Tracked chassis device, tracked vehicle, and adjustment method and system, and readable storage medium

Abstract

The present disclosure relates to a tracked chassis device, a tracked vehicle, and an adjustment method and system, and a readable storage medium, which relate to the field of construction machinery, and are used for enabling the tracked chassis device to travel normally when two tracked traveling devices are located on different working surfaces or on a working surface having a relatively steep slope. The tracked chassis device comprises a chassis mounting frame, at least two tracked traveling devices and at least one orientation adjusting device. The chassis mounting frame is fixedly connected to a chassis upper structure. The chassis mounting frame is located between the two tracked traveling devices. Each tracked traveling device is constructed to be capable of traveling. The orientation adjusting device is arranged between at least one tracked traveling device and the chassis mounting frame. The orientation adjusting device is constructed to adjust the orientation of each tracked traveling device relative to the chassis mounting frame. By means of the orientation adjusting device, whether the tracked chassis device travels on different working surfaces or on a working surface having a relatively steep slope, the two tracked traveling devices can come into contact with the ground, thereby improving the traveling capability of the tracked chassis device under various road conditions.

Description

Tracked chassis device, tracked vehicle, adjustment method, system and readable storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The present disclosure is based on and claims priority to an application with CN application number 202411215445.1 and filing date August 30, 2024. The disclosure of the CN application is hereby incorporated into the present disclosure as a whole. Technical Field

[0003] The present disclosure relates to the field of engineering machinery, and in particular to a crawler chassis device, a crawler vehicle, an adjustment method, a system, and a readable storage medium. Background Art

[0004] Crawler-type engineering machinery and equipment are used in a wide range of occasions. The chassis walking devices on both sides of most crawler-type engineering machinery and equipment are on the same flat working surface or a working surface with a small angle.

[0005] The inventors have found that there are at least the following problems in the prior art: when the chassis running devices on both sides are not on the same working surface, or when the working surface has a large slope, there is currently no good solution to enable the chassis running devices on both sides to travel normally. Summary of the Invention

[0006] The present disclosure provides a crawler chassis device, a crawler vehicle, an adjustment method, a system and a readable storage medium, so as to enable the crawler chassis device to move normally when two crawler walking devices are located on different working surfaces or on a working surface with a large slope.

[0007] Some embodiments of the present disclosure provide a crawler chassis device, comprising:

[0008] a chassis mounting frame configured to be fixedly connected to the chassis;

[0009] at least two crawler running devices, the chassis mounting frame being located between the two crawler running devices; each crawler running device being configured to be capable of traveling; and

[0010] At least one posture adjustment device is provided between at least one of the crawler running device and the chassis mounting frame, and the posture adjustment device is configured to adjust the posture of the crawler running device relative to the chassis mounting frame.

[0011] In some embodiments, the posture adjustment device includes:

[0012] a position adjustment assembly disposed between the chassis mounting frame and the posture adjustment device, the position adjustment assembly being configured to change a horizontal distance and a vertical height of the posture adjustment device relative to the chassis mounting frame; and

[0013] The turning angle adjustment assembly is arranged between the chassis mounting frame and the posture adjustment device, and the turning angle adjustment assembly is configured to adjust the turning angle of the crawler walking device relative to the chassis mounting frame.

[0014] In some embodiments, the angle adjustment assembly, the position adjustment assembly, the chassis mounting frame, and the crawler walking device are configured to switch between the following states: forming a parallelogram structure and forming a non-parallelogram structure.

[0015] In some embodiments, the position adjustment assembly includes:

[0016] a first oil cylinder, one end of which is rotatably connected to the chassis mounting frame, and the other end of which is rotatably connected to the crawler walking device; and

[0017] A first connecting rod is arranged at an interval from the first oil cylinder; one end of the first connecting rod is rotatably connected to the chassis mounting frame, and the other end of the first connecting rod is rotatably connected to the crawler walking device.

[0018] In some embodiments, the hinge point between the first cylinder and the chassis mounting frame is a first hinge point, the hinge point between the first connecting rod and the chassis mounting frame is a second hinge point, and the first hinge point and the second hinge point are located at different positions along the circumference of the chassis mounting frame.

[0019] In some embodiments, the other end of the first connecting rod is rotatably connected to the crawler walking device through a first pin; the angle adjustment assembly includes:

[0020] a second oil cylinder, one end of which is rotatably connected to the chassis mounting frame, and the other end of which is rotatably connected to the crawler walking device via a second pin shaft; the first pin shaft is parallel to the second pin shaft;

[0021] The posture adjustment device also includes: a first connecting plate and a second connecting plate arranged in parallel; the first connecting plate and the second connecting plate are both fixedly connected to the crawler walking device; one end of the first connecting plate is rotatably connected to the first pin shaft, and the other end of the first connecting plate is rotatably connected to the second pin shaft; one end of the second connecting plate is rotatably connected to the first pin shaft, and the other end of the second connecting plate is rotatably connected to the second pin shaft.

[0022] In some embodiments, the number of the first connecting rods is two, the number of the second oil cylinders is also two, and the first connecting rods and the second oil cylinders correspond one to one; the first oil cylinder is located between the two first connecting rods.

[0023] In some embodiments, a third pin is installed at the other end of the first oil cylinder, and the rotation axis of the third pin coincides with the rotation axis of the first pin.

[0024] In some embodiments, the number of the posture adjustment devices is two, and the crawler walking devices are divided into two groups, with one posture adjustment device being installed between each group of the crawler walking devices and the chassis mounting frame.

[0025] In some embodiments, the crawler walking device includes:

[0026] a crawler frame, wherein the posture adjustment device is mounted on the crawler frame;

[0027] A crawler track, mounted on the crawler frame;

[0028] A track roller assembly, pressing down the track;

[0029] a swing frame, one end of which is rotatably connected to the track frame, and the other end of which is equipped with the supporting wheel assembly, wherein the swing frame rotates relative to the track frame to drive the supporting wheel assembly to press the crawler; and

[0030] A telescopic device has one end rotatably mounted on the crawler frame and the other end rotatably connected to the middle portion of the swing frame; the telescopic device is constructed to allow the swing frame to rotate around the rotatable connection between itself and the crawler frame through telescoping.

