Tracked movement system and moving device

Abstract

The present invention discloses a crawler moving system and a moving device, wherein the crawler moving system comprises a crawler and a crawler wheel, wherein the crawler comprises a first crawler and a second crawler both mounted on the crawler wheel; in the width direction of the crawler, the first crawler is arranged on one side of the crawler, and the second crawler is arranged on the other side of the crawler; the first crawler and the second crawler overlap each other: the side of the first crawler close to the second crawler and the side of the second crawler close to the first crawler have overlapping sections overlapping each other, and the width of the overlapping sections is adjustable. The crawler moving system structure design provided by the present solution can effectively improve the adaptability of the crawler moving system to the road surface. The moving device shown comprises the crawler moving system.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile devices, and in particular to a crawler mobile system and a mobile device. Background Art

[0002] Tracked mobile mechanisms have the characteristics of large ground contact pressure, large traction, strong passability and adaptability in complex terrain environments, and can be used in heavy or dangerous work such as transportation, reconnaissance, bomb disposal, search and rescue. Therefore, the research and development on tracked mobile mechanisms is relatively rapid, and the demand for them is also increasing.

[0003] Specifically, in some special application environments such as military and emergency rescue, it is necessary to further improve the passing ability and rapid response ability of crawler mobile robots. In the existing technical solutions, the patent document with the publication (announcement) number CN 110723225 A proposes a multi-degree-of-freedom four-track walking device for underwater mining, which can realize adaptive movement by adding a hydraulic cylinder and setting the crawler to rotate within a certain angle around the suspension bracket plate.

[0004] In the patent document with the publication (announcement) number CN 101850792 A, a universal tracked mobile platform for military robots is proposed, which flexibly adjusts the center of gravity distribution and position posture by adding additional track modules, and has the characteristics of increasing the mobility and usage functions of the tracked mobile platform.

[0005] The patent document with application number CN201410036604.1 discloses a track wheel with adjustable contact area and tightness. Compared with the traditional fixed structure track wheel, by setting the contact area adjustment mechanism, the vehicle can have high maneuverability and high passability, and by setting the track tensioning mechanism, the track can be tensioned and relaxed; the patent application document with application number CN202010626158.5 discloses a leg-type and track-type composite mobile mechanism for dredging equipment, which is essentially a track-type device arranged on the bottom side of the leg-type structure to achieve the purpose of leg-type and track-type composite movement; the patent application document with application number CN200980108909.6 provides a technical solution for changing the width of the corresponding vehicle by changing the distance between the first track assembly and the second track assembly.

[0006] Further optimization of the structure of the crawler mobile mechanism can further improve its demand-meeting capability on the basis of existing technology, which is of promoting significance to the development of the crawler mobile mechanism. Summary of the invention

[0007] In view of the above-mentioned technical problem of further optimizing the structure of the crawler mobile mechanism to further improve its demand-satisfying ability on the basis of the existing technology and promoting the development of the crawler mobile mechanism, the present invention provides a crawler mobile system and a mobile device. The mobile device adopts the crawler mobile system as its crawler walking component, and adopts the crawler mobile system structure design provided by the solution, which can effectively improve the crawler mobile system's adaptability to the road surface.

[0008] In view of the above problems, the crawler moving system and moving device provided by the present invention solve the problems through the following technical points: the crawler moving system includes a crawler and a crawler wheel, the crawler includes a first crawler and a second crawler both mounted on the crawler wheel;

[0009] In the width direction of the crawler, the first crawler is arranged on one side of the crawler, and the second crawler is arranged on the other side of the crawler;

[0010] The first crawler track and the second crawler track overlap each other: a side of the first crawler track close to the second crawler track and a side of the second crawler track close to the first crawler track have overlapping sections overlapping each other, and the width of the overlapping sections is adjustable.

[0011] In the prior art, the crawler moving system, as the walking device of the mobile device, plays an important role in many terrains. In terms of structural composition, the existing crawler moving system includes a crawler frame, crawler wheels installed on the crawler frame, and crawlers stretched on the crawler wheels. The existing crawler includes a plurality of crawler plates (chain plates) and (chain pins) connecting the crawler plates. The crawler plates are connected in series through the crawler pins to form a crawler chain. Generally, only a single crawler chain is engaged on the crawler wheels.

[0012] Different from the prior art, this solution is set up with a first crawler and a second crawler on the crawler wheel. It can be understood that the first crawler and the second crawler are both a complete crawler chain. At the same time, this solution describes the situation where the first crawler and the second crawler are included in the width direction of the crawler. However, in specific implementation, the crawler chain with two overlapping sections in the width direction of the crawler is greater than or equal to 2 and belongs to the same concept as this solution. At the same time, the adjustable overlapping section width proposed above is actually limiting the mutual cooperation relationship between the first crawler and the second crawler and the assembly method on the crawler wheel. For example, the shape and cooperation relationship of the first crawler and the second crawler with an overlapping relationship need to meet the purpose of adjustable overlapping section width; the meshing relationship between the crawler wheel and the first crawler and the second crawler needs to meet the purpose of adjustable overlapping section width. The specific technical solution is that, if the width direction of the track is defined along the left-right direction, the first track and the second track are arranged in a left-right relationship with each other, and the first track and the second track have an overlapping section. By adjusting the width of the overlapping section, in the left-right direction, the first track and the second track move toward and away from each other, thereby ultimately achieving the purpose of adjusting the track width.

[0013] At the same time, the purpose of proposing the above concept is: when this scheme is traveling on different road surfaces, for different road surfaces, by completing the configuration conversion of different track widths, the purpose of improving the road adaptability of the track mobile system. For example: when this scheme passes through soft road surfaces, if the force area of ​​the track cannot be changed, the corresponding mobile device is at risk of sinking. At this time, through manual or other means, the first track and the second track are made to move in reverse, resulting in a configuration conversion: the width of the overlapping section decreases, the effective length of the track plate increases, and the contact area of ​​the track increases. In this way, the pressure of the track plate can be reduced, that is, by reducing the amount of sinking, the purpose of adapting to more working conditions (such as unstructured roads) can be achieved. At the same time, a wider track can also improve the stability margin of the mobile device. At the same time, when passing through soft roads, due to the low stiffness of this type of terrain, the loss of the walking mechanism is not obvious. Compared with the existing track form, this scheme adopts a scheme that does not set the track as an integral structure, aiming to address the following problems:

[0014] For example, in order to make the crawler tracks adapt to soft roads, the crawler tracks are set to always maintain a wider width.

