Crawler-type walking device and vehicle

Abstract

A crawler-type walking device and a vehicle, which relate to the technical field of walking devices, wherein the crawler-type walking device comprises a control mechanism, a main walking mechanism and an auxiliary walking mechanism, wherein the auxiliary walking mechanism is hinged to the main walking mechanism, and the main walking mechanism is provided with a first resistance sensor, wherein the first resistance sensor and the auxiliary walking mechanism are respectively connected to the control mechanism, and the control mechanism is used to control the auxiliary walking mechanism to swing relative to the main walking mechanism according to the resistance signal fed back by the first resistance sensor, so as to change the angle between the auxiliary walking mechanism and the main walking mechanism. During the movement, the control system can control the angle between the auxiliary walking mechanism and the main walking mechanism, thereby changing the contact area between the crawler-type walking device and the bottom surface, so as to adapt to traveling in a variety of different road environments.

Description

Technical Field

[0001] The present invention relates to the field of traveling devices, and in particular to a crawler-type traveling device and a vehicle. Background Art

[0002] At present, some working vehicles (such as excavators) use crawler structures for movement. Due to the harsh working environment of working vehicles such as excavators, their working and driving environment includes a variety of complex ground environments such as mountains, mud, ice and snow, and forests. In some cases, the crawler structure will sink into the swamp and be unable to climb out, or be trapped in steep terrain and unable to drive normally. Summary of the invention

[0003] The object of the present invention is to provide a crawler-type walking device and a vehicle provided with the crawler-type walking device, which can control the angle between the auxiliary walking mechanism and the main walking mechanism, so as to adapt to movement on a variety of different terrains.

[0004] The present invention is achieved in that:

[0005] A crawler walking device includes a control mechanism, a main walking mechanism and an auxiliary walking mechanism, wherein the auxiliary walking mechanism is hinged to the main walking mechanism, and the main walking mechanism is provided with a first resistance sensor, and the first resistance sensor and the auxiliary walking mechanism are respectively connected to the control mechanism, and the control mechanism is used to control the swing of the auxiliary walking mechanism relative to the main walking mechanism according to the resistance signal fed back by the first resistance sensor, so as to change the angle between the auxiliary walking mechanism and the main walking mechanism; the control mechanism is also used to control the start and stop of the auxiliary walking mechanism.

[0006] In a feasible implementation, the auxiliary walking mechanism is provided with an angle sensor, and the angle sensor is connected to the control mechanism.

[0007] In a feasible implementation, the main walking mechanism includes a crawler chassis, the crawler chassis includes walking wheels and side plates, the walking wheels are rotatably connected to the side plates, and the auxiliary walking mechanism is installed on the side plates.

[0008] In a feasible implementation scheme, the auxiliary walking mechanism includes a left walking part and a right walking part, the left walking part is installed on the left side of the travel direction of the main walking mechanism, and the right walking part is installed on the right side of the travel direction of the main walking mechanism, and the left walking part and the right walking part are respectively connected to the control mechanism.

[0009] In a feasible implementation manner, the left walking unit and the right walking unit are respectively connected to the control mechanism, and the control mechanism can control the left walking unit and the right walking unit to operate synchronously.

[0010] In a feasible implementation scheme, the left walking part includes a connecting frame, a driving wheel and a transmission wheel, the driving wheel and the transmission wheel are respectively installed on the connecting frame, and the driving wheel and the transmission wheel can rotate relative to the connecting frame; an auxiliary track structure is arranged between the driving wheel and the transmission wheel; the right walking part has the same structure as the left walking part.

[0011] In a feasible embodiment, the central axis of the driving wheel is connected to the central axis of the traveling wheel via a first clutch, and the first clutch is connected to the control mechanism, and the control mechanism can connect or disconnect the central axis of the driving wheel with the central axis of the traveling wheel via the first clutch.