[0031] In some embodiments, the supporting wheel assembly includes:

[0032] a first mounting frame disposed adjacent to the crawler track;

[0033] a first roller rotatably mounted on the first mounting frame;

[0034] a second mounting frame, spaced apart from the first mounting frame;

[0035] a second roller, spaced apart from the first roller; the second roller being rotatably mounted on the second mounting frame; and

[0036] The universal hinge mechanism is arranged between the first mounting frame and the second mounting frame. The first mounting frame is rotatably connected to one end of the universal hinge mechanism, and the second mounting frame is rotatably connected to the other end of the universal hinge mechanism. The middle part of the universal hinge mechanism is rotatably connected to the other end of the swing frame.

[0037] In some embodiments, the middle portion of the universal joint mechanism and the rotatable shaft at the other end of the swing frame are perpendicular to the traveling direction of the crawler walking device.

[0038] Some embodiments of the present disclosure provide a tracked vehicle, comprising a tracked chassis device provided by any technical solution of the present disclosure.

[0039] In some embodiments, the tracked vehicle is a gutter cleaning device.

[0040] In some embodiments, the two crawler running devices of the crawler vehicle are located at different heights.

[0041] In some embodiments, the treads of the two crawler walking devices intersect, and the angle between the two is greater than 0° and less than 90°.

[0042] Some embodiments of the present disclosure further provide a method for adjusting the posture of a crawler chassis device, comprising the following steps:

[0043] Obtaining the travel speed of the tracked vehicle provided by any technical solution of the present disclosure;

[0044] Detect the tilt angle and tilt direction of the chassis of tracked vehicles;

[0045] Determining whether the tilt angle is greater than a first setting value;

[0046] If the tilt angle is greater than the first set value, the tracked vehicle is stopped, and the position adjustment component of the posture adjustment device corresponding to the tracked walking device on the tilted side is adjusted according to the tilt direction.

[0047] In some embodiments, after stopping the tracked vehicle, the method for adjusting the tracked chassis apparatus posture further comprises the following steps:

[0048] If the road surface is a hard road surface, the turning angle adjustment assembly of the crawler chassis device is activated until the crawler chassis device contacts the road surface.

[0049] In some embodiments, the method for adjusting the attitude of the crawler chassis device further includes the following steps:

[0050] If the tilt angle is less than or equal to the first setting value, determining whether the tilt angle is greater than a second setting value;

[0051] If the tilt angle is greater than the second set value, reducing the travel speed of the tracked vehicle;

[0052] If the road surface is a hard road surface, the turning angle adjustment component of the crawler chassis device is started until the crawler chassis device contacts the road surface; if the road surface is a soft road surface, the crawler chassis device performs adaptive adjustment.

[0053] In some embodiments, if the tilt angle is less than or equal to the second set value, the travel speed of the tracked vehicle remains unchanged;

[0054] If the road surface is a hard road surface, the turning angle adjustment component of the crawler chassis device is started until the crawler chassis device contacts the road surface; if the road surface is a soft road surface, the crawler chassis device performs adaptive adjustment.

[0055] Some embodiments of the present disclosure further provide a crawler chassis device posture adjustment system, comprising:

[0056] Memory; and

[0057] A processor coupled to the memory is configured to execute a method for adjusting the posture of a crawler chassis device as provided by any technical solution of the present disclosure based on instructions stored in the memory.

[0058] Some embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for adjusting the posture of a crawler chassis device as provided in any technical solution of the present disclosure.

[0059] The crawler chassis assembly provided by the above technical solution includes a chassis mounting frame, two crawler running devices, and at least one attitude adjustment device. The attitude adjustment device can adjust the attitude of the crawler running devices relative to the chassis mounting frame, where the attitude includes horizontal distance, vertical distance, and rotation angle. The attitude adjustment device ensures that the two crawler running devices can maintain contact with the road surface regardless of whether the crawler chassis assembly is traveling on different working surfaces or on a working surface with a large slope, thereby realizing the crawler chassis assembly's ability to travel under various road conditions and improving the crawler chassis assembly's load-bearing capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] FIG1 is a schematic diagram showing the connection relationship between a crawler chassis device and a chassis superstructure provided in some embodiments of the present disclosure.

[0061] FIG2 is a partial enlarged schematic diagram of FIG1 .

[0062] FIG3 is a schematic diagram of the three-dimensional structure of a crawler chassis device provided in some embodiments of the present disclosure.

[0063] FIG4 is a schematic front view of a crawler chassis device provided in some embodiments of the present disclosure.

[0064] FIG5 is a partial enlarged schematic diagram of FIG4 .

[0065] FIG6 is a schematic diagram of the three-dimensional structure of the track wheel assembly of the crawler chassis device provided in some embodiments of the present disclosure.

[0066] FIG7 is a schematic diagram of the tilt angle position of the crawler chassis device provided in some embodiments of the present disclosure.

[0067] FIG8 is a schematic diagram of a method for adjusting the posture of a crawler chassis device provided in some embodiments of the present disclosure.

[0068] Figure markings: 1. Chassis mounting frame; 2. Crawler walking device; 3. Posture adjustment device; 4. Chassis upper part; 11. Square tube; 12. Mounting plate; 121. Mounting hole; 21. Track frame; 22. Crawler; 23. Supporting wheel assembly; 24. Swing frame; 25. Telescopic device; 26. Tensioning mechanism; 27. Driving mechanism; 261. Tensioning wheel; 262. Clamping device; 231. First mounting frame; 232. First supporting roller; 233. Second mounting frame; 234. Second supporting roller; 235. Universal joint mechanism; 31. Position adjustment assembly; 32. Angle adjustment assembly; 33. First connecting plate; 34. Second connecting plate; 311. First oil cylinder; 312. First connecting rod; 313. First pin; 314. Second pin; 315. Third pin; 321. Second oil cylinder. DETAILED DESCRIPTION

[0069] The technical solutions provided by the present disclosure are described in more detail below with reference to Figures 1 to 8. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, composition of materials, numerical expressions and numerical values ​​described in these embodiments should be interpreted as merely exemplary and not as limiting.

