，对应于同排的各个履带行走装置而设置。本发明提供的转向装置通过操控可伸缩的转向机构来改变车辆各履带行走装置的相对转角，并因此实现车辆的转向。

The invention discloses a crawler steering device and a crawler vehicle with the steering device. The steering device comprises: at least four crawler running devices, symmetrically arranged on both sides of the vehicle and each row includes two crawler running devices, wherein each crawler running device has a fixed support, and the fixed support It includes a first fixed support and a second fixed support arranged along the running direction of the vehicle; and a steering mechanism, which is arranged corresponding to each crawler running device in the same row. The steering device provided by the invention changes the relative rotation angles of each crawler running device of the vehicle by manipulating the telescopic steering mechanism, thereby realizing the steering of the vehicle.

Description

Translated fromChinese

履带式车辆的转向装置及具有该转向装置的履带式车辆Steering device for tracked vehicle and tracked vehicle with same

技术领域technical field

本发明涉及工程机械多履带转向装置，特别是涉及一种适合在沿海滩涂作业设备的履带转向装置。The invention relates to a multi-crawler steering device for construction machinery, in particular to a crawler steering device suitable for operating equipment on coastal beaches.

背景技术Background technique

随着国际能源形势的日益严峻，目前，国内外对沿海风能的开发如火如荼，但沿海滩涂存在地质承载力低、土壤易液化的特点，要求施工设备接地比压小。而进行沿海滩涂区域风电场建设时，物料和风电施工设备重量重(以1.5MW风机为例，单台基础施工物料近千吨、风机单台零部件最大运输量近百吨)，为保证施工效率，施工设备较大，履带行走装置一般为多履带形式，传统的差速转向在滩涂路面上转向阻力大，转向不灵活，为提高沿海滩涂区域风电施工物料运输效率，迫切需要研制一种新型的车辆转向装置，以解决沿海滩涂风电施工多履带设备的转向难题。With the increasingly severe international energy situation, the development of coastal wind energy is in full swing at home and abroad. However, coastal tidal flats have the characteristics of low geological bearing capacity and easy liquefaction of soil, requiring construction equipment to be grounded with low specific pressure. When constructing wind farms in coastal tidal flat areas, the materials and wind power construction equipment are heavy (taking a 1.5MW wind turbine as an example, the foundation construction materials for a single unit are nearly 1,000 tons, and the maximum transportation volume for a single wind turbine is nearly 100 tons). efficiency, construction equipment is relatively large, and the crawler traveling device is generally in the form of multiple crawlers. The traditional differential steering has large steering resistance on tidal flat roads, and the steering is not flexible. In order to improve the efficiency of wind power construction material transportation in coastal tidal flat areas, it is urgent to develop a new type The vehicle steering device is designed to solve the steering problem of multi-track equipment for coastal wind power construction.

发明内容Contents of the invention

有鉴于此，本发明提供一种多履带转向装置，可使多履带车辆转向灵活，从而满足沿海滩涂区域大型设备的作业需求。In view of this, the present invention provides a multi-crawler steering device, which can make the multi-crawler vehicle steer flexibly, thereby meeting the operation requirements of large-scale equipment in coastal tidal flat areas.