[0012] In a feasible implementation, the auxiliary walking mechanism is provided with a second resistance sensor, and the second resistance sensor is connected to the control mechanism.

[0013] In a feasible implementation manner, a supporting member is provided on the side of the main walking mechanism; when the auxiliary walking mechanism is in a non-working state, the auxiliary walking mechanism is mounted on the supporting member.

[0014] A vehicle comprises the crawler-type walking device provided by the above technical solution.

[0015] The beneficial effects of the present invention include at least:

[0016] In actual use, the crawler-type walking device is applied to the vehicle. During the operation of the vehicle, the main walking road surface operates to drive the vehicle to move. When the first resistance sensor detects that the resistance increases beyond the set threshold, or detects a sudden increase in resistance, the control mechanism controls the auxiliary walking mechanism to swing relative to the main walking mechanism to switch from the original non-working state to the working state. After the auxiliary walking mechanism contacts the road surface, the control mechanism controls the auxiliary walking mechanism to start, so that the auxiliary walking mechanism and the main walking mechanism jointly drive the vehicle to move. Since the angle between the auxiliary walking mechanism and the main walking mechanism can be adjusted by the control mechanism, when encountering steep terrain such as steep slopes, the angle of the auxiliary walking mechanism can be made consistent with the angle of the steep slope, so that the auxiliary walking mechanism can drive the vehicle to climb the slope, so as to drive the main walking mechanism to perform climbing operations to avoid being trapped in steep areas. When encountering terrain such as mud, the auxiliary walking mechanism is also made to contact the road surface, thereby increasing the total contact area between the vehicle and the road surface, which is conducive to moving on muddy roads.

[0017] In summary, the crawler-type walking device provided in the present application can adapt to more terrains, so that the vehicle using this crawler-type walking device can travel normally or at a faster speed on more complex terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of the structure of a crawler-type walking device provided in an embodiment of the present invention at a first viewing angle Figure 1 ;

[0020] Figure 2 A schematic diagram of the structure of a crawler-type walking device provided in an embodiment of the present invention at a first viewing angle Figure 2 ;

[0021] Figure 3 A schematic diagram of the structure of a crawler-type walking device provided in an embodiment of the present invention at a first viewing angle Figure 3 ;

[0022] Figure 4 A schematic diagram of the structure of a crawler-type walking device provided by an embodiment of the present invention at a second viewing angle Figure 4 ;

[0023] Figure 5 A schematic diagram of the structure of a crawler-type walking device provided by an embodiment of the present invention at a second viewing angle Figure 5 ;

[0024] Figure 6 A schematic structural diagram of a first clutch in a crawler-type traveling device provided in an embodiment of the present invention.

[0025] In the figure:

[0026] 10-main traveling mechanism; 11-driving wheel; 12-guide wheel; 13-main crawler structure; 14-side plate; 15-central axis of traveling wheel; 16-groove; 17-supporting sprocket wheel;

[0027] 20-left walking part; 21-driving wheel; 22-connecting frame; 23-transmission wheel; 24-auxiliary crawler structure; 25-central axis of driving wheel;

[0028] 30-right walking section;

[0029] 40- Control mechanism;

[0030] 50-dial; 51-bump; 52-bearing;

[0031] 61-connecting rod; 62-clutch driver;

[0032] 70-Carrier. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invention product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the crawler-type walking device or component referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0037] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0040] First embodiment

[0041] Please refer to Figure 1-Figure 5 The present embodiment provides a crawler-type walking device, including a control mechanism 40, a main walking mechanism 10 and an auxiliary walking mechanism. The auxiliary walking mechanism is hinged to the main walking mechanism 10. The main walking mechanism 10 is provided with a first resistance sensor. The first resistance sensor and the auxiliary walking mechanism are respectively connected to the control mechanism 40. The control mechanism 40 is used to control the auxiliary walking mechanism to swing relative to the main walking mechanism 10 according to the resistance signal fed back by the first resistance sensor, so as to adjust the angle between the auxiliary walking mechanism and the main walking mechanism 10; the control mechanism 40 is also used to control the start and stop of the auxiliary walking mechanism.