[0070] The terms "first," "second," and similar terms used in this disclosure do not denote any order, quantity, or importance, but are simply used to distinguish different parts. The terms "include," "comprise," and similar terms mean that the elements preceding the term include the elements listed after the term, and do not exclude the possibility of also including other elements.

[0071] In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only to facilitate the description of the present disclosure and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the protection of the present disclosure. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0072] In the present disclosure, when a specific device is described as being located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may be not directly connected to the other device but with an intervening device.

[0073] All terms used in this disclosure, including technical or scientific terms, have the same meaning as understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined herein.

[0074] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment are considered part of the specification.

[0075] The dimensions of the various parts shown in the drawings are not drawn in accordance with actual proportions. In the drawings, common structural elements or structural elements of the same type are given the same reference numerals, and their repeated descriptions are appropriately omitted.

[0076] Referring to Figures 1 to 3, some embodiments of the present disclosure provide a crawler chassis assembly suitable for applications involving large inclination angles and for highway gutter cleaning. The crawler chassis assembly includes a chassis mounting frame 1, at least two crawler running devices 2, and at least one posture adjustment device 3. The chassis mounting frame 1 is configured to be fixedly connected to a chassis superstructure 4. The chassis mounting frame 1 is positioned between the two crawler running devices 2. The chassis mounting frame 1 is supported and carried by the two crawler running devices 2, allowing the chassis mounting frame 1 to move along with the two crawler running devices 2. Each crawler running device 2 is configured to be movable, either independently or passively. The posture adjustment device 3 is disposed between the chassis mounting frame 1 and the crawler running devices 2 and is configured to adjust the posture of the crawler running devices 2 connected thereto relative to the chassis mounting frame 1. The posture adjustment device 3 adjusts the posture of the crawler running device or devices 2 to which it is connected relative to the chassis mounting frame 1.

[0077] The crawler chassis device is specifically, for example, a double-track chassis device, a quad-track chassis device, etc. For a double-track chassis device, there is a crawler running device 2 on each side of the crawler chassis device in the width direction. For a quad-track chassis device, there are two crawler running devices 2 on each side of the crawler chassis device in the width direction.

[0078] The attitude adjustment device 3 can adjust the attitude of the crawler chassis device in both the walking state and the stationary state, so as to improve the safety and efficiency of the walking operation of the crawler chassis device.

[0079] The chassis mounting frame 1 is used to connect the chassis superstructure and two crawler running devices 2. The chassis mounting frame 1 is fixedly connected to the chassis superstructure, such as by welding, bolting, or other detachable or non-detachable fixing methods. The crawler running devices 2 are connected to the chassis mounting frame 1. The posture of the crawler running devices 2 relative to the chassis mounting frame 1 is configured to be adjustable. Specifically, in some embodiments, one of the crawler running devices 2 is configured to be posture-adjustable, while in other embodiments, both crawler running devices 2 are configured to be posture-adjustable.

[0080] In some occasions, such as when cleaning the ditch beside a highway, the width of the ditch is very narrow and cannot accommodate two crawler walking devices 2. In this case, one crawler walking device 2 is placed on the roadbed of the highway, and the other crawler walking device 2 is placed in the ditch. In this case, the heights of the two crawler walking devices 2 are different, but the treads of the two crawler walking devices 2 are parallel to each other. The tread of the crawler walking device 2 refers to the surface where the crawler walking device 2 contacts the road surface, and is also the maximum extension surface of the crawler 22. The crawler walking device 2 contacts the road surface, which prevents the crawler walking devices 2 on both sides from being twisted, so that the tread of the crawler 22 (i.e., the bottom surface of the crawler 22) is in good contact with the road surface, thereby improving walking and working safety.

[0081] In other cases, such as when the road is narrow and there is a slope next to it, one of the crawler running devices 2 is on the road surface and the other crawler running device 2 is on the slope. In this case, the two crawler running devices 2 have different heights, and the treads of the two crawler running devices 2 form an angle that is equal to the slope.

[0082] Referring to Figures 1 to 3 , the chassis mounting frame 1 includes a square tube 11 and a mounting plate 12. Multiple mounting plates 12 are mounted along the length of the square tube 11. Each mounting plate 12 is provided with a mounting hole 121, through which the square tube 11 passes. The combined action of the square tubes 11 and mounting plates 12 facilitates connection of the chassis mounting frame 1 to both the chassis upper structure and the attitude adjustment device 3. The circumference of the chassis mounting frame 1 refers to the outer circumference of the square tubes 11.

[0083] The two crawler walking devices 2 are distributed on both sides of the chassis mounting frame 1, and the two crawler walking devices 2 jointly support the chassis upper body to realize the movement of the crawler vehicle.

[0084] The attitude adjustment device 3 is used to adjust the attitude of the crawler running device 2 relative to the chassis mounting frame 1. If there is one attitude adjustment device 3, the attitude of one crawler running device 2 relative to the chassis mounting frame 1 can be adjusted. If there are two attitude adjustment devices 3, each attitude adjustment device 3 is used to adjust the attitude of one crawler running device 2. The attitudes of both crawler running devices 2 relative to the chassis mounting frame 1 can be adjusted independently without interfering with each other. The so-called independent adjustment means that changes in the attitude of one crawler running device 2 relative to the chassis mounting frame 1 do not affect the attitude of the other crawler running device 2 relative to the chassis mounting frame 1.

[0085] The crawler chassis device provided by the above technical solution has a posture adjustment device 3 installed between at least one crawler running device 2 and the chassis mounting frame 1. The posture adjustment device 3 can adjust the position and rotation angle of the crawler running device 2. Position adjustment refers to adjusting at least one of the horizontal distance and vertical distance; angle adjustment refers to adjusting the angle. During adjustment, only the position or the angle is adjusted, or both the position and the angle are adjusted simultaneously. Specifically, the position refers to the horizontal and vertical distance of the crawler running device 2 relative to the chassis mounting frame 1, that is, adjusting the distance and height of the crawler running device 2 relative to the chassis mounting frame 1.