根据本发明的一个方面，提供了一种用于履带式车辆的转向装置，其包括：至少四个履带行走装置，对称地布置在所述车辆的两侧并且每排包括两个履带行走装置，其中，每个履带行走装置均具有固定支座，所述固定支座包括沿其车辆的行走方向设置的第一固定支座和第二固定支座；以及转向机构，对应于同排的各个履带行走装置而设置。其中，每个转向机构均包括：第一伸缩件，可转动地连接在相应的两个履带行走装置的第一固定支座之间；第二伸缩件，可转动地连接在所述两个履带行走装置的第二固定支座之间；第三伸缩件，可转动地连接在所述两个履带行走装置之一的第一固定支座与所述两个履带行走装置中另一个的第二固定支座之间；以及第四伸缩件，可转动地连接在所述两个履带行走装置之一的第二固定支座与所述两个履带行走装置中另一个的第一固定支座之间，从而使得所述第三伸缩件与所述第四伸缩件在空间上呈交错关系。According to one aspect of the present invention, there is provided a steering arrangement for a tracked vehicle comprising: at least four crawlers arranged symmetrically on both sides of the vehicle and each row comprising two crawlers, Wherein, each crawler running device has a fixed support, and the fixed support includes a first fixed support and a second fixed support arranged along the traveling direction of the vehicle; and a steering mechanism, corresponding to each crawler belt in the same row set for walking gear. Wherein, each steering mechanism includes: a first telescopic element, which is rotatably connected between the first fixed supports of the corresponding two crawler running devices; a second telescopic element, which is rotatably connected between the two crawler belts. between the second fixed supports of the running device; the third telescopic member is rotatably connected between the first fixed support of one of the two crawler running devices and the second fixed support of the other of the two crawler running devices Between the fixed supports; and the fourth telescopic member, rotatably connected between the second fixed support of one of the two crawler running devices and the first fixed support of the other of the two crawler running devices space, so that the third telescopic member and the fourth telescopic member are in a staggered relationship in space.

优选地，所述履带行走装置的总数为四个，并且对称地布置在所述车辆的两侧。Preferably, the total number of the crawler running devices is four, and they are arranged symmetrically on both sides of the vehicle.

优选地，每个履带行走装置均包括并排设置的两条履带，所述固定支座设置在所述两条履带之间。Preferably, each crawler running device includes two crawlers arranged side by side, and the fixed support is arranged between the two crawlers.

优选地，所述第一伸缩件、第二伸缩件、第三伸缩件和第四伸缩件中的每一个均通过关节轴承连接于相应的固定支座。Preferably, each of the first telescopic element, the second telescopic element, the third telescopic element and the fourth telescopic element is connected to a corresponding fixed support through joint bearings.

优选地，所述第一伸缩件、第二伸缩件、第三伸缩件和第四伸缩件均包括液压油缸。Preferably, the first telescopic member, the second telescopic member, the third telescopic member and the fourth telescopic member all include hydraulic cylinders.

优选地，每个履带行走装置均包括履带以及设置在所述履带内侧的浮箱。且更优选地，每个履带行走装置均包括并排设置的两条履带以及设置在各履带内侧的浮箱，所述浮箱彼此固定连接。Preferably, each crawler running device includes a crawler belt and a pontoon arranged inside the crawler belt. And more preferably, each crawler running device includes two crawlers arranged side by side and a pontoon arranged inside each crawler, and the pontoons are fixedly connected to each other.

优选地，每个履带行走装置均由液压系统驱动。Preferably, each crawler is driven by a hydraulic system.

根据本发明的另一方面提供了一种履带式车辆，其包括具有上述结构的转向装置。According to another aspect of the present invention, a tracked vehicle is provided, which includes the steering device with the above structure.

与现有的履带差速转向技术相比，本发明提供的转向装置通过操控可伸缩的转向机构，控制包括液压油缸的伸缩件的伸长与缩短，从而改变车辆各履带行走装置的相对转角，并因此实现车辆的转向。根据三角形的三边的长短关系确定三边的相互角度可知，车辆的转向可通过调节各伸缩件的相对伸长与缩短以改变履带行走装置之间的相对角度来实现。使用该转向装置使得履带式车辆转向灵活、转向半径小、转场方便，并减小对路面的破坏，满足沿海滩涂风电施工要求。Compared with the existing crawler differential steering technology, the steering device provided by the present invention controls the extension and shortening of the telescopic parts including the hydraulic cylinder by manipulating the telescopic steering mechanism, thereby changing the relative rotation angle of each crawler running device of the vehicle, And thus realize the steering of the vehicle. According to the length relationship of the three sides of the triangle, the mutual angles of the three sides are determined, and the steering of the vehicle can be realized by adjusting the relative extension and shortening of each telescopic member to change the relative angle between the crawler running devices. The use of the steering device enables the tracked vehicle to turn flexibly, has a small turning radius, facilitates transition, reduces damage to the road surface, and meets the requirements of wind power construction in coastal beaches.