[0042] The crawler-type traveling mechanism provided in this embodiment is applied to vehicles, and is particularly suitable for engineering vehicles, such as excavators, etc. The crawler-type traveling mechanism is used to drive the vehicle to move.

[0043] When driving on a relatively flat and wide road, the vehicle is driven to move only by the main traveling mechanism 10; when encountering a steep slope, the control mechanism 40 controls the auxiliary traveling mechanism to swing relative to the main traveling mechanism 10 so that the auxiliary traveling mechanism contacts the slope of the steep slope. After starting the auxiliary traveling mechanism, the auxiliary traveling mechanism moves along the slope, thereby driving the vehicle to move, so that the main traveling mechanism 10 can move to the steep slope, thereby avoiding the situation where the main traveling mechanism 10 cannot move up due to the large inclination angle of the steep slope and is trapped. When driving on a muddy road, the control mechanism 40 controls the auxiliary traveling mechanism to swing and finally contact the road surface, so that the total contact area between the vehicle and the road surface is larger, which can slow down or prevent the vehicle from sinking, so that the vehicle can pass through the muddy road smoothly. When the vehicle has sunk, the auxiliary traveling mechanism can be rotated to an angle greater than 180° with the main traveling mechanism 10, so that the auxiliary traveling mechanism can support the vehicle upward for a certain distance, so that the vehicle can get out of the mud.

[0044] Preferably, the angle adjustment range between the auxiliary walking mechanism and the main walking mechanism 10 is 0°-270°. Within this angle range, the crawler walking device can meet the driving requirements of most road environments. When driving on a flat road, the angle between the auxiliary walking mechanism and the main walking mechanism 10 is the initial angle, which can be 0°, or close to 0°, and the maximum does not exceed 90°. When encountering an obstacle, the angle can be adjusted to 90°-180° so that the auxiliary walking mechanism can walk along the obstacle. When stuck in a quagmire, the angle can be adjusted to 180°-270°, so that part of the structure of the main walking mechanism 10 can be propped up by the auxiliary walking mechanism, so that part of the structure of the main walking mechanism 10 can be out of the quagmire, so as to facilitate the main walking mechanism 10 to continue to move along the quagmire road surface.

[0045] In order to facilitate more precise adjustment of the angle of the auxiliary walking mechanism, an angle sensor is installed on the auxiliary walking mechanism. The angle sensor is connected to the control mechanism 40. The angle sensor is used to detect the rotation angle of the auxiliary walking mechanism. The control mechanism 40 can determine the angle between the auxiliary walking mechanism and the main walking mechanism 10 through the angle information fed back by the angle sensor.

[0046] The angle sensor, the first resistance sensor and the control mechanism 40 form a closed-loop feedback control. When the first resistance sensor receives a signal of a sudden increase in resistance, the control mechanism 40 controls the auxiliary walking mechanism to swing so as to increase the angle between the auxiliary walking mechanism and the main walking mechanism 10; when the resistance signal remains stable within a set time range, or fluctuates within a smaller range, the control mechanism 40 controls the auxiliary walking mechanism to swing in the opposite direction so as to gradually return to the initial position.

[0047] like Figure 1 As shown, the main traveling mechanism 10 includes a crawler chassis, the crawler chassis includes traveling wheels and side plates 14, the traveling wheels are rotatably connected to the side plates 14, and the auxiliary traveling mechanism is installed on the side plates 14. Specifically, the traveling wheels can all be driving wheels 11, or can include driving wheels 11 and guide wheels 12. The main traveling mechanism 10 also includes a main crawler structure 13, which is wound between two traveling wheels located on both sides. Further, as shown in FIG. Figure 1 As shown, the crawler chassis is also equipped with a supporting sprocket 17, which is located on the inner side of the crawler track and is used to support the crawler track.