[0015] 1. Driving performance will decrease, and the structural life of track shoes and other components will also decrease;

[0016] 2. The wider the track shoe, the greater the friction with the ground, and the greater the power loss caused during driving;

[0017] 3. It is not conducive to track steering;

[0018] 4. It is not good for the stiffness of the track. As the stiffness decreases, it will not only accelerate the wear and power loss of the track, but also be detrimental to the increase in the track's travel speed.

[0019] By adopting the above scheme, when passing through soft ground such as deserts and swamps, the track width is increased by adjusting the width of the overlapping section. The specific increase is determined according to the amount of sinking, the softness of the ground, the load, etc. As the hardness and stiffness of the ground increase, such as when driving on relatively hard surfaces such as rocks and Gobi, the width of the overlapping section is adjusted to reduce the track width. The narrower track can improve the maneuverability of the mobile device, increase the stiffness of the track mobile system mechanism, extend the service life of the mechanism, and reduce the movement resistance of the platform.

[0020] In summary, the structural design proposed in this scheme can not only increase the ground passing performance and stability margin of the crawler mobile system, but also take into account its driving performance, wear speed and other characteristics.

[0021] As a further technical solution of the crawler moving system:

[0022] Since the surface of the crawler track that contacts the ground changes with the rotation of the crawler track when the crawler moving system is working, in order to achieve the above-mentioned purpose of increasing the ground contact area to reduce the sinking amount, it is only necessary that the crawler track has overlapping sections or intermittent overlapping sections at the time of contact with the ground during the rotation process. Therefore, the above overlapping sections can be complete rings around the circumference of the crawler track, or can be discontinuous sections around the circumference of the crawler track. These sections can be supported on the road surface as the crawler track rotates to achieve the corresponding purpose. As a technical solution that enables the crawler moving device to adjust the ground contact area of ​​the crawler track at any time during operation, it is set as follows: at each position along the length direction of the crawler track, the first crawler track and the second crawler track are overlapped with each other. Under the concept of changing the ground contact area provided by the present solution, when there are intermittent overlapping sections on the crawler, it can be adjusted to be controlled by the driving trajectory of the mobile device. When passing through a soft area, the overlapping sections on the crawler can be used to provide support to pass through the soft area. The spacing between adjacent overlapping sections can also be designed according to the ground contact length of the crawler, so that there are overlapping sections in contact with the ground at any time. The specific spacing can be determined according to the length of the overlapping sections and the ground contact length of the crawler. It is set that at each position along the length direction of the crawler, the first crawler and the second crawler are overlapped with each other. In this way, when any section on the crawler touches the ground, the structural feature of the overlapping section on the section can be used to increase the width of the crawler. Compared with the intermittent overlapping sections on the circumference of the crawler, there is no such scheme as the intermittent overlapping sections. The ground in front and behind the traveling direction of the overlapping section will be raised relative to the ground at the position of the overlapping section to increase the driving resistance of the crawler, resulting in a decrease in the smoothness of the movement of the mobile system. Regarding the understanding that the first crawler and the second crawler overlap each other at each position along the length direction of the crawler, it should be understood that: due to the structural configuration determined by the movement characteristics of the crawler, it is necessary to design a crawler plate that can rotate relatively. Therefore, if the following scheme of using the slide groove to achieve mutual overlap is adopted, along the extension direction of the crawler, there still needs to be a gap between the crawler plates on the overlapping section. Based on such a structural configuration, it is understood that the gap is not an uneven gap along the length direction of the crawler. At the same time, according to the selected crawler plate width, the width of the gap is only used to adapt to the deformation of the crawler, and the crawler plate that is not suitable for embedding another crawler is that each position has an overlapping relationship between the first crawler and the second crawler. Corresponding to the overlapping of each position above, it can also be specifically implemented as the crawler intermittently having overlapping sections as mentioned above. In this way, by using the ground bulge before and after the overlapping section relative to the overlapping section position, by sacrificing power consumption and stability, it can be used to improve the anti-skid ability of the mobile device when traveling on soft ground.

[0023] When realizing the overlapping configuration, those skilled in the art may set it such that the first crawler is overlapped on the top of the second crawler, but this method has the following problems: the flatness of the bottom surface of the crawler is reduced, which is not conducive to the control of the crawler sinking amount; the first crawler and the second crawler are subjected to uneven force, which is not conducive to the overall life control of the crawler; the crawler is in a loose state in the upper section during the rotation process, and the crawler plates need to have the ability to move relative to each other, and the crawler plates in the overlapping section also need to have this ability to move relative to each other. If only the stacking measure is adopted, the first crawler and the second crawler may be excessively worn due to the looseness, and abnormal meshing may cause the chain to get stuck, etc. Therefore, as a preferred solution, it is set as follows: both the first crawler and the second crawler are provided with a slide groove extending in the width direction of the crawler, and the slide groove is formed on each crawler plate or between adjacent crawler plates;

[0024] The overlapping method is: the track shoe of any one is embedded in the slide groove of the other;

[0025] The adjustable width is achieved by adjusting the embedding depth of the track shoe in the chute. With this solution, the adjacent sides of the first track and the second track are mutually embedded through the chute to achieve mutual overlap, and the width of the overlapping section can be changed by changing the embedding depth to achieve the purpose of track width adjustment. With the structural configuration provided by this solution, a flat track bottom surface can be obtained, which is conducive to the control of the amount of sinking and uniform force control. Due to the existence of the chute, for the track shoe embedded in the chute, the chute can reduce the amount of slippage of the track shoe on the first track and the second track during operation, which is beneficial to the control of wear speed. By constraining the track shoe embedded in the chute, abnormal engagement causing chain jamming and the like can be avoided to a certain extent. By constraining the track shoe embedded in the chute, the overall rigidity of the track can be maintained to a certain extent, which is conducive to its driving performance and wear speed.

[0026] Regarding the proposed track forming position, for the track plates of the first track and the second track on the overlapping section, when formed between adjacent track plates, the gap between the track plates can be used to provide partial or full slide grooves, so that a denser track plate arrangement can be obtained, which is not only convenient for track plate processing, but also beneficial for maintaining the strength and stiffness of the track plates. However, this method will accelerate the change in the matching accuracy between the track plates on the first track and the track plates on the second track after the wear of the track pin friction pair. Another method is to form the slide groove on the track plate, which requires a greater change in the structure of the track plate compared to the existing track plate form, and will also weaken the stiffness of the track plate more than the former, but the change in the matching accuracy will not be affected by the wear of the track pin friction pair. Those skilled in the art can select a suitable slide groove acquisition method according to the specific track design.