附图说明Description of drawings

通过以下结合附图的详细描述，本发明的上述和其它方面、特征和其它优点将得以更好地理解，附图中：The above and other aspects, features and other advantages of the present invention will be better understood through the following detailed description in conjunction with the accompanying drawings, in which:

图1A为根据本发明实施例的履带式车辆的转向装置10的结构示意图；1A is a schematic structural view of a steering device 10 of a tracked vehicle according to an embodiment of the present invention;

图1B为图1A转向装置10的用于连接转向结构6的固定支座的示意图；FIG. 1B is a schematic diagram of a fixed support for connecting thesteering structure 6 of the steering device 10 of FIG. 1A;

图2A为图1A转向装置10在直线行驶中的示意图；FIG. 2A is a schematic diagram of the steering device 10 in FIG. 1A in straight travel;

图2B为图1A转向装置10左转向时的示意图；以及FIG. 2B is a schematic diagram of the steering device 10 in FIG. 1A when turning left; and

图2C为图1A转向装置10右转向时的示意图。FIG. 2C is a schematic diagram of the steering device 10 in FIG. 1A when turning right.

具体实施方式Detailed ways

下面结合附图，进一步详细说明本发明的具体实施方式。然而，本发明可以以很多不同形式实施，不应该被理解为仅限于这里所呈现的实施例。相反，提供了这些实施例，使得本公开全面而完整，并全面地将本发明的范围传达给本领域的技术人员。附图中，相同参考标号表示相同元件。The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to only the embodiments presented herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the same reference numerals denote the same elements.

请参考图1A和图1B，其中，图1A为根据本发明实施例的履带式车辆的转向装置10的结构示意图；且图1B为图1A转向装置10的用于连接转向结构6的固定支座的示意图。根据本发明该实施例的转向装置10包括有多个履带行走装置，具体地，在该实施例中，其包括对称地布置在车辆两侧的四个履带行走装置，位于前排的两个以标号2表示，位于后排的两个以标号2’表示(参见图2A)。本领域技术人员可以理解，根据实际需要，也可设置多于四个的履带行走装置。该转向装置还包括转向机构，其设置在各排履带行走装置中，以使车辆转向。Please refer to FIG. 1A and FIG. 1B, wherein, FIG. 1A is a schematic structural view of a steering device 10 of a tracked vehicle according to an embodiment of the present invention; and FIG. 1B is a fixed support for connecting thesteering structure 6 of the steering device 10 of FIG. 1A schematic diagram. The steering device 10 according to this embodiment of the present invention includes a plurality of crawler running devices, specifically, in this embodiment, it includes four crawler running devices symmetrically arranged on both sides of the vehicle, and two or more crawler running devices in the front row Thereference number 2 indicates that the two located in the back row are indicated by the reference number 2' (see FIG. 2A ). Those skilled in the art can understand that more than four crawler belt traveling devices can also be provided according to actual needs. The steering device also includes a steering mechanism, which is arranged in each row of crawler running devices to steer the vehicle.