[0086] Hereinafter, the description will be made by taking the two crawler running devices 2 as an example in which both of them can adjust their postures. A posture adjusting device 3 is installed between each crawler running device 2 and the chassis mounting frame 1. The crawler chassis device includes two posture adjusting devices 3.

[0087] Each crawler track 2 is equipped with an independent posture adjustment device 3. The two crawler tracks 2 have the same structure, as do the two sets of posture adjustment devices 3. The connection between the two crawler tracks 2 and their respective posture adjustment devices 3 is identical, except that the posture adjustment devices 3 are mounted on different sides of the chassis mounting frame 1. The following description will focus on one crawler track 2 and its corresponding posture adjustment device 3.

[0088] The posture adjustment device 3 can be implemented in a variety of ways, such as using a purely mechanical structure, or using electrical components, hydraulic components, or pneumatic components.

[0089] Referring to Figure 3 , in some embodiments, the attitude adjustment device 3 includes a position adjustment assembly 31 and an angle adjustment assembly 32. The position adjustment assembly 31 is used to change the horizontal distance and vertical height of the crawler track 2 relative to the chassis mounting frame 1. The position adjustment assembly 31 uses an electric drive, a hydraulic drive, or other mechanism to adjust the position of the crawler track 2.

[0090] Continuing with Figure 3 , the position adjustment assembly 31 specifically includes a first cylinder 311 and a first connecting rod 312. One end of the first cylinder 311 (specifically, the barrel end of the first cylinder 311) is rotatably connected to the chassis mounting frame 1, while the other end of the first cylinder 311 (specifically, the piston rod end of the first cylinder 311) is rotatably connected to the crawler track 2. The first connecting rod 312 is spaced apart from the first cylinder 311 and is specifically a straight rod. One end of the first connecting rod 312 is rotatably connected to the chassis mounting frame 1, while the other end of the first connecting rod 312 is rotatably connected to the crawler track 2.

[0091] Continuing with Figure 3 , in some embodiments, the hinge point between the first cylinder 311 and the chassis mounting frame 1 is a first hinge point A, and the hinge point between the first connecting rod 312 and the chassis mounting frame 1 is a second hinge point B. The first hinge point and the second hinge point are located at different circumferential positions on the chassis mounting frame 1. It should be noted that due to the viewing angle, the first hinge point A between the right-hand first cylinder 311 and the chassis mounting frame 1 is not visible in Figure 3 ; the first hinge point A between the left-hand first cylinder 311 and the chassis mounting frame 1 is shown in Figure 3 . The second hinge point B between the left-hand first connecting rod 312 and the chassis mounting frame 1 is not visible in Figure 3 ; the second hinge point B between the right-hand first cylinder 311 and the chassis mounting frame 1 is shown in Figure 3 .

[0092] In Figure 3 , the other end of the first connecting rod 312 is rotatably connected to the crawler track 2 via a first pin 313. A third pin 315 is mounted on the other end of the first oil cylinder 311. The rotation axis of the third pin 315 coincides with the rotation axis of the first pin 313. This coincidence is marked as axis L1 in Figure 3 . The second pin 314 is the rotatable connection point between the second oil cylinder 321, described later, and the crawler track 2.

[0093] The above connection method enables the first cylinder 311, first connecting rod 312, crawler track 2, and chassis mounting frame 1 of the position adjustment assembly 31 to form a linkage mechanism. Due to the heavy weight of the crawler track 2, the entire linkage mechanism is constantly subject to the gravity of the crawler track 2. When driving on a bumpy, stepped surface, if the crawler track 2 on the upper step is not adjusted horizontally and vertically relative to the chassis mounting frame 1, the crawler track 2 on the upper step may lose contact with the road surface. In this case, the first cylinder 311 needs to be adjusted to change the horizontal and vertical distances of the crawler track 2 on the upper step relative to the chassis mounting frame 1. As the first cylinder 311 extends and retracts, the swing angle W1 (see Figure 3 or Figure 7) of the first connecting rod 312 relative to the chassis mounting frame 1 changes accordingly. The swing angle W1 has a rotation range of 60° to 120°, specifically 60°, 70°, 80°, 90°, 100°, 110°, and 120°. Because the other end of the first connecting rod 312 is rotatably connected to the crawler track 2, and the other end of the first hydraulic cylinder 311 is also rotatably connected to the crawler track 2, changes in the swing angle W1 of the first connecting rod 312 relative to the chassis mounting frame 1 under the action of the crawler track 2's own weight only change the horizontal and vertical distances between the crawler track 2 and the chassis mounting frame 1, but do not change the relative rotational angle between the crawler track 2 and the chassis mounting frame 1. Changes in the horizontal and vertical distances between the crawler track 2 and the chassis mounting frame 1 primarily allow the crawler track 2 to adapt to higher (lower) and closer (further) road surfaces. The rotation angle adjustment assembly 32 ensures that the crawler track 2 maintains constant contact with the road surface.

[0094] The angle adjustment assembly 32 is disposed between the chassis mounting frame 1 and the posture adjustment device 3. It is configured to adjust the angle of the crawler track 2 relative to the chassis mounting frame 1. The angle adjustment assembly 32 is used to rotate the crawler track 2 so that it rotates about the chassis mounting frame 1, specifically about the rotation axis L1 (see Figure 3). The angle adjustment assembly 32 can be implemented in various ways, such as using an electric drive to rotate the crawler track 2. Alternatively, it can use a hydraulic drive, an electric drive, or other methods to drive the crawler track 2. Referring to Figure 3, in some embodiments, the angle adjustment assembly 32 includes a second cylinder 321. The second cylinder 321 is mounted below the first connecting rod 312, with the first connecting rod 312 and the second cylinder 321 being approximately parallel. The second cylinder 321, the crawler track 2, the first connecting rod 312, and the chassis mounting frame 1 generally form a quadrilateral. Adjusting the length of the second cylinder 321 can cause the quadrilateral to approximately form a parallelogram. When the length of the second oil cylinder 321 is adjusted to be equal to the length of the first connecting rod 312 , the quadrilateral becomes a parallelogram.