[0048] In a preferred embodiment, the auxiliary walking mechanism includes a left walking unit 20 and a right walking unit 30. The left walking unit 20 is installed on the left side of the travel direction of the main walking mechanism 10, and the right walking unit 30 is installed on the right side of the travel direction of the main walking mechanism 10. The left walking unit 20 and the right walking unit 30 are respectively connected to the control mechanism 40.

[0049] In the crawler chassis, a left side plate 14 and a right side plate 14 are respectively installed. Figure 4 and Figure 5 As shown, the left walking unit 20 is installed on the left side of the left side plate 14 , and the right walking unit 30 is installed on the right side of the right side plate 14 .

[0050] When the crawler walking device is applied to a vehicle, the crawler walking device is connected to the vehicle frame, specifically, the crawler chassis can be connected to the vehicle frame. The left walking part 20 and the right walking part 30 are respectively placed on both sides of the crawler chassis, which, on the one hand, balances the weight of the left and right sides of the vehicle body, and on the other hand, when the vehicle body is driven to move by the auxiliary walking mechanism, traction is provided from both sides, and the force is balanced, so that the vehicle can be driven to move forward smoothly.

[0051] In a feasible implementation, the auxiliary walking mechanism also includes a transmission structure, the left walking part 20 and the right walking part 30 are connected by the transmission structure, the control mechanism 40 is connected to the transmission structure, and the control mechanism 40 controls the left walking part 20 and the right walking part 30 to operate and swing synchronously by controlling the transmission structure.

[0052] Alternatively, in another feasible implementation scheme, the left walking unit 20 and the right walking unit 30 are respectively connected to the control mechanism 40, and the control mechanism 40 can control the left walking unit 20 and the right walking unit to operate or swing to different angles respectively, and can also control the left walking unit 20 and the right walking unit 30 to operate and swing synchronously.

[0053] Preferably, the left walking portion 20 and the right walking portion 30 have the same structure. Figure 1 As shown, in Figure 1 Only the left walking unit 20 can be seen in the viewing angle. The left walking unit 20 includes a connecting frame 22, a driving wheel 21 and a transmission wheel 23. The driving wheel 21 and the transmission wheel 23 are respectively installed on the connecting frame 22, and the driving wheel 21 and the transmission wheel 23 can both rotate relative to the connecting frame 22.

[0054] In a feasible implementation, the left walking part 20 includes a connecting frame 22, a driving wheel 21 and a transmission wheel 23. The driving wheel 21 and the transmission wheel 23 are respectively mounted on the connecting frame 22, and both the driving wheel 21 and the transmission wheel 23 can rotate relative to the connecting frame 22. An auxiliary crawler structure 24 is arranged between the driving wheel 21 and the transmission wheel 23. When the auxiliary walking mechanism is running, the driving wheel 21 drives the transmission wheel 23 to rotate through the crawler.

[0055] The auxiliary walking mechanism can be provided with its own separate driving device, specifically including a first driver and a second driver, both of which are installed on the main walking mechanism 10, for example, they can be installed on the side plate 14. The first driver is connected to the driving wheel 21 of the auxiliary walking mechanism to drive the driving wheel 21 to rotate, and the first driver is connected to the control mechanism 40, and the control mechanism 40 controls the start and stop of the auxiliary walking mechanism by controlling the first driver. The second driver is connected to the connecting frame 22 of the auxiliary walking mechanism to drive the connecting frame 22 to swing, thereby driving the corresponding left walking part 20 or right walking part 30 to swing relative to the main walking mechanism 10. The second driver is connected to the control mechanism 40, and the control mechanism 40 controls the swing of the auxiliary walking mechanism relative to the main walking mechanism 10 by controlling the second driver, thereby adjusting the angle between the auxiliary walking mechanism and the main walking mechanism 10.