具体地，下面以前排的两个履带行走装置2为例进行说明。每个履带行走装置2均具有沿车辆行走方向设置的两个固定支座，即位于前部的第一固定支座31或32和位于后部的第二固定支座33或34。转向机构6对应于该前排的两个履带行走装置2而设置。该转向机构6包括：第一伸缩件61，可转动地连接在第一固定支座31和32之间；第二伸缩件62，可转动地连接在第二固定支座33和34之间；第三伸缩件63，可转动地连接在一个履带行走装置2的第一固定支座31与另一个履带行走装置2的第二固定支座34之间；以及第四伸缩件64，可转动地连接在一个履带行走装置2的第二固定支座33与另一个履带行走装置2的第一固定支座32之间，该第三伸缩件63与第四伸缩件64在空间上呈交错关系。本领域技术人员可以理解，同样地，后排的两个履带行走装置2’包括第一固定支座31’或32’和位于后部的第二固定支座33’或34’。且转向机构6’对应于该后排的两个履带行走装置2’而设置。该转向机构6’包括：第一伸缩件62’，可转动地连接在第一固定支座31’和32’之间；第二伸缩件61’，可转动地连接在第二固定支座33’和34’之间；以及第三伸缩件64’和第四伸缩件63’，彼此交叉且分别可转动地连接在第一固定支座31’和第二固定支座之间34’之间以及第一固定支座32’和第二固定支座33’之间。Specifically, the following two crawlerbelt traveling devices 2 in the front row will be described as an example. Each crawler runningdevice 2 has two fixed supports arranged along the traveling direction of the vehicle, that is, a firstfixed support 31 or 32 at the front and a secondfixed support 33 or 34 at the rear. Thesteering mechanism 6 is provided corresponding to the twofront row crawlers 2 . Thesteering mechanism 6 includes: a firsttelescopic member 61, rotatably connected between the firstfixed supports 31 and 32; a secondtelescopic member 62, rotatably connected between the secondfixed supports 33 and 34; The thirdtelescopic member 63 is rotatably connected between the firstfixed support 31 of onecrawler traveling device 2 and the secondfixed support 34 of anothercrawler traveling device 2; and the fourthtelescopic member 64 is rotatably connected Connected between the secondfixed support 33 of one crawler runningdevice 2 and the firstfixed support 32 of the othercrawler running device 2 , the thirdtelescopic member 63 and the fourthtelescopic member 64 are in a staggered relationship in space. Those skilled in the art can understand that, similarly, the two crawler belt traveling devices 2' of the rear row comprise a first fixed support 31' or 32' and a second fixed support 33' or 34' positioned at the rear. And the steering mechanism 6' is arranged corresponding to the two crawler belt traveling devices 2' of the rear row. The steering mechanism 6' comprises: a first telescopic member 62', rotatably connected between the first fixed supports 31' and 32'; a second telescopic member 61', rotatably connected to the second fixed support 33 ' and 34'; and the third telescopic member 64' and the fourthtelescopic member 63', which intersect with each other and are respectively rotatably connected between the first fixed support 31' and the second fixed support 34' And between the first fixed support 32' and the second fixed support 33'.

如图1A所示，每个履带行走装置2、2’均包括并排设置的两条履带24以及设置在各履带内侧的浮箱22，这两个浮箱22通过两端的连接件28和中间的连接件26彼此固定连接。优选地，两端的连接件28用于设置第一固定支座31、31’、32、32’和第二固定支座33、33’、34、34’，中间的连接件26用于设置基座4，以支撑车辆的车体。As shown in Fig. 1A, each crawlerbelt traveling device 2, 2' all comprises two crawler belts 24 arranged side by side and thebuoyancy tank 22 that is arranged on each crawler belt inner side, and these twobuoyant tanks 22 pass through the connector 28 at both ends and the middle The connection elements 26 are fixedly connected to each other. Preferably, the connecting pieces 28 at both ends are used to set the first fixedsupport 31, 31', 32, 32' and the second fixedsupport 33, 33', 34, 34', and the connecting piece 26 in the middle is used to set thebase Seat 4, to support the car body of vehicle.

在该实施例中，优选地，履带行走装置由液压系统(未示出)驱动，并且转向机构的各伸缩件可方便地包括液压油缸。并且，如图1B所示，以第一固定支座31为例，第一伸缩件61和第三伸缩件63均通过诸如球轴承的关节轴承5与第一固定支座31连接，从而在车辆的行走过程中，允许同排中的两个履带行走装置有相对错动，以适应路面不平。In this embodiment, preferably, the crawler is driven by a hydraulic system (not shown), and each telescoping member of the steering mechanism may conveniently comprise a hydraulic cylinder. And, as shown in FIG. 1B, taking the first fixedsupport 31 as an example, the firsttelescopic member 61 and the thirdtelescopic member 63 are connected to the first fixedsupport 31 throughjoint bearings 5 such as ball bearings, so that the vehicle During the walking process, the two crawler running devices in the same row are allowed to have a relative stagger to adapt to the uneven road surface.