[0027] Furthermore, since the chute may be embedded with soil, gravel, etc., in order to reduce the resistance of the crawler track during the change of the structural form of narrowing the width, the chute is set to be a through groove. In this way, in the process of narrowing the width, foreign matter in the chute can be removed through the end of the chute to reduce the resistance of the first crawler track and the second crawler track to each other. This method is suitable for the chute to be formed between adjacent track shoes, and the natural arrangement of the track shoes is used to achieve the above purpose; otherwise, based on this concept, when the chute is formed on the track shoe, it is set as follows: in the first crawler track and the second crawler track, one end of the chute on each of the two tracks close to the other passes through the track shoe up and down, and the other end is provided with a slope extending from the bottom side of the track shoe to the top side, and the top side of the slope is located on the side close to the side of the crawler track. In this way, on the basis of ensuring the configuration of the track shoe, it is not only convenient to achieve the above-mentioned purpose of removing foreign matter, but also the foreign matter is pushed out to the upward side, so the removal resistance is relatively small.

[0028] As mentioned above, since it is necessary to maintain a state in which adjacent track shoes can move relative to each other, and the track movement process will also cause a relaxation stage on the track section, if only the above-mentioned slide groove embedding method is used, the track shoe may be moved out of the corresponding slide groove, and after the move out, the track is pulled and deformed, and the first track and the second track cannot be restored to the meshing state of overlapping through the slide groove. To solve this problem, it is preferably configured as follows: the side wall of the slide groove is also provided with a strip edge or a strip groove, and the side wall of the track shoe embedded in the slide groove is also provided with a strip groove or a strip edge, and the length direction of the strip edge and the strip groove is along the width direction of the track;

[0029] When the side wall of the chute is provided with a strip edge and the side wall of the track shoe embedded in the chute is provided with a strip groove, the strip edge is embedded in the strip groove, and the shapes of the strip edge and the strip groove satisfy: the position of the track shoe in the height direction of the chute is limited by the mutual constraint between the strip edge and the strip groove;

[0030] When the side wall of the chute is provided with a strip groove and the side wall of the track shoe embedded in the chute is provided with a strip rib, the strip rib is embedded in the strip groove, and the shapes of the strip rib and the strip groove satisfy: the position of the track shoe in the height direction of the chute is limited by the mutual constraint between the strip rib and the strip groove. It can be understood that in the above scheme, if the side wall of the chute is provided with a strip rib, a strip groove is provided on the track shoe embedded therein; if the side wall of the chute is provided with a strip groove, a strip rib is provided on the track shoe embedded therein, and the strip rib is meshed with the strip groove, so that the matching body formed by the track shoe of the first track and the track shoe of the second track is a strip structure with adjustable length, and at the same time, through the mutual constraint between the strip rib and the strip groove, the matching body can only change in length and will not be separated from the chute due to the tilting of any track shoe. As for the purpose of preventing separation mentioned above, it is actually to limit the cross-sectional shape of the strip groove and the strip rib. In the prior art, there are various cross-sectional forms that meet this function, and the strip rib can be sheared under the constraint of the strip groove to avoid the corresponding track plate from tilting, including the T-shaped one proposed below, and a straight strip type can also be used. Preferably, in order to reduce the movable amount of the track plate in the width direction of the slide groove to ensure the rigidity of the track plate and reduce the wear rate, it is set as follows: the form of the strip rib and the strip groove can limit the slippage of the track plate forming the matching body in the width direction of the slide groove, such as the width of the strip groove notch side is not the maximum width of the strip groove, the shape of the strip rib is adapted to the strip groove, and the specific form can be T-shaped, dovetail, polygonal, etc.

[0031] As a technical solution with simple processing technology, which not only has the function of preventing warping, but also has the function of limiting the movable amount in the width direction of the slide slot, it is set as follows: the strip groove is a T-slot, and the strip edge is a T-edge. In specific implementation, in order to facilitate the removal of foreign matter, the T-edge is a convex structure on the corresponding track shoe, and the T-slot is a through slot with both ends open.

[0032] Under the above concept, the configuration of the track wheel can be set as an integral structure. In order to adapt to the power transmission after the track becomes wider and the overall stiffness of the track, it is preferred to extend the length of the track wheel. At this time, the width of the track can be adjusted by other actuators or manually, but the longer track wheel in any state is not conducive to the width control of the mobile device. As a technical solution with a simple structure that enables the track wheel to change with the width of the track and be adjusted to a length that is compatible with the length of the track, it is set as follows: the track wheel includes a telescopic mechanism with adjustable length, and pulleys are installed at both ends of the telescopic mechanism. When the telescopic mechanism is extended or retracted, the distance between the pulleys at both ends of the telescopic mechanism changes;

[0033] The first crawler is engaged with a pulley at one end of the crawler wheel, and the second crawler is engaged with a pulley at the other end of the crawler wheel. In this solution, the pulley is used to stretch the first crawler and the second crawler, and the change in the distance between the pulleys caused by the telescopic mechanism can adapt to the change in the width of the crawler, which is not only conducive to maintaining the rigidity of the crawler under different crawler widths, but also convenient for controlling the width of the bottom side of the mobile device.

[0034] As a technical solution with a simple structure, a simple control system design and high reliability, and the track width can be adjusted by using track wheels, it is set as follows: the telescopic mechanism is a hydraulic telescopic mechanism;

[0035] The first crawler and the second crawler are each provided with a rib on one side for meshing with the corresponding pulley. During the telescopic action of the telescopic mechanism, the width of the overlapping section is adjusted by pushing the side of the rib with the end face of the pulley. In this solution, when the crawler needs to be adjusted to be wider, the hydraulic telescopic mechanism is extended, and the outer side of each pulley pushes the rib on the outer side of the corresponding crawler, so that the crawler is wider as a whole; when the crawler needs to be adjusted to be narrower, the hydraulic telescopic mechanism is shortened, and the inner side of each pulley pushes the rib on the inner side of the corresponding crawler, so that the crawler is wider as a whole.

[0036] This solution also discloses a mobile device, including a device frame and a traveling device installed on the device frame, wherein the traveling device includes a crawler moving system as described in any one of the above. This solution is a specific application of the crawler moving system, and provides a mobile device using the crawler moving system. The structural configuration of the crawler moving system enables the mobile device to have strong ground adaptability and take into account the wear amount and driving performance of the traveling device.