[0056] Alternatively, in another configuration, the auxiliary travel mechanism is connected to the main travel mechanism 10 via a clutch device so as to swing or operate through the drive of the main travel mechanism 10. For example, the following configuration may be performed:

[0057] The central axis 25 of the driving wheel is connected to the central axis 15 of the traveling wheel through a first clutch, and the first clutch is connected to the control mechanism 40. The control mechanism 40 can connect or separate the central axis 25 of the driving wheel with the central axis 15 of the traveling wheel through the first clutch. The traveling wheel can be a driving wheel 11 or a guide wheel 12, preferably a driving wheel 11. When the central axis 25 of the driving wheel is connected to the central axis 15 of the traveling wheel through the first clutch, during the operation of the main traveling mechanism 10, the central axis 15 of the traveling wheel drives the central axis 25 of the driving wheel, thereby driving the driving wheel 21 to rotate, and then driving the corresponding left traveling part 20 or right traveling part 30 to operate. When the auxiliary traveling mechanism is not needed, the central axis 25 of the driving wheel is separated from the central axis 15 of the traveling wheel through the first clutch. During the operation of the main traveling mechanism 10, the central axis 15 of the traveling wheel will not drive the central axis 25 of the driving wheel to rotate, that is, the corresponding left traveling part 20 or right traveling part 30 is in a stopped state.

[0058] In specific implementation, the first clutch and the clutch used in the shift system of the automobile have the same or similar structure. Figure 6 As shown, the following structure is adopted:

[0059] The first clutch includes a dial 50, a bearing 52, a connecting rod 61 and a clutch driver 62. The central shaft 25 of the driving wheel is a hollow shaft having a central cavity. The hollow shaft is sleeved on the central shaft 15 of the traveling wheel, and the hollow shaft can rotate relative to the central shaft 15 of the traveling wheel. Specifically, the hollow shaft can be sleeved on the central shaft 15 of the traveling wheel, or the hollow shaft can be rotatably connected to the central shaft 15 of the traveling wheel through a bearing. The dial 50 sleeve is slidably mounted on the central shaft 15 of the traveling wheel, and the dial 50 can move axially along the central shaft 15 of the traveling wheel, and the dial 50 will rotate with the central shaft 15 of the traveling wheel. A protrusion 51 is provided on one side of the dial 50 facing the hollow shaft, and a groove 16 is provided on the hollow shaft at a position corresponding to the protrusion 51. There are multiple protrusions 51, and multiple protrusions 51 are spaced apart and distributed along a circular track on the end surface of the dial 50. An extension is provided on the side of the dial 50 away from the hollow shaft, the outer diameter of the extension is smaller than the outer diameter of the dial 50, a bearing 52 is sleeved on the extension, the bearing 52 is connected to the connecting rod 61, and the connecting rod 61 is connected to the clutch driver 62. The clutch driver 62 is connected to the control mechanism 40 and operates under the control of the control mechanism 40.

[0060] When the dial 50 and the hollow shaft are in a non-contact state, the rotation of the central shaft 15 of the traveling wheel will not drive the hollow shaft to rotate, and thus will not drive the driving wheel 21 of the auxiliary traveling mechanism to rotate. At this time, the auxiliary traveling mechanism is in a stopped state.

[0061] When the auxiliary travel mechanism needs to be started, the control mechanism 40 controls the clutch driver 62 to start, and the clutch driver 62 drives the dial 50 to move toward the direction close to the hollow shaft through the connecting rod 61 and the bearing 52, and finally, the protrusion 51 on the dial 50 is inserted into the groove 16 of the hollow shaft. Since the dial 50 rotates with the central shaft 15 of the travel wheel of the main travel mechanism 10, during the rotation of the dial 50, on the one hand, the dial 50 drives the hollow shaft to rotate through the friction between the end face and the end face of the hollow shaft, and on the other hand, the dial 50 drives the hollow shaft to rotate through the protrusion 51. That is, the central shaft 15 of the travel wheel of the main travel mechanism 10 drives the hollow shaft to rotate through the dial 50, thereby driving the driving wheel 21 of the auxiliary travel mechanism to rotate, so that the auxiliary travel mechanism operates.