根据三角形的三边长短关系决定了三边的相互角度，本发明的基本构思为，通过操控各伸缩件的伸长与缩短，使得履带行走装置绕着各自的回转中心旋转，从而改变各履带行走装置之间的角度，实现车辆的转向行驶。下面参照图2A-2C来说明根据本发明实施例的转向装置10的操作。图2A为图1A转向装置10在直线行驶中的示意图；图2B为图1A转向装置10左转向时的示意图；以及图2C为图1A转向装置10右转向时的示意图。According to the relationship between the lengths of the three sides of the triangle, the mutual angles of the three sides are determined. The basic idea of the present invention is to control the extension and shortening of each telescopic member, so that the crawler walking devices rotate around their respective centers of rotation, thereby changing the movement of each crawler belt. The angle between the devices realizes the turning of the vehicle. The operation of the steering device 10 according to the embodiment of the present invention will be described below with reference to FIGS. 2A-2C . 2A is a schematic diagram of the steering device 10 in FIG. 1A when driving straight; FIG. 2B is a schematic diagram of the steering device 10 in FIG. 1A when turning left; and FIG. 2C is a schematic diagram of the steering device 10 in FIG. 1A when turning right.

当车辆直线行驶时，如图2A所示，各伸缩件均锁死，每个转向机构的四个伸缩件具有相等的长度，同排中的两个履带行走装置的相对位置保持不变。When the vehicle is running straight, as shown in Figure 2A, each telescopic element is locked, and the four telescopic elements of each steering gear have equal lengths, and the relative positions of the two crawler running devices in the same row remain unchanged.

当车辆转向时，由于每个履带行走装置的回转中心(基座4)是固定在车体上的，其相对位置关系不会改变。因而，为使车辆顺利转向，原则上要求内外侧的履带行走装置相对整个车辆的瞬时转向中心O重合，由此导致车辆在转向时，其内外侧履带行走装置绕各自回转中心(基座4)的偏转角度不同，内侧履带行走装置的偏转角度α要大于外侧的偏转角度β。因此，车辆向左转向时，如图2B所示，通过液压油缸驱动，前排转向机构6的第二伸缩件62和第四伸缩件64以及后排转向机构6’的第一伸缩件62’和第三伸缩件64’同时缩短。其中，在例如由第二伸缩件62和第四伸缩件64以及右侧履带行走装置的两个固定支座32和34之间的距离构成的三角形中，第二伸缩件62和第四伸缩件64之间的夹角因其长短而改变；同理，第一伸缩件62’和第三伸缩件64’之间的夹角也因其长短而改变。因此，各履带行走装置受力绕其回转中心发生偏转且其余伸缩件61、63、61’、63’随动。类似地，当车辆向右转向时，如图2C所示，通过液压油缸驱动，前排转向机构6的第二伸缩件62和第三伸缩件63以及后排转向机构6’的第一伸缩件62’和第四伸缩件63’同时缩短，各履带行走装置受力绕其回转中心发生偏转且其余伸缩件61、64、61’、64’随动。When the vehicle turns, since the center of revolution (base 4) of each crawler traveling device is fixed on the vehicle body, its relative positional relationship will not change. Therefore, in order to make the vehicle turn smoothly, in principle, the inner and outer crawler running devices are required to coincide with the instantaneous steering center O of the entire vehicle, thus causing the inner and outer crawler running devices to rotate around their respective centers of rotation (base 4) when the vehicle is turning. The deflection angles are different, and the deflection angle α of the inner crawler traveling device is larger than the deflection angle β of the outer side. Therefore, when the vehicle turns left, as shown in FIG. 2B, the secondtelescopic member 62 and the fourthtelescopic member 64 of thefront steering mechanism 6 and the first telescopic member 62' of the rear steering mechanism 6' are driven by the hydraulic cylinder. and shorten at the same time as the third telescopic member 64'. Wherein, in the triangle formed by, for example, the distance between the secondtelescopic member 62 and the fourthtelescopic member 64 and the two fixedsupports 32 and 34 of the right crawler traveling device, the secondtelescopic member 62 and the fourth telescopic member The included angle between 64 changes due to its length; similarly, the included angle between the first telescopic member 62' and the third telescopic member 64' also changes due to its length. Therefore, each crawler belt traveling device is stressed and deflects around its center of rotation and the rest of theexpansion parts 61, 63, 61 ', 63 ' follow up. Similarly, when the vehicle turns to the right, as shown in FIG. 2C, the secondtelescopic member 62 and the thirdtelescopic member 63 of thefront steering mechanism 6 and the firsttelescopic member 6 of the rear steering mechanism 6' are driven by the hydraulic cylinder. 62' and the fourthtelescopic part 63' are shortened at the same time, each crawler travel device is deflected around its center of rotation under force and the othertelescopic parts 61, 64, 61', 64' follow suit.

