Tertiary elastic element serially connected variable-rigidity elastic hanging device

The invention discloses a tertiary elastic element serially connected variable-rigidity elastic hanging device, which mainly consists of a belt pulley supporting assembly, an upper guide column, a guide sleeve, an upper supporting plate, a belt pulley fixing plate, a flange, a lower guide column, a hanging hydraulic cylinder, a lower supporting plate and a belt pulley pressing assembly. An arrangement structure including an upper layer, a middle layer and a lower layer is adopted, the belt pulley supporting assembly is mounted on the upper layer, the hanging hydraulic cylinder and a belt pulley supporting hydraulic cylinder are mounted on the middle layer, and the belt pulley pressing assembly is mounted on the lower layer; main supporting components include the upper supporting plate and the lower supporting plate which are connected via the guide sleeve in a welded manner, and the lower guide column and the guide sleeve are fixedly mounted on two sides of the upper supporting plate to form a guiding mechanism; and the hanging device is divided into 22 groups of independent variable-rigidity elastic units. The hanging device has the advantages of good passing ability of pipelines and high adaptability to sudden change of tube diameters, and is applied to a crawler-type transmission walking system.