[0037] As a further technical solution of the mobile device:

[0038] As a technical solution for changing the crawler shape by changing the spacing between the crawler wheels to enrich the crawler support form, so as to further improve the adaptability of the mobile device to the ground, and at the same time, through the crawler tension adjustment device, under the condition of maintaining the contact length between the crawler and the ground and the support height of the crawler moving system for the mobile device, the tension borne by the crawler is maintained to facilitate the maintenance of the crawler life, the crawler moving system is configured as follows: the crawler moving system includes a crawler frame, the crawler is installed on the crawler frame, and the crawler moving system is connected to the device frame through the crawler frame;

[0039] The shape of the crawler frame is adjustable, and the relative positions of the crawler wheels on the crawler frame are changed by adjusting the shape of the crawler frame;

[0040] The track frame is also equipped with a track tension adjustment device, which is used to adjust the tension of the track in any state of the track frame. In this solution, a specific method of assembling a track moving system on a moving device is first proposed, and a technical solution is provided to enrich the track support form by making the track frame form adjustable, and a technical solution is provided to adjust the tension of the track by setting a track tension adjustment device without changing the track frame form.

[0041] More specifically, in order to improve the turning ability and the adaptability to uneven ground of the mobile device, it is configured as follows: the crawler moving system includes a crawler frame, the crawler is mounted on the crawler frame, and the crawler moving system is connected to the device frame through the crawler frame;

[0042] A steering mechanism is also provided between the crawler frame and the device frame, and the steering mechanism includes a plurality of steering joints, each of which is provided with a rotating shaft;

[0043] The steering joint includes a first joint, a second joint and a third joint, the first joint is provided with a first rotating shaft parallel to the width direction of the device frame, the second joint is provided with a second rotating shaft parallel to the height direction of the device frame, and the third joint is provided with a third rotating shaft parallel to the length direction of the device frame;

[0044] The track frame can rotate around the first rotating shaft, the second rotating shaft and the third rotating shaft. In this solution, the rotation occurring at each rotating shaft position can be adjusted and locked manually, or can be adjusted and locked by actuators such as corresponding motors installed on the moving device. The multi-degree-of-freedom design can optimize the flexibility and road passability of this solution, such as: the rotation of the track moving system around the first rotating shaft can adjust the front and rear slopes of the track to adapt to obstacles; the rotation of the track moving system around the second rotating shaft can be used for non-traditional steering of the track; the rotation of the track moving system around the third rotating shaft can adjust the fit of the track with the ground in the width direction, adapt to the inclined slope in the width direction of the track, and enhance the stability of the driving process through adaptive fit.

[0045] The present invention has the following beneficial effects:

[0046] This solution provides a crawler mobile system and mobile device. The structural design of the crawler mobile device has the following characteristics: when passing through soft ground such as deserts and swamps, the width of the track is increased by adjusting the width of the overlapping section. The specific increase is determined according to the amount of sinking, the softness of the ground, the load, etc. As the hardness and stiffness of the ground increase, such as when driving on relatively hard surfaces such as rocks and Gobi, the width of the track is reduced by adjusting the width of the overlapping section. The narrowed track can improve the maneuverability of the mobile device, increase the stiffness of the crawler mobile system mechanism, extend the service life of the mechanism, and reduce the movement resistance of the platform. The crawler mobile system structural design proposed in this solution can not only increase the ground passing performance and stability margin of the crawler mobile system, but also take into account its driving performance, wear rate, etc.

[0047] The moving device is a specific application of a crawler moving system as a traveling device of the moving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic diagram of the structure of a specific embodiment of the mobile device described in this solution;

[0049] Figure 2 This is a structural schematic diagram of a travel drive system in a specific embodiment of the mobile device described in this solution;

[0050] Figure 3 This is a structural schematic diagram of a crawler moving system in a specific embodiment of the moving device described in this solution;

[0051] Figure 4 This is a schematic diagram of the structure of a crawler moving system in a specific embodiment of the mobile device described in this solution, which is different from Figure 3 , the track tension adjustment device is in different states;

[0052] Figure 5 This is a schematic diagram of the structure of a crawler moving system in a specific embodiment of the mobile device described in this solution, which is different from Figure 3 , the viewport position of the schematic diagram is different;

[0053] Figure 6 This is a schematic diagram of a partial structure of a crawler moving system in a specific embodiment of the mobile device described in this solution, which is used to show the form of the crawler and the matching relationship between the crawler and the crawler wheel;

[0054] Figure 7 This is a schematic diagram of the partial structure of the crawler moving system in a specific embodiment of the mobile device described in this solution, which is used to show the form of the crawler and the matching relationship between the crawler and the crawler wheel. Figure 6 , track width increased;

[0055] Figure 8 This is a schematic diagram of the structure of the second crawler in a specific embodiment of the mobile device described in this solution. In this embodiment, a T-shaped groove is provided on the crawler plate;

[0056] Fig. 9 This is a schematic diagram of the structure of a first crawler in a specific embodiment of the mobile device described in this solution. In this embodiment, a T-shaped edge is provided on the crawler plate;

[0057] Fig.10 This is a schematic diagram of the partial structure of the crawler moving system in a specific embodiment of the mobile device described in this solution, which is used to show the form of the crawler and the matching relationship between the crawler and the crawler wheel, which is different from Figure 6 and Figure 7 , the overlapping section covers the full length of the track;

[0058] Fig.11 This is a schematic diagram of the partial structure of the crawler moving system in a specific embodiment of the mobile device described in this solution, which is used to show the form of the crawler and the matching relationship between the crawler and the crawler wheel, which is different from Figure 6 and Figure 7 , the overlapping section covers the entire length of the track, relative to Fig.10 , the track width is reduced;

[0059] Fig.12 This is the liquid circuit diagram described in Example 8.

[0060] The reference numerals in the accompanying drawings are respectively: 1. drive system, 101. fixed frame, 102. slide rail, 103. first slider, 104. drive motor, 105. crank, 106. connecting rod, 107. first spindle, 108. second slider, 109. pressure wheel, 1010. slider groove, 11. track assembly, 1101. first track, 1102. second track, 12. track support assembly, 1201. fixed seat, 1202. first telescopic rod, 1203. first track wheel, 1204. second telescopic rod, 1205. second track wheel, 1206. third telescopic rod, 1207. third track wheel, 2. walking drive system, 201. first joint, 202. second joint, 203. third joint, 204. second spindle, 3. frame. DETAILED DESCRIPTION

[0061] The present invention is further described in detail below in conjunction with embodiments, but the present invention is not limited to the following embodiments:

[0062] Embodiment 1:

[0063] like Figures 1 to 11 As shown, the crawler moving system includes a crawler and a crawler wheel, wherein the crawler includes a first crawler 1101 and a second crawler 1102 both mounted on the crawler wheel;

[0064] In the width direction of the crawler, the first crawler 1101 is arranged on one side of the crawler, and the second crawler 1102 is arranged on the other side of the crawler;

[0065] The first crawler 1101 and the second crawler 1102 overlap each other: a side of the first crawler 1101 close to the second crawler 1102 and a side of the second crawler 1102 close to the first crawler 1101 have overlapping sections that overlap each other, and the width of the overlapping sections is adjustable.