[0095] In some embodiments, the angle adjustment assembly 32, the position adjustment assembly 31, the chassis mounting frame 1, and the crawler track device 2 are configured to switch between a parallelogram mechanism and a non-parallelogram mechanism. By changing the length of the angle adjustment assembly 32, that is, by extending and retracting the second cylinder 321, the mechanism can be switched between a parallelogram mechanism and a non-parallelogram mechanism.

[0096] The first connecting rod 312, the chassis mounting frame 1, the second cylinder 321, and the crawler track 2 together form a four-bar swing mechanism. Due to the characteristics of the four-bar linkage, the extension and retraction of the first cylinder 311 changes the swing angle W1 of the first connecting rod 312 relative to the chassis mounting frame 1 (see Figure 3), which in turn changes the position and swing angle of the crawler track 2. When the first cylinder 311 is extended and locked, and the second cylinder 321 is not extended or retracted, the swing mechanism is locked, and the crawler track 2 remains fixed relative to the chassis mounting frame 1.

[0097] In addition, in the four-link deflection mechanism consisting of the first connecting rod 312, the chassis mounting frame 1, the first oil cylinder 311 and the crawler walking device 2, the extension and contraction of the second oil cylinder 321 can adjust the position and swing angle of the crawler walking device 2 relative to the chassis mounting frame 1.

[0098] To reduce control difficulty, in some embodiments, the initial length of the second cylinder 321 is set equal to the length of the first connecting rod 312, so that the four-bar swing leg mechanism forms a parallelogram structure. Furthermore, the rotational axes of the first cylinder 311 and the crawler track 2, as well as the rotational axes of the first connecting rod 312 and the crawler track 2, are set to coincide (i.e., L1, see FIG3 ). In this case, the first connecting rod 312, the chassis mounting frame 1, and the first cylinder 311 form a triangular mechanism. At this time, the expansion and contraction of the first cylinder 311 changes the swing angle W1 of the first connecting rod 312 relative to the chassis mounting frame 1, which only changes the vertical height and horizontal position of the crawler track 2 relative to the chassis mounting frame 1. When the first cylinder 311 is locked, the triangular mechanism is fixed, and adjusting the expansion and contraction of the second cylinder 321 only changes the rotation angle W2 of the crawler track 2 relative to the chassis mounting frame 1 (see FIG7 ). The range of the rotation angle W2 is from -30° to 30°, specifically -30°, -20°, -10°, 0°, 10°, 20° and 30°.

[0099] The process for adjusting the track's posture on a slope is as follows: Initially, the length of the second cylinder 321 is equal to the length of the first connecting rod 312. Based on the deflection angle of the chassis, the length of the first cylinder 311 is adjusted to change the swing angle W1 of the first connecting rod 312 relative to the chassis mounting frame 1, thereby changing the position of the crawler track 2 relative to the chassis mounting frame 1. Due to its parallelogram structure, the bottom surface of the crawler track 2 is always parallel to the road surface.

[0100] In order to prevent the bottom surface of the crawler walking device 2 from being affected by torsion, it is necessary to adjust the extension length of the second cylinder 321 and change the rotation angle W2 of the crawler walking device 2 relative to the chassis mounting frame 1 so that the bottom surface of the crawler walking device 2 and the slope surface remain in the same plane.

[0101] According to the size of the deflection angle of the chassis upper part, the posture adjustment can be performed when the crawler chassis device is stationary; or the posture adjustment can be performed when the speed of the crawler chassis device is reduced; or the posture adjustment can be performed while the speed of the crawler chassis device is maintained.

[0102] Continuing to refer to Figure 3, as described above, the angle adjustment assembly 32 includes a second oil cylinder 321. One end of the second oil cylinder 321 is rotatably connected to the chassis mounting frame 1, and the other end of the second oil cylinder 321 is rotatably connected to the crawler walking device 2 via the second pin shaft 314. The first pin shaft 313 is parallel to the second pin shaft 314. The posture adjustment device 3 also includes a first connecting plate 33 and a second connecting plate 34 arranged in parallel; the first connecting plate 33 and the second connecting plate 34 are both fixedly connected to the crawler walking device 2, specifically by being welded to the crawler frame 21 or connected by bolts. One end of the first connecting plate 33 is rotatably connected to the first pin shaft 313, and the other end of the first connecting plate 33 is rotatably connected to the second pin shaft 314; one end of the second connecting plate 34 is rotatably connected to the first pin shaft 313, and the other end of the second connecting plate 34 is rotatably connected to the second pin shaft 314.

[0103] Continuing with Figure 3 , two first connecting rods 312, a first hydraulic cylinder 311, and two second hydraulic cylinders 321 are disposed between the chassis mounting frame 1 and any crawler track device 2. The first connecting rods 312 and second hydraulic cylinders 321 correspond one-to-one; the first hydraulic cylinder 311 is located between the two first connecting rods 312. The numerous connecting components between the chassis mounting frame 1 and any crawler track device 2, and their dispersed locations, ensure a robust load-bearing capacity for the crawler track device.

[0104] Referring to Figures 4 and 5 , in some embodiments, the crawler travel device 2 includes a track frame 21, a crawler track 22, a roller assembly 23, a swing frame 24, and a telescopic device 25. The attitude adjustment device 3 is mounted on the track frame 21; the track frame 21 serves as a load-bearing component for supporting the attitude adjustment device 3 described above. The crawler track 22 is mounted on the track frame 21 and wrapped around its periphery. It is tensioned by a tensioning mechanism 26 and driven by a drive mechanism 27. The tensioning mechanism 26 can slide back and forth relative to the track frame 21.

[0105] During the adjustment of the track roller assembly 23, the tensioning mechanism 26 maintains tension on the outer track of the chassis running gear by adjusting its own length (i.e., the distance the tensioning wheel 261 slides forward and backward). The track roller assembly 23 automatically adjusts the support wheel position according to the unevenness of the road surface, ensuring that the tracked chassis assembly maintains contact with the road surface.

