Adaptive metamorphic crawler belt driving mechanism

The invention discloses an adaptive metamorphic crawler belt driving mechanism comprising crawler belts sleeved on driving wheels and tensioning wheels; the tensioning wheel is connected with a telescoping adjusting mechanism; an adaptive mechanism is arranged between the driving wheels and the tensioning wheels, and comprises springs; one ends of the springs are connected with a vehicle frame, and the other ends are connected with an upper support plate coupling with the vehicle frame through a rotary shaft; the upper support plate is connected with a lower support plate through a steering engine; the lower support plate is connected with bearing wheels; the bearing wheels and track shoes are can attached on the ship wall surface so as to provide permanent magnet adsorption effect; the adaptive metamorphic crawler belt driving mechanism can be applied to various wall surfaces on the ship. 本发明公开种自适应变胞履带行驶机构，包括履带，履带套设在驱动轮和张紧轮上；所述张紧轮连接有伸缩调节机构；驱动轮和张紧轮之间安装有自适机构；所述自适机构包括弹簧，弹簧端连接车架，另端连接上支撑板，支撑板通过转轴与车架轴接；支撑板通过舵机连接有下