[0066] In the prior art, the crawler moving system, as the walking device of the mobile device, plays an important role in many terrains. In terms of structural composition, the existing crawler moving system includes a crawler frame, crawler wheels installed on the crawler frame, and crawlers stretched on the crawler wheels. The existing crawler includes a plurality of crawler plates (chain plates) and (chain pins) connecting the crawler plates. The crawler plates are connected in series through the crawler pins to form a crawler chain. Generally, only a single crawler chain is engaged on the crawler wheels.

[0067] Different from the prior art, this solution is set up as a first crawler 1101 and a second crawler 1102 are stretched on the crawler wheel. It can be understood that the first crawler 1101 and the second crawler 1102 are both a complete crawler chain. At the same time, this solution describes the situation where the first crawler 1101 and the second crawler 1102 are included in the width direction of the crawler. However, in the specific implementation, the crawler chain with two overlapping sections in the width direction of the crawler is greater than or equal to 2 and belongs to the same concept as this solution. At the same time, the above-mentioned adjustable overlapping section width is actually to limit the mutual cooperation relationship between the first crawler 1101 and the second crawler 1102 and the assembly method on the crawler wheel, such as the shape and cooperation relationship of the first crawler 1101 and the second crawler 1102 with an overlapping relationship need to meet the purpose of adjustable overlapping section width; the meshing relationship between the crawler wheel and the first crawler 1101 and the second crawler 1102 needs to meet the purpose of adjustable overlapping section width. The specific technical solution is that, if the width direction of the track is defined along the left-right direction, the first track 1101 and the second track 1102 are arranged in a left-right relationship with each other, and the first track 1101 and the second track 1102 have an overlapping section. By adjusting the width of the overlapping section, in the left-right direction, the first track 1101 and the second track 1102 move toward and away from each other, thereby ultimately achieving the purpose of adjusting the track width.

[0068] At the same time, the purpose of proposing the above concept is: when this scheme is traveling on different road surfaces, for different road surfaces, by completing the configuration conversion of different track widths, the purpose of improving the road adaptability of the track mobile system. For example: when this scheme passes through soft road surfaces, if the force area of ​​the track cannot be changed, the corresponding mobile device has the risk of sinking. At this time, through manual or other means, the first track 1101 and the second track 1102 are caused to move in reverse, resulting in a configuration conversion: the width of the overlapping section decreases, the effective length of the track plate increases, and the contact area of ​​the track increases. In this way, the pressure of the track plate can be reduced, that is, by reducing the amount of sinking, the purpose of adapting to more working conditions (such as unstructured roads) can be achieved. At the same time, a wider track can also improve the stability margin of the mobile device. At the same time, when passing through soft roads, due to the low stiffness of this type of terrain, the loss of the walking mechanism is not obvious. Compared with the existing track form, this scheme adopts a scheme that does not set the track as an integral structure, aiming to address the following problems:

[0069] For example, in order to make the crawler tracks adapt to soft roads, the crawler tracks are set to always maintain a wider width.

[0070] 1. Driving performance will decrease, and the structural life of track shoes and other components will also decrease;

[0071] 2. The wider the track shoe, the greater the friction with the ground, and the greater the power loss caused during driving;

[0072] 3. It is not conducive to track steering;

[0073] 4. It is not good for the stiffness of the track. As the stiffness decreases, it will not only accelerate the wear and power loss of the track, but also be detrimental to the increase in the track's travel speed.

[0074] By adopting the above scheme, when passing through soft ground such as deserts and swamps, the track width is increased by adjusting the width of the overlapping section. The specific increase is determined according to the amount of sinking, the softness of the ground, the load, etc. As the hardness and stiffness of the ground increase, such as when driving on relatively hard surfaces such as rocks and Gobi, the width of the overlapping section is adjusted to reduce the track width. The narrower track can improve the maneuverability of the mobile device, increase the stiffness of the track mobile system mechanism, extend the service life of the mechanism, and reduce the movement resistance of the platform.

[0075] In summary, the structural design proposed in this scheme can not only increase the ground passing performance and stability margin of the crawler mobile system, but also take into account its driving performance, wear speed and other characteristics.

[0076] Embodiment 2:

[0077] This embodiment is further optimized on the basis of embodiment 1:

[0078] Since the surface of the crawler track that contacts the ground changes with the rotation of the crawler track when the crawler moving system is working, in order to achieve the above-mentioned purpose of increasing the ground contact area to reduce the sinking amount, it is only necessary that the crawler track has overlapping sections or intermittent overlapping sections at all times when it touches the ground during rotation. Therefore, the above overlapping sections can be complete rings around the circumference of the crawler track, or can be discontinuous sections around the circumference of the crawler track. These sections can be supported on the road surface as the crawler track rotates to achieve the corresponding purpose. As a technical solution that enables the crawler moving device to adjust the ground contact area of ​​the crawler track at any time during operation, it is set as follows: at each position along the length direction of the crawler track, the first crawler track 1101 and the second crawler track 1102 are overlapped with each other. Under the concept of changing the ground contact area provided by the present solution, when there are intermittent overlapping sections on the crawler, it can be adjusted to be controlled by the driving trajectory of the mobile device. When passing through the soft area, the overlapping sections on the crawler are used to provide support to pass through the soft area. The spacing between adjacent overlapping sections can also be designed according to the ground contact length of the crawler, so that there are overlapping sections in contact with the ground at any time. The specific spacing can be determined according to the length of the overlapping sections and the ground contact length of the crawler. It is set to be at each position along the length direction of the crawler, and the first crawler 1101 and the second crawler 1102 are overlapped with each other. In this way, when any section on the crawler touches the ground, the structural feature of the overlapping section on the section can be used to increase the width of the crawler. Compared with the intermittent overlapping sections on the circumference of the crawler, there is no such scheme as the intermittent overlapping sections. The ground in front and behind the direction of travel of the overlapping section will be raised relative to the ground at the position of the overlapping section to increase the driving resistance of the crawler, resulting in a decrease in the smoothness of the movement of the mobile system. Regarding the understanding that the first crawler 1101 and the second crawler 1102 overlap each other at each position along the length direction of the crawler, it should be understood that: due to the structural configuration determined by the movement characteristics of the crawler, it is necessary to design a crawler plate that can rotate relatively. Therefore, if the following scheme of using the slide groove to achieve mutual overlap is adopted, along the extension direction of the crawler, there still needs to be a gap between the crawler plates on the overlapping section. Based on such a structural configuration, it is understood that the gap is not an uneven gap along the length direction of the crawler. At the same time, according to the selected crawler plate width, the width of the gap is only used to adapt to the deformation of the crawler, and the crawler plate that is not suitable for embedding another crawler is that each position has an overlapping relationship between the first crawler 1101 and the second crawler 1102. Corresponding to the overlapping of each position above, it can also be specifically implemented as the crawler intermittently having overlapping sections as mentioned above. In this way, by using the ground bulge before and after the overlapping section relative to the overlapping section position, by sacrificing power consumption and stability, it can be used to improve the anti-skid ability of the mobile device when traveling on soft ground.