[0106] The tensioning mechanism 26 includes a tensioning wheel 261 and a clamping device 262. The tensioning wheel 261, under the action of the clamping device 262, slides back and forth relative to the track frame 21, squeezing the track 22 and keeping it tensioned. When the road surface is uneven and the track roller assembly 23 rotates forward and backward or left and right to squeeze the track 22, the clamping device 262 compresses itself and retracts the tensioning wheel 261, preventing deformation, damage, or breakage of the track 22 due to excessive tension.

[0107] The driving mechanism 27 provides the crawler chassis with a forward or backward driving force. The driving mechanism 27 can perform a circular motion around its own rotation axis.

[0108] One end of the swing frame 24 is rotatably connected to the track frame 21. The other end of the swing frame 24 is mounted with a roller assembly 23. The roller assembly 23 presses against the track 22, ensuring that the track 22 maintains contact with the road surface. Adjusting the position of the swing frame 24 changes the position of the roller assembly 23, ensuring that the roller assembly 23 maintains contact with the track 22. Specifically, the position of the swing frame 24 can be adjusted using a telescopic mechanism 25. One end of the telescopic mechanism 25 is rotatably mounted to the track frame 21, and the other end is rotatably connected to the center of the swing frame 24. The telescopic mechanism 25 is configured to extend and retract to allow the swing frame 24 to rotate about its rotatable connection with the track frame 21. The roller assembly 23 can yaw relative to the track frame 21 in both forward and backward directions and in both left and right directions. When the road surface becomes uneven, the roller assembly 23 deflects relative to the rotation axis M4 and the axis of the pin M6 (see Figure 5) to ensure that the track 22 maintains contact with the road surface.

[0109] Referring to Figure 6, in some embodiments, the roller assembly 23 includes a first mounting frame 231, a first roller 232, a second mounting frame 233, a second roller 234, and a universal hinge mechanism 235. The first roller 232 is rotatably mounted on the first mounting frame 231, with a rotation axis M1. The second mounting frame 233 is spaced apart from the first mounting frame 231. The second roller 234 is spaced apart from the first roller 232. The second roller 234 is rotatably mounted on the second mounting frame 233, with a rotation axis M2. The universal hinge mechanism 235 is disposed between the first mounting frame 231 and the second mounting frame 233. The first mounting frame 231 is rotatably connected to one end of the universal hinge mechanism 235, and the second mounting frame 233 is rotatably connected to the other end of the universal hinge mechanism 235, with both rotation axes M3. The central portion of the universal hinge mechanism 235 is rotatably connected to the other end of the swing frame 24, with a rotation axis M4. The track roller assembly 23 has multiple rotation directions, and the track roller assembly 23 has very good flexibility.

[0110] When the road surface becomes uneven in the left-right direction, the first and second rollers 232, 234 rotate together or independently about the axis of rotation M3 of the roller assembly 23 to ensure that the track 22 remains in contact with the road surface. The roller assembly 23 allows the underside of the track to adapt to uneven surfaces when the tracked chassis is located on a partially uneven surface, preventing the superstructure from tilting.

[0111] In some embodiments, the rotatable shaft M4 between the middle portion of the universal joint mechanism 235 and the other end of the swing frame 24 is perpendicular to the traveling direction of the crawler walking device 2 , and the traveling direction is parallel to M3 .

[0112] The crawler chassis device provided by the above technical solution has multiple degrees of rotational freedom. During the movement of the crawler 22 chassis, the crawler chain can be prevented from bearing a large load by actively adjusting its posture, thereby increasing the life of the crawler chain; the bottom surface of the crawler 22 can adapt to the undulations of the road surface, avoiding the deflection of the upper installation and improving the quality of the upper installation operation.

[0113] Some embodiments of the present disclosure provide a crawler vehicle, including a crawler chassis device provided by any technical solution of the present disclosure. The crawler vehicle can be construction equipment for uneven and sloping sites, especially a crawler product for engineering machinery operating on steep slopes.

[0114] In some embodiments, the tracked vehicle is a gutter cleaning device, and the two tracked running devices 2 of the tracked vehicle are located at different heights. The gutter cleaning device is used to clean the narrow gutter along the sides of a highway. The tracked chassis device places one tracked running device 2 into the gutter and the other tracked running device 2 onto the roadbed. The two tracked running devices 2 are at different heights relative to the horizontal plane, but the chassis can remain horizontal, flat, and not tilted, or operate at a certain working angle. If the road surface properties of the two tracked running devices 2 are different, the road surface properties described in the subsequent method steps are determined based on the road surface corresponding to each tracked running device 2.

[0115] In some embodiments, the tracked vehicle is a tracked scissor lift vehicle, so that the lift vehicle can be applied to a variety of different working conditions.

[0116] When the tracked vehicle travels on an uneven road, the treads of the two crawler running devices 2 intersect at an angle greater than 0° and less than 90°. The position of any crawler running device 2 relative to the chassis mounting frame 1 can be adjusted by the posture adjustment device 3, ultimately keeping the chassis upper body level.

[0117] The track undercarriage of a tracked vehicle can be adjusted in the following situations:

[0118] (1) When driving on an inclined road, the chassis posture is adjusted through the track adjustment device to control the chassis to be in a horizontal state or a certain working angle.

[0119] (2) The crawler chassis can automatically adjust the chassis upper body posture in the stationary state or running state, thereby improving the safety and efficiency of walking operations.

[0120] (3) When the road surface is partially uneven, the bottom surface of the track can adapt to the undulations of the road surface, avoiding the deflection of the upper body and improving the quality of the upper body operation.

[0121] (4) When working on an uneven working surface, it can prevent the chassis walking devices on both sides from being twisted, ensure good contact between the bottom surface of the crawler and the road surface, and improve walking and working safety.

[0122] (5) During the movement of the crawler chassis, active or passive posture adjustment can prevent the crawler chain from bearing a large load, thereby increasing the life of the crawler chain.

[0123] Referring to FIG8 , some embodiments of the present disclosure further provide a method for adjusting the attitude of a crawler chassis device, comprising the following steps:

[0124] Step S101: Obtain the travel speed of the tracked vehicle provided by any embodiment of the present disclosure.