[0062] When it is necessary to stop the auxiliary walking mechanism, the control mechanism 40 controls the clutch driver 62 to drive the connecting rod 61 to move in the opposite direction, so that the dial 50 moves away from the hollow shaft. After the protrusion 51 of the dial 50 is completely disengaged from the groove 16 of the hollow shaft, the transmission of the central shaft 15 of the walking wheel and the driving wheel 21 is disconnected.

[0063] The driving wheel 21 is connected to the connecting frame 22 via a second clutch, and the second clutch is connected to the control mechanism 40. The control mechanism 40 can hinge or fix the driving wheel 21 to the connecting frame 22 via the second clutch.

[0064] When the driving wheel 21 is connected to the connecting frame 22 through the second clutch, during the operation of the main traveling mechanism 10, the central axis 15 of the traveling wheel drives the connecting frame 22 to rotate, thereby changing the angle of the left traveling portion 20 or the right traveling portion 30 corresponding to the connecting frame 22. When the traveling wheel is separated from the connecting frame 22 through the second clutch, the connecting frame 22 remains in the current position, that is, the connecting frame 22 will not swing with the rotation of the traveling wheel.

[0065] The second clutch may have the same or similar structure as the clutch used in the gear shifting system of a bicycle, or the second clutch may have the same or similar structure as the first clutch. When the second clutch has the same or similar structure as the first clutch, a sleeve is provided on the connecting frame 22, and a groove 16 is provided on the sleeve. The sleeve is a structure on the connecting frame 22 corresponding to the dial 50. The dial 50 drives the sleeve to rotate, thereby driving the connecting frame 22 to rotate.

[0066] In a preferred embodiment of the present application, the auxiliary walking mechanism is connected or separated from the walking wheel of the main walking mechanism 10 through a first clutch, so that the auxiliary walking mechanism can be driven by the walking wheel of the main walking mechanism 10. The auxiliary walking mechanism is connected to the main walking mechanism 10 through a second driver, so that the auxiliary walking mechanism swings relative to the main walking mechanism 10 under the drive of the second driver.

[0067] In a preferred implementation of this embodiment, the auxiliary walking mechanism is provided with a second resistance sensor, and the second resistance sensor is connected to the control mechanism 40. In this way, the control mechanism 40 can judge whether the auxiliary walking mechanism has contacted the road surface through the signal fed back by the second resistance sensor, and make a comprehensive judgment through the signals fed back by the first resistance sensor and the second sensor to judge whether to change the start / stop state and angle of the auxiliary walking mechanism.

[0068] Preferably, if Figure 4 and Figure 5 As shown, a supporting member 70 is provided on the side of the main traveling mechanism 10 ; when the auxiliary traveling mechanism is in a non-working state, the auxiliary traveling mechanism is mounted on the supporting member 70 .

[0069] Specifically, the supporting member 70 can be connected to the outside of the side plate 14, and the supporting member 70 is used to provide auxiliary support to the auxiliary walking mechanism when the auxiliary walking mechanism is in the initial position. Figure 5 In the figure, supporting members 70 are respectively provided on the left and right sides of the main walking mechanism 10. When the auxiliary walking mechanism is in the initial position, the supporting member 70 on the left side is located below the free end of the left walking part 20, and supports the left walking part 20; the supporting member 70 on the right side is located below the free end of the right walking part 30, and supports the right walking part 30.

[0070] The supporting member 70 can be a plate-shaped structure, a rod-shaped structure, a block-shaped structure or a frame structure. On the same side of the main walking mechanism 10, multiple supporting members 70 can be arranged along the side plate 14 at intervals to support multiple positions of the auxiliary walking mechanism.