当车辆在转向到位后恢复直线行驶时，各伸缩件恢复至图2A所示状态。即，当左转向后恢复直线行驶时，伸缩件61、63、61’、63’同时缩短，其余伸缩件62、64、62’、64’随动；当右转向后恢复直线行驶时，伸缩件61、64、61’、64’缩短，而其余伸缩件62、63、62’、63’随动。When the vehicle resumes straight running after turning in place, each telescopic element returns to the state shown in FIG. 2A . That is, when returning to straight running after turning left, thetelescopic parts 61, 63, 61', 63' shorten simultaneously, and the remainingtelescopic parts 62, 64, 62', 64' follow up; Theparts 61, 64, 61', 64' shorten, while the remainingtelescopic parts 62, 63, 62', 63' follow.

虽然已经结合目前被认为是实用示例性实施例对本发明进行了描述，然而，本领域的技术人员可以理解，本发明不限于所公开的示例性实施例。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。While the present invention has been described in connection with what are presently considered to be practical exemplary embodiments, it will be appreciated by those skilled in the art that the invention is not limited to the disclosed exemplary embodiments. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

Translated fromChinese

1.一种用于履带式车辆的转向装置(10)，其特征在于，包括：1. A steering device (10) for a tracked vehicle, characterized in that it comprises:

至少四个履带行走装置(2；2’)，对称地布置在所述车辆的两侧并且每排均包括一个第一履带行走装置和一个第二履带行走装置，其中，所述至少四个履带行走装置(2；2’)中的每一个均具有固定支座，所述固定支座包括沿所述车辆的行走方向排列的第一固定支座(31，32，31’，32’)和第二固定支座(33，34，33’，34’)；以及At least four crawlers (2; 2') are symmetrically arranged on both sides of the vehicle and each row includes a first crawler and a second crawler, wherein the at least four crawlers Each of the running gear (2; 2') has a fixed support comprising first fixed supports (31, 32, 31', 32') arranged along the traveling direction of the vehicle and second fixed support (33, 34, 33', 34'); and

转向机构(6；6’)，对应于同一排的第一履带行走装置和第二履带行走装置而设置，其中，每个转向机构(6；6’)均包括：The steering mechanism (6; 6') is arranged corresponding to the first crawler running device and the second crawler running device in the same row, wherein each steering mechanism (6; 6') includes:

第一伸缩件(61；62’)，可转动地连接在相应的第一履带行走装置的第一固定支座(31，32)与第二履带行走装置的第一固定支座(31’，32’)之间；The first telescopic member (61; 62') is rotatably connected to the first fixed support (31, 32) of the corresponding first crawler traveling device and the first fixed support (31' of the second crawler traveling device, 32');

第二伸缩件(62；61’)，可转动地连接在相应的第一履带行走装置的第二固定支座(33，34)与第二履带行走装置的第二固定支座(33’34’)之间；The second telescopic member (62; 61') is rotatably connected to the second fixed support (33, 34) of the corresponding first crawler traveling device and the second fixed support (33'34) of the second crawler traveling device ')between;