[0125] Step S102: detecting the tilt angle and tilt direction of the chassis of the tracked vehicle.

[0126] Step S103: Determine whether the tilt angle is greater than a first setting value, such as 10° to 12°, such as 10°, 11°, or 12°.

[0127] Step S104: If the tilt angle is greater than the first set value, the crawler vehicle is stopped, and the position adjustment component 31 of the posture adjustment device 3 corresponding to the crawler walking device 2 on the tilted side is adjusted according to the tilt direction.

[0128] After step S104, the following step S105 is further included: if the road surface is hard, the track chassis device's turning angle adjustment component 32 is activated until the track chassis device contacts the road surface. If the road surface is soft, the track chassis device can be adaptively adjusted without activating the turning angle adjustment component 32.

[0129] Hard pavement is a type of pavement with high strength and durability, such as cement concrete and asphalt concrete, and is mainly used in roads, airport runways, parking lots and other scenes. Hard pavement can effectively withstand high-intensity traffic loads and can provide good driving stability. Soft pavement refers to softer pavement, such as muddy roads, grasslands, hillsides, etc. The supporting wheel group 23 has strong adaptability and can automatically adapt to the structure of soft pavement. The crawler chassis device of the tracked vehicle can at least partially penetrate the stratum of the soft pavement, while the crawler chassis device is difficult to enter the stratum of the hard pavement.

[0130] In some embodiments, the crawler chassis posture adjustment method further includes the following step S106: if the tilt angle is less than or equal to the first setting value, determining whether the tilt angle is greater than a second setting value, wherein the second setting value is less than the first setting value, for example, 5°.

[0131] In step S107, if the tilt angle is greater than the second set value, the speed of the tracked vehicle is reduced. After the speed of the tracked vehicle is reduced, if the road surface is hard, the tracked chassis device's turning angle adjustment assembly 32 is activated until the tracked chassis device contacts the road surface. If the road surface is soft, the tracked chassis device can perform adaptive adjustment, and the turning angle adjustment assembly 32 does not need to be activated.

[0132] Step S108: If the inclination angle is less than or equal to the second set value, the traveling speed of the tracked vehicle remains unchanged.

[0133] After step S108, the following step S109 is also included: if the road surface is hard, the track chassis device's turning angle adjustment component 32 is started until the track chassis device contacts the road surface; if the road surface is soft, the track chassis device performs adaptive adjustment.

[0134] The crawler chassis posture adjustment method provided by the above technical solution can also include a control system, a human-machine interaction system, and a monitoring system. The control system controls the swing leg adjustment device, the crawler deflection device, and the chassis travel device based on the geological conditions and the chassis deflection angle, so that the crawler chassis can adjust its posture at a set speed. The human-machine interaction system can input the road surface texture into the control system. The monitoring system can monitor the crawler chassis' deflection angle, the speed of the chassis travel device, and other information in real time. The above technical solution can achieve active or passive posture adjustment of the crawler chassis during travel, improving operational efficiency and ensuring the safety of the operation process.

[0135] Some embodiments of the present disclosure provide a track chassis device posture adjustment system, comprising a memory and a processor coupled to the memory, wherein the processor is configured to execute the track chassis device posture adjustment method of any of the aforementioned embodiments based on instructions stored in the memory.

[0136] The memory may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs.

[0137] Some embodiments of the present disclosure further provide a computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method for adjusting the attitude of the crawler chassis device in any of the above embodiments is implemented.

[0138] The processors described herein may include a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0139] A storage medium can be any available medium that can be accessed by a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of medium. As used herein, disks and discs include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks often reproduce data magnetically, while discs reproduce data optically with lasers. The above combinations should also be included within the scope of computer-readable media.

[0140] Those skilled in the art will appreciate that the method embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0141] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to some embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0142] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0143] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0144] In the description of the present disclosure, each technical feature may be combined with other technical features where feasible.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure.

Claims

1. A crawler chassis device, comprising: A chassis mounting frame (1) is configured to be fixedly connected to a chassis upper member (4); at least two crawler running devices (2), the chassis mounting frame (1) being located between two of the crawler running devices (2); each of the crawler running devices (2) being configured to be movable; and At least one attitude adjustment device (3) is provided between at least one of the crawler walking devices (2) and the chassis mounting frame (1), and the attitude adjustment device (3) is configured to adjust the attitude of the crawler walking device (2) connected thereto relative to the chassis mounting frame (1).

2. The crawler chassis device according to claim 1, wherein the attitude adjustment device (3) comprises: a position adjustment assembly (31) disposed between the chassis mounting frame (1) and the posture adjustment device (3), the position adjustment assembly (31) being configured to change a horizontal distance and a vertical height of the posture adjustment device (3) relative to the chassis mounting frame (1); as well as A rotation angle adjustment assembly (32) is provided between the chassis mounting frame (1) and the posture adjustment device (3), and the rotation angle adjustment assembly (32) is configured to adjust the rotation angle of the crawler walking device (2) relative to the chassis mounting frame (1).

3. The crawler chassis device according to claim 2, wherein the angle adjustment assembly (32), the position adjustment assembly (31), the chassis mounting frame (1) and the crawler walking device (2) are constructed to switch between the following states: forming a parallelogram mechanism and forming a non-parallelogram mechanism.

4. The crawler undercarriage device according to claim 2 or 3, wherein the position adjustment assembly (31) comprises: A first oil cylinder (311), one end of which is rotatably connected to the chassis mounting frame (1), and the other end of which is rotatably connected to the crawler walking device (2); as well as A first connecting rod (312) is spaced apart from the first oil cylinder (311); one end of the first connecting rod (312) is rotatably connected to the chassis mounting frame (1), and the other end of the first connecting rod (312) is rotatably connected to the crawler walking device (2).

5. The crawler chassis device according to claim 4, wherein the hinge point between the first oil cylinder (311) and the chassis mounting frame (1) is a first hinge point, the hinge point between the first connecting rod (312) and the chassis mounting frame (1) is a second hinge point, and the first hinge point and the second hinge point are located at different circumferential positions of the chassis mounting frame (1).