[0071] Second embodiment

[0072] This embodiment provides a vehicle, which includes the crawler-type walking device provided in the first embodiment. The vehicle provided in this embodiment can be a construction vehicle, such as an excavator.

[0073] Since the crawler-type walking device provided in the first embodiment is adopted in the vehicle, the contact area between the vehicle and the ground can be changed according to the terrain during the driving process of the vehicle, thereby adapting to the movement of different terrains.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A crawler-type walking device, characterized in that: The invention comprises a control mechanism, a main walking mechanism and an auxiliary walking mechanism, wherein the auxiliary walking mechanism is hinged with the main walking mechanism, the main walking mechanism is provided with a first resistance sensor, the first resistance sensor and the auxiliary walking mechanism are respectively connected with the control mechanism, and the control mechanism is used to control the auxiliary walking mechanism to swing relative to the main walking mechanism according to the resistance signal fed back by the first resistance sensor, so as to change the angle between the auxiliary walking mechanism and the main walking mechanism; The control mechanism is also used to control the start and stop of the auxiliary walking mechanism; The auxiliary walking mechanism is provided with a second resistance sensor, and the second resistance sensor is connected to the control mechanism. The control mechanism determines whether the auxiliary walking mechanism has contacted with the road surface through the signal fed back by the second resistance sensor, and makes a comprehensive judgment through the signals fed back by the first resistance sensor and the second resistance sensor to determine whether to change the start / stop state and angle of the auxiliary walking mechanism; When encountering a steep slope, the control mechanism controls the auxiliary walking mechanism to swing relative to the main walking mechanism so that the angle of the auxiliary walking mechanism is consistent with the angle of the steep slope, so that the auxiliary walking mechanism contacts the slope surface of the steep slope, and the control mechanism controls the auxiliary walking mechanism to start.

2. The crawler-type walking device according to claim 1, characterized in that: The auxiliary walking mechanism is provided with an angle sensor, and the angle sensor is connected to the control mechanism.

3. The crawler-type walking device according to claim 1, characterized in that: The main walking mechanism comprises a crawler chassis, the crawler chassis comprises walking wheels and side plates, the walking wheels are rotatably connected to the side plates, and the auxiliary walking mechanism is installed on the side plates.

4. The crawler-type walking device according to claim 3, characterized in that: The auxiliary walking mechanism includes a left walking part and a right walking part. The left walking part is installed on the left side of the travel direction of the main walking mechanism, and the right walking part is installed on the right side of the travel direction of the main walking mechanism. The left walking part and the right walking part are respectively connected to the control mechanism.

5. The crawler-type walking device according to claim 4, characterized in that: The left walking unit and the right walking unit are respectively connected to the control mechanism, and the control mechanism can control the left walking unit and the right walking unit to operate synchronously.

6. The crawler-type walking device according to claim 4, characterized in that: The left walking part includes a connecting frame, a driving wheel and a transmission wheel, wherein the driving wheel and the transmission wheel are respectively installed on the connecting frame, and both the driving wheel and the transmission wheel can rotate relative to the connecting frame; an auxiliary crawler structure is arranged between the driving wheel and the transmission wheel; the right walking part has the same structure as the left walking part.

7. The crawler-type walking device according to claim 6, characterized in that: The central axis of the driving wheel is connected to the central axis of the traveling wheel via a first clutch, and the first clutch is connected to the control mechanism. The control mechanism can connect or disconnect the central axis of the driving wheel with the central axis of the traveling wheel via the first clutch.

8. The crawler-type walking device according to claim 1, characterized in that: A supporting member is arranged on the side of the main walking mechanism; when the auxiliary walking mechanism is in a non-working state, the auxiliary walking mechanism is mounted on the supporting member.

9. A vehicle, characterized in that: It comprises the crawler-type walking device described in any one of claims 1-8.

Images