第三伸缩件(63；64’)，可转动地连接在相应的第一履带行走装置的第一固定支座(31；31’)与第二履带行走装置的第二固定支座(34；34’)之间；以及The third telescopic member (63; 64') is rotatably connected to the first fixed support (31; 31') of the corresponding first crawler running device and the second fixed support (34; 34'); and

第四伸缩件(64；63’)，可转动地连接在相应的第一履带行走装置的第二固定支座(33；33’)与第二履带行走装置的第一固定支座(32，32’)之间，从而使得所述第三伸缩件(63；64’)与所述第四伸缩件(64；63’)交错。The fourth telescopic member (64; 63') is rotatably connected to the second fixed support (33; 33') of the corresponding first crawler traveling device and the first fixed support (32, 33') of the second crawler traveling device 32'), so that the third telescopic element (63; 64') is staggered with the fourth telescopic element (64; 63').

2.根据权利要求1所述的转向装置(10)，其特征在于，所述至少四个履带行走装置(2；2’)的总数为四个，并且对称地布置在所述车辆的两侧。2. The steering device (10) according to claim 1, characterized in that, the total number of the at least four crawler running devices (2; 2') is four, and they are arranged symmetrically on both sides of the vehicle .

3.根据权利要求1或2所述的转向装置(10)，其特征在于，每个履带行走装置(2；2’)均包括并排设置的两条履带(24)，且每个履带行走装置的第一固定支座和第二固定支座均设置在所述两条履带之间。3. The steering device (10) according to claim 1 or 2, characterized in that each crawler running device (2; 2') comprises two crawlers (24) arranged side by side, and each crawler running device The first fixed support and the second fixed support are both arranged between the two crawler belts.

4.根据权利要求1所述的转向装置(10)，其特征在于，所述第一伸缩件(61；62’)、第二伸缩件(62；61’)、第三伸缩件(63；64’)和第四伸缩件(64；63’)中的每一个均通过关节轴承(5)连接于相应的固定支座。4. The steering device (10) according to claim 1, characterized in that, the first telescopic element (61; 62'), the second telescopic element (62; 61'), and the third telescopic element (63; 64') and the fourth telescopic member (64; 63') are each connected to a corresponding fixed support through joint bearings (5).

5.根据权利要求1所述的转向装置(10)，其特征在于，所述第一伸缩件(61；62’)、第二伸缩件(62；61’)、第三伸缩件(63；64’)和第四伸缩件(64；63’)均包括液压油缸。5. The steering device (10) according to claim 1, characterized in that, the first telescopic element (61; 62'), the second telescopic element (62; 61'), and the third telescopic element (63; 64') and the fourth telescopic member (64; 63') both comprise hydraulic cylinders.

6.根据权利要求1所述的转向装置(10)，其特征在于，每个履带行走装置均包括履带以及设置在所述履带内侧的浮箱。6. The steering device (10) according to claim 1, characterized in that, each crawler running device comprises a crawler belt and a pontoon arranged inside the crawler belt.

7.根据权利要求3所述的转向装置(10)，其特征在于，每个履带行走装置均包括并排设置的两条履带(24)以及设置在各履带内侧的浮箱(22)，所述浮箱(22)彼此固定连接。7. The steering device (10) according to claim 3, characterized in that, each crawler belt traveling device comprises two crawler belts (24) arranged side by side and a pontoon (22) arranged inside each crawler belt, said The pontoons (22) are fixedly connected to each other.

8.根据权利要求1或5所述的转向装置(10)，其特征在于，每个履带行走装置均由液压系统驱动。8. The steering device (10) according to claim 1 or 5, characterized in that each crawler is driven by a hydraulic system.

9.一种履带式车辆，其特征在于，包括根据权利要求1-8中任意一项所述的转向装置(10)。9. A tracked vehicle, characterized in that it comprises a steering device (10) according to any one of claims 1-8.