[0079] Embodiment 3:

[0080] This embodiment is further optimized on the basis of embodiment 1:

[0081] When realizing the overlapping configuration, those skilled in the art may set it such that the first crawler 1101 overlaps the second crawler 1102, but this method has the following problems: the flatness of the bottom surface of the crawler is reduced, which is not conducive to the control of the crawler sinking amount; the first crawler 1101 and the second crawler 1102 are subjected to uneven force, which is not conducive to the overall life control of the crawler; the crawler is in a loose state in the upper section during the rotation process, and the crawler plates need to have the ability to move relative to each other, and the crawler plates in the overlapping section also need to have this relative movement ability. If only stacking measures are adopted, the first crawler 1101 and the second crawler 1102 may be excessively worn due to relaxation, abnormal meshing may cause chain jamming, etc. Therefore, as a preferred solution, it is set as follows: both the first crawler 1101 and the second crawler 1102 are provided with a slide groove extending along the width direction of the crawler, and the slide groove is formed on each crawler plate or between adjacent crawler plates;

[0082] The overlapping method is: the track shoe of any one is embedded in the slide groove of the other;

[0083] The adjustable width is achieved by adjusting the embedding depth of the track shoe in the chute. With this solution, the adjacent sides of the first track 1101 and the second track 1102 are mutually embedded through the chute to achieve mutual overlap, and the width of the overlapping section can be changed by changing the embedding depth to achieve the purpose of track width adjustment. With the structural configuration provided by this solution, a flat track bottom surface can be obtained, which is conducive to the control of the sinking amount and uniform force control. Due to the existence of the chute, for the track shoe embedded in the chute, the chute can reduce the slippage of the track shoe on the first track 1101 and the second track 1102 during operation, which is beneficial to the control of wear speed. By constraining the track shoe embedded in the chute, abnormal engagement can be avoided to a certain extent, resulting in chain jamming, etc. By constraining the track shoe embedded in the chute, the overall stiffness of the track can be maintained to a certain extent, which is conducive to its driving performance and wear speed.

[0084] Regarding the proposed track forming position, for the track plates of the first track 1101 and the second track 1102 on the overlapping section, when formed between adjacent track plates, the gap between the track plates can be used to provide partial or full slide grooves, so that a more compact track plate arrangement can be obtained, which is not only convenient for track plate processing, but also beneficial for maintaining the strength and rigidity of the track plates. However, this method will accelerate the change in the matching accuracy of the track plates on the first track 1101 and the track plates on the second track 1102 after the wear of the track pin friction pair. Another method is to form the slide groove on the track plate, which requires a greater change in the structure of the track plate compared to the existing track plate form, and will also weaken the rigidity of the track plate more than the former, but the change in the matching accuracy will not be affected by the wear of the track pin friction pair. Those skilled in the art can select a suitable slide groove acquisition method according to the specific track design.

[0085] Furthermore, since the chute may be embedded with soil, gravel, etc., in order to make the track have smaller resistance during the process of changing its structural form to narrower width, the chute is set to be a through groove. In this way, during the process of narrowing the width, foreign matter in the chute can be removed through the end of the chute to reduce the resistance of the first track 1101 and the second track 1102 to move toward each other. This method is suitable for the chute to be formed between adjacent track plates, and the natural arrangement of the track plates is used to achieve the purpose; otherwise, based on this concept, when the chute is formed on the track plate, it is set as follows: in the first track 1101 and the second track 1102, one end of the chute on each of the two tracks, which is close to the other, passes through the track plate where it is located, and the other end is provided with a slope extending from the bottom side of the track plate to the top side, and the top side of the slope is located on the side close to the side of the track. In this way, on the basis of ensuring the configuration of the track plate, it is not only convenient to achieve the purpose of removing foreign matter mentioned above, but also the foreign matter is pushed out to the upper side, so the removal resistance is relatively small.

[0086] As described above, since it is necessary to maintain a state of relative movement between adjacent track shoes, and the track movement process will also cause a relaxation stage on the track section, if only the above-mentioned slide groove embedding method is used, the track shoe may be moved out of the corresponding slide groove, and after the move out, the track is pulled and deformed, and the first track 1101 and the second track 1102 cannot be restored to the meshing state of overlapping through the slide groove. In view of this problem, it is preferably configured as follows: the side wall of the slide groove is also provided with a strip edge or a strip groove, and the side wall of the track shoe embedded in the slide groove is also provided with a strip groove or a strip edge, and the length direction of the strip edge and the strip groove is along the width direction of the track;

[0087] When the side wall of the chute is provided with a strip edge and the side wall of the track shoe embedded in the chute is provided with a strip groove, the strip edge is embedded in the strip groove, and the shapes of the strip edge and the strip groove satisfy: the position of the track shoe in the height direction of the chute is limited by the mutual constraint between the strip edge and the strip groove;

[0088] When the side wall of the chute is provided with a strip groove and the side wall of the track shoe embedded in the chute is provided with a strip rib, the strip rib is embedded in the strip groove, and the shapes of the strip rib and the strip groove satisfy: the position of the track shoe in the height direction of the chute is limited by the mutual constraint of the strip rib and the strip groove. It can be understood that in the above scheme, if the side wall of the chute is provided with a strip rib, a strip groove is provided on the track shoe embedded therein; if the side wall of the chute is provided with a strip groove, a strip rib is provided on the track shoe embedded therein, and the strip rib is meshed with the strip groove, so that the matching body formed by the track shoe of the first crawler 1101 and the track shoe of the second crawler 1102 is a strip structure with adjustable length, and at the same time, through the mutual constraint of the strip rib and the strip groove, the matching body can only change in length and will not be separated from the chute due to the tilting of any track shoe. As for the purpose of preventing separation mentioned above, it is actually to limit the cross-sectional shape of the strip groove and the strip rib. In the prior art, there are various cross-sectional forms that meet this function, and the strip rib can be sheared under the constraint of the strip groove to avoid the corresponding track plate from tilting, including the T-shaped one proposed below, and a straight strip type can also be used. Preferably, in order to reduce the movable amount of the track plate in the width direction of the slide groove to ensure the rigidity of the track plate and reduce the wear rate, it is set as follows: the form of the strip rib and the strip groove can limit the slippage of the track plate forming the matching body in the width direction of the slide groove, such as the width of the strip groove notch side is not the maximum width of the strip groove, the shape of the strip rib is adapted to the strip groove, and the specific form can be T-shaped, dovetail, polygonal, etc.