6. The crawler chassis device according to claim 4 or 5, wherein the other end of the first connecting rod (312) is rotatably connected to the crawler walking device (2) via a first pin (313); and the rotation angle adjustment component (32) comprises: A second oil cylinder (321) has one end rotatably connected to the chassis mounting frame (1), and the other end of the second oil cylinder (321) is rotatably connected to the crawler walking device (2) via a second pin shaft (314); the first pin shaft (313) and the second pin shaft (314) are parallel; The posture adjustment device (3) further comprises: a first connecting plate (33) and a second connecting plate (34) arranged in parallel; the first connecting plate (33) and the second connecting plate (34) are both fixedly connected to the crawler walking device (2); one end of the first connecting plate (33) is rotatably connected to the first pin shaft (313), and the other end of the first connecting plate (33) is rotatably connected to the second pin shaft (314); one end of the second connecting plate (34) is rotatably connected to the first pin shaft (313), and the other end of the second connecting plate (34) is rotatably connected to the second pin shaft (314).

7. The crawler chassis device according to claim 6, wherein the number of the first connecting rods (312) is two, the number of the second oil cylinders (321) is also two, the first connecting rods (312) and the second oil cylinders (321) correspond one to one; the first oil cylinder (311) is located between the two first connecting rods (312).

8. The crawler chassis device according to claim 7, wherein a third pin shaft (315) is installed at the other end of the first oil cylinder (311), and the rotation axis of the third pin shaft (315) coincides with the rotation axis of the first pin shaft (313).

9. The crawler chassis device according to any one of claims 1 to 8, wherein the number of the posture adjustment devices (3) is two, the crawler running devices (2) are divided into two groups, and each group of the crawler running devices (2) is provided with one posture adjustment device (3) installed between the crawler running devices (2) and the chassis mounting frame (1).

10. The crawler chassis device according to any one of claims 1 to 9, wherein the crawler traveling device (2) comprises: A crawler frame (21), wherein the posture adjustment device (3) is installed on the crawler frame (21); A crawler (22) mounted on the crawler frame (21); A track wheel assembly (23) presses down the crawler track (22); a swing frame (24), one end of which is rotatably connected to the track frame (21), and the other end of which is mounted the supporting wheel assembly (23); the swing frame (24) rotates relative to the track frame (21) to drive the supporting wheel assembly (23) to press the track (22); and A telescopic device (25) is rotatably mounted on the crawler frame (21) at one end and rotatably connected to the middle portion of the swing frame (24) at the other end; the telescopic device (25) is constructed to allow the swing frame (24) to rotate around the rotatable connection between the telescopic device and the crawler frame (21) through telescoping.

11. The crawler undercarriage device according to claim 10, wherein the track roller set (23) comprises: a first mounting frame (231) disposed adjacent to the crawler track (22); A first roller (232) rotatably mounted on the first mounting frame (231); a second mounting frame (233) arranged spaced apart from the first mounting frame (231); a second roller (234) spaced apart from the first roller (232); the second roller (234) is rotatably mounted on the second mounting frame (233); and A universal hinge mechanism (235) is arranged between the first mounting frame (231) and the second mounting frame (233); the first mounting frame (231) is rotatably connected to one end of the universal hinge mechanism (235); the second mounting frame (233) is rotatably connected to the other end of the universal hinge mechanism (235); and the middle portion of the universal hinge mechanism (235) is rotatably connected to the other end of the swing frame (24).

12. The crawler chassis device according to claim 11, wherein the middle portion of the universal joint mechanism (235) and the rotatable axis at the other end of the swing frame (24) are perpendicular to the traveling direction of the crawler traveling device (2).

13. A tracked vehicle comprising the tracked chassis device according to any one of claims 1 to 12.

14. The tracked vehicle of claim 13, wherein the tracked vehicle is a gutter cleaning device.

15. The crawler vehicle according to claim 13 or 14, wherein the two crawler running devices (2) of the crawler vehicle are located at different heights.

16. The crawler vehicle according to any one of claims 13 to 15, wherein the treads of the two crawler walking devices (2) intersect with each other, and the angle between the two is greater than 0° and less than 90°.

17. A method for adjusting the attitude of a crawler chassis device, comprising the following steps: Obtaining the travel speed of the tracked vehicle according to any one of claims 13 to 16; Detect the tilt angle and tilt direction of the chassis of tracked vehicles; Determining whether the tilt angle is greater than a first setting value; If the tilt angle is greater than the first set value, the crawler vehicle is stopped, and the position adjustment component (31) of the posture adjustment device (3) corresponding to the crawler walking device (2) on the tilt side is adjusted according to the tilt direction.

18. The method for adjusting the attitude of a crawler chassis device according to claim 17, wherein after stopping the crawler vehicle, the method further comprises the following steps: If the road surface is a hard road surface, the turning angle adjustment component (32) of the crawler chassis device is activated until the crawler chassis device contacts the road surface.

19. The method for adjusting the attitude of a crawler chassis device according to claim 17 or 18, further comprising the following steps: If the tilt angle is less than or equal to the first setting value, determining whether the tilt angle is greater than a second setting value; If the tilt angle is greater than the second set value, reducing the travel speed of the tracked vehicle; If the road surface is a hard road surface, the turning angle adjustment component (32) of the crawler chassis device is activated until the crawler chassis device contacts the road surface; If the road surface is a soft road surface, the crawler chassis device performs adaptive adjustment.

20. The method for adjusting the attitude of a crawler chassis device according to claim 19, wherein: If the tilt angle is less than or equal to the second set value, the travel speed of the tracked vehicle remains unchanged; If the road surface is a hard road surface, the turning angle adjustment component (32) of the crawler chassis device is activated until the crawler chassis device contacts the road surface; If the road surface is a soft road surface, the crawler chassis device performs adaptive adjustment.

21. A crawler chassis posture adjustment system, comprising: Memory; and A processor coupled to the memory, wherein the processor is configured to execute the method for adjusting the attitude of the crawler chassis device according to any one of claims 17 to 20 based on instructions stored in the memory.

22. A computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the method for adjusting the attitude of a crawler chassis device according to any one of claims 17 to 20 is implemented.

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