A traveling motor (19) of a reduction device (16) is mounted on a reduction gear (17) in a state protruding to an inner side in a left-and-right direction from a left side frame (7) and a right side frame (14) toward a center frame (6). Moreover, a motor guard (22) provided on a rear side which is the other side in a front-and-rear direction of each of the side frames (7) and (14), respectively, and covering the traveling motor (19) is constituted by an inner guard member (23) covering the traveling motor (19) and an outer guard member (25) covering the inner guard member (23) from an outer side.

An undercarriage assembly for a tracked vehicle with a prime mover that provides a torque to the tracked vehicle, a final drive sprocket configured to provide a final drive torque on a track, a transmission mechanically coupled to the prime mover and the final drive sprocket to selectively transfer at least some of the torque generated by the prime mover to the final drive sprocket, at least one idler wheel that contacts the track, and an electric motor that provides an idler torque to the at least one idler wheel. Wherein, torque is distributed to the track through both the final drive sprocket and the idler wheel.

An undercarriage assembly for a tracked vehicle with a prime mover that provides a torque to the tracked vehicle, a final drive sprocket configured to provide a final drive torque on a track, a transmission mechanically coupled to the prime mover and the final drive sprocket to selectively transfer at least some of the torque generated by the prime mover to the final drive sprocket, at least one idler wheel that contacts the track, and an electric motor that provides an idler torque to the at least one idler wheel. Wherein, torque is distributed to the track through both the final drive sprocket and the idler wheel.

A track system for a vehicle on a ground, wherein the track system comprises a track and is designed to enhance how its track is tensioned, such as by including a plurality of tensioners that exert opposite forces on the track at its front and rear regions and/or lack hydraulic or pneumatic elements, allowing to reduce its dimensions (e.g., sizes of its components, packaging or envelope) and its weight, while protecting against ratcheting of the track, reducing its energy consumption, costs and/or maintenance requirements, increasing durability of the track, and/or improving other aspects of the track system and/or the vehicle.

A vehicle drivetrain for a vehicle including a transmission configured to move the vehicle with a surface engaging traction member and a final drive assembly configured to drive the surface engaging traction member. The final drive assembly includes a drive assembly coupler. A transmission coupler is operatively connected to the transmission and disposed between the transmission and the drive assembly coupler. The transmission coupler includes a first position engaged with the drive assembly coupler and a second position disengaged from the drive assembly coupler. An actuator is operatively connected to the transmission coupler and is configured to move the transmission coupler between the first position and the second position. The actuator, in one embodiment, includes a worm drive having a worm gear configured to move the transmission coupler along a longitudinal direction of the transmission. The worm gear rotates about an axis inclined with the longitudinal direction.

A reconfigurable joint track compound mobile robot has a main vehicle body, yaw joints and an auxiliary track module. The main vehicle body has a main track, and a clutch brake and a first wheel joint arranged in a main track driving wheel. A second wheel joint is arranged in a main track driven wheel. The main vehicle body is provided with main track driving mechanisms and a wheel joint driving mechanism. The main track driving wheel is driven to rotate by the main track driving mechanisms, which are connected with the clutch brake. The second wheel joint is driven to rotate by the wheel joint driving mechanism. Each wheel joint is correspondingly connected with the yaw joints, which are rotatably connected with the auxiliary track module. A yaw driving mechanism that drives the auxiliary track module to swing is arranged in each yaw joint.

A reconfigurable joint track compound mobile robot has a main vehicle body, yaw joints and an auxiliary track module. The main vehicle body has a main track, and a clutch brake and a first wheel joint arranged in a main track driving wheel. A second wheel joint is arranged in a main track driven wheel. The main vehicle body is provided with main track driving mechanisms and a wheel joint driving mechanism. The main track driving wheel is driven to rotate by the main track driving mechanisms, which are connected with the clutch brake. The second wheel joint is driven to rotate by the wheel joint driving mechanism. Each wheel joint is correspondingly connected with the yaw joints, which are rotatably connected with the auxiliary track module. A yaw driving mechanism that drives the auxiliary track module to swing is arranged in each yaw joint.

A resistance to wear, edge-cutting or other deterioration of a track for a vehicle and/or other aspects of the track may be enhanced, including by enhancing internal reinforcements (e.g., cores) of the track, such as by providing certain flexibility characteristics to these internal reinforcements of the track, and/or by monitoring the track and controlling the vehicle, notifying a user, etc.

A resistance to wear, edge-cutting or other deterioration of a track for a vehicle and/or other aspects of the track may be enhanced, including by enhancing internal reinforcements (e.g., cores) of the track, such as by providing certain flexibility characteristics to these internal reinforcements of the track, and/or by monitoring the track and controlling the vehicle, notifying a user, etc.

A track assembly is to be mounted on a drive axle of a vehicle. The track assembly has a frame, at least one leading idler wheel mounted to the front of the frame for rotation about a transverse leading idler wheel axis, at least one trailing idler wheel mounted to the rear of the frame for rotation about a traverse trailing idler wheel axis parallel to the leading idler wheel axis, a single drive wheel assembly, and at least two slide rails. The slide rails have corresponding forward-facing portions, central portions, and rearward-facing portions. The forward-facing portions project from the front ends of the central portions by a projection that is greater than a length of the central portions. A vehicle having the track assembly is also described.