[0089] As a technical solution with simple processing technology, which not only has the function of preventing warping, but also has the function of limiting the movable amount in the width direction of the slide slot, it is set as follows: the strip groove is a T-slot, and the strip edge is a T-edge. In specific implementation, in order to facilitate the removal of foreign matter, the T-edge is a convex structure on the corresponding track shoe, and the T-slot is a through slot with both ends open.

[0090] Embodiment 4:

[0091] This embodiment is further optimized on the basis of embodiment 1:

[0092] Under the above concept, the configuration of the track wheel can be set as an integral structure. In order to adapt to the power transmission after the track becomes wider and the overall stiffness of the track, it is preferred to extend the length of the track wheel. At this time, the width of the track can be adjusted by other actuators or manually, but the longer track wheel in any state is not conducive to the width control of the mobile device. As a technical solution with a simple structure that enables the track wheel to change with the width of the track and be adjusted to a length that is compatible with the length of the track, it is set as follows: the track wheel includes a telescopic mechanism with adjustable length, and pulleys are installed at both ends of the telescopic mechanism. When the telescopic mechanism is extended or retracted, the distance between the pulleys at both ends of the telescopic mechanism changes;

[0093] The first crawler 1101 is engaged with a pulley at one end of the crawler wheel, and the second crawler 1102 is engaged with a pulley at the other end of the crawler wheel. In this solution, the pulley is used to stretch the first crawler 1101 and the second crawler 1102, and the change in the distance between the pulleys caused by the telescopic mechanism can adapt to the change in the width of the crawler, which is not only conducive to maintaining the rigidity of the crawler under different crawler widths, but also convenient for controlling the bottom width of the mobile device.

[0094] As a technical solution with a simple structure, a simple control system design and high reliability, and the track width can be adjusted by using track wheels, it is set as follows: the telescopic mechanism is a hydraulic telescopic mechanism;

[0095] The first crawler 1101 and the second crawler 1102 are each provided with a rib on one side for meshing with the corresponding pulley. During the telescopic action of the telescopic mechanism, the width of the overlapping section is adjusted by pushing the side of the rib with the end face of the pulley. In this solution, when the crawler needs to be adjusted to be wider, the hydraulic telescopic mechanism is extended, and the outer side of each pulley pushes the rib on the outer side of the corresponding crawler, so that the crawler is wider as a whole; when the crawler needs to be adjusted to be narrower, the hydraulic telescopic mechanism is shortened, and the inner side of each pulley pushes the rib on the inner side of the corresponding crawler, so that the crawler is wider as a whole.

[0096] Embodiment 5:

[0097] Based on Example 1, this embodiment provides a mobile device, including a device frame and a traveling device installed on the device frame, and the traveling device includes the crawler moving system described in Example 1. This solution is a specific application of the crawler moving system, and provides a mobile device using the crawler moving system. The structural configuration of the crawler moving system enables the mobile device to have strong ground adaptability and take into account the wear amount and driving performance of the traveling device.

[0098] Embodiment 6:

[0099] This embodiment is further optimized on the basis of embodiment 5:

[0100] As a technical solution for changing the crawler shape by changing the spacing between the crawler wheels to enrich the crawler support form, so as to further improve the adaptability of the mobile device to the ground, and at the same time, through the crawler tension adjustment device, under the condition of maintaining the contact length between the crawler and the ground and the support height of the crawler moving system for the mobile device, the tension borne by the crawler is maintained to facilitate the maintenance of the crawler life, the crawler moving system is configured as follows: the crawler moving system includes a crawler frame, the crawler is installed on the crawler frame, and the crawler moving system is connected to the device frame through the crawler frame;

[0101] The shape of the crawler frame is adjustable, and the relative positions of the crawler wheels on the crawler frame are changed by adjusting the shape of the crawler frame;

[0102] The track frame is also equipped with a track tension adjustment device, which is used to adjust the tension of the track in any state of the track frame. In this solution, a specific method of assembling a track moving system on a moving device is first proposed, and a technical solution is provided to enrich the track support form by making the track frame form adjustable, and a technical solution is provided to adjust the tension of the track by setting a track tension adjustment device without changing the track frame form.

[0103] Embodiment 7:

[0104] This embodiment is further optimized on the basis of embodiment 5:

[0105] More specifically, in order to improve the turning ability and the adaptability to uneven ground of the mobile device, it is configured as follows: the crawler moving system includes a crawler frame, the crawler is mounted on the crawler frame, and the crawler moving system is connected to the device frame through the crawler frame;

[0106] A steering mechanism is also provided between the crawler frame and the device frame, and the steering mechanism includes a plurality of steering joints, each of which is provided with a rotating shaft;

[0107] The steering joint includes a first joint 201, a second joint 202 and a third joint 203. The first joint 201 is provided with a first rotating shaft parallel to the width direction of the device frame, the second joint 202 is provided with a second rotating shaft parallel to the height direction of the device frame, and the third joint 203 is provided with a third rotating shaft parallel to the length direction of the device frame.

[0108] The track frame can rotate around the first rotating shaft, the second rotating shaft and the third rotating shaft. In this solution, the rotation occurring at each rotating shaft position can be adjusted and locked manually, or can be adjusted and locked by actuators such as corresponding motors installed on the moving device. The multi-degree-of-freedom design can optimize the flexibility and road passability of this solution, such as: the rotation of the track moving system around the first rotating shaft can adjust the front and rear slopes of the track to adapt to obstacles; the rotation of the track moving system around the second rotating shaft can be used for non-traditional steering of the track; the rotation of the track moving system around the third rotating shaft can adjust the fit of the track with the ground in the width direction, adapt to the inclined slope in the width direction of the track, and enhance the stability of the driving process through adaptive fit.

[0109] Embodiment 8:

[0110] Based on the above embodiments, this embodiment provides a specific implementation of a mobile device: the mobile device includes a drive system 1, a travel drive system 2 and a frame 3, the drive system 1 is connected to the frame 3 through the travel drive system 2, and the drive system 1 is multiple. The crawler moving system is a component of the drive system 1, and the crawler frame is fixed on the fixed frame 101, the fixed frame 101 is connected to the travel drive system 2 through the second spindle 204, the steering mechanism is a component of the travel drive system 2, and the crawler tension adjustment device includes a slide rail 102 fixed on the fixed frame 101, a first slider 103 slidably connected to the slide rail 102, a drive motor 104 installed on the first slider 103, a crank 105 connected to the rotor of the drive motor 104, and a crank 105 connected to the crank 105. A connecting rod 106, a first spindle 107 connected to the connecting rod 106, a second slider 108 connected to the first spindle 107, and a pressure wheel 109 acting on the track and connected to the second slider 108. The second slider 108 is slidably embedded in a slider groove 1010 provided on the fixed frame 101. At the same time, when the driving motor 104 rotates, the multi-link mechanism formed by the above structural features forces the second slider 108 to slide in the slider groove 1010, so that the spatial position of the pressure wheel 109 changes to achieve tensioning and relaxation of the track. The track frame includes a number of fixing seats 1201 that is the same as the number of track wheels. One ends of the fixing seats 1201 converge at the same position and are fixedly connected to each other. The other ends of the fixing seats 1201 are connected to a track wheel via a telescopic rod. In this embodiment, there are three fixing seats 1201, and the track wheels are a first track wheel 1203 connected via a first telescopic rod 1202, a second track wheel 1205 connected via a second telescopic rod 1204, and a third track wheel 1207 connected via a third telescopic rod 1206. Any telescopic rod and the fixing seat 1201 form a hydraulic telescopic rod to adjust the relative positions of the track wheels in a hydraulic manner.

[0111] At the same time, in view of the above-mentioned crawler mobile system structure, this embodiment provides Fig.12 The fluid circuit diagram corresponding to the corresponding structure is shown in FIG. Among them, S1~S6 are limiters, and C and D are reversing valves in the fluid circuit.

[0112] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific embodiments of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, other embodiments obtained without departing from the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A crawler moving system, comprising a crawler and a crawler wheel, characterized in that: The crawler comprises a first crawler (1101) and a second crawler (1102) both mounted on crawler wheels; In the width direction of the crawler, the first crawler (1101) is arranged on one side of the crawler, and the second crawler (1102) is arranged on the other side of the crawler; The first crawler (1101) and the second crawler (1102) overlap each other: a side of the first crawler (1101) close to the second crawler (1102) and a side of the second crawler (1102) close to the first crawler (1101) have overlapping sections that overlap each other, and the width of the overlapping sections is adjustable; The crawler wheel comprises a telescopic mechanism with adjustable length, and belt wheels are installed at both ends of the telescopic mechanism. When the telescopic mechanism is extended or retracted, the distance between the belt wheels at both ends of the telescopic mechanism changes; The first crawler belt (1101) is meshed with a pulley at one end of the crawler wheel, and the second crawler belt (1102) is meshed with a pulley at the other end of the crawler wheel; The telescopic mechanism is a hydraulic telescopic mechanism; The first crawler (1101) and the second crawler (1102) are each provided with a retaining edge on one side for engaging with the corresponding pulley. During the telescopic movement of the telescopic mechanism, the width of the overlapping section is adjusted by pushing the side of the retaining edge with the end face of the pulley.

2. The crawler moving system according to claim 1, characterized in that: At each position along the length direction of the crawler belt, the first crawler belt (1101) and the second crawler belt (1102) overlap each other.

3. The crawler moving system according to claim 1, characterized in that: Both the first crawler (1101) and the second crawler (1102) are provided with a slide groove extending along the crawler width direction, and the slide groove is formed on each crawler plate or between adjacent crawler plates; The overlapping method is: the track shoe of any one is embedded in the slide groove of the other; The adjustable width is achieved by adjusting the embedding depth of the track shoe in the slide groove.

4. The crawler moving system according to claim 3, characterized in that: The side wall of the slide groove is also provided with a strip edge or a strip groove, and the side wall of the track shoe embedded in the slide groove is also provided with a strip groove or a strip edge, and the length direction of the strip edge and the strip groove is along the width direction of the track; When the side wall of the chute is provided with a strip edge and the side wall of the track shoe embedded in the chute is provided with a strip groove, the strip edge is embedded in the strip groove, and the shapes of the strip edge and the strip groove satisfy: the position of the track shoe in the height direction of the chute is limited by the mutual constraint between the strip edge and the strip groove; When a strip groove is provided on the side wall of the slide groove and a strip edge is provided on the side wall of the track shoe embedded in the slide groove, the strip edge is embedded in the strip groove, and the shapes of the strip edge and the strip groove satisfy: the position of the track shoe in the height direction of the slide groove is limited by the mutual constraint between the strip edge and the strip groove.

5. The crawler moving system according to claim 4, characterized in that: The strip grooves are T-shaped grooves, and the strip edges are T-shaped edges.

6. A mobile device, comprising a device frame and a traveling device mounted on the device frame, characterized in that: The traveling device comprises the crawler moving system according to any one of claims 1 to 5.

7. The mobile device according to claim 6, characterized in that: The crawler moving system comprises a crawler frame, the crawler is mounted on the crawler frame, and the crawler moving system is connected to the device frame through the crawler frame; The shape of the crawler frame is adjustable, and the relative positions of the crawler wheels on the crawler frame are changed by adjusting the shape of the crawler frame; A track tension adjusting device is also installed on the track frame. In any form of the track frame, the track tension adjusting device is used to adjust the tension of the track.

8. The mobile device according to claim 6, characterized in that The crawler moving system comprises a crawler frame, the crawler is mounted on the crawler frame, and the crawler moving system is connected to the device frame through the crawler frame; A steering mechanism is also provided between the crawler frame and the device frame, and the steering mechanism includes a plurality of steering joints, each of which is provided with a rotating shaft; The steering joint comprises a first joint (201), a second joint (202) and a third joint (203); the first joint (201) is provided with a first rotating shaft parallel to the width direction of the device frame, the second joint (202) is provided with a second rotating shaft parallel to the height direction of the device frame, and the third joint (203) is provided with a third rotating shaft parallel to the length direction of the device frame; The crawler frame can rotate around the first rotating shaft, the second rotating shaft and the third rotating shaft.

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