Track frame, track moving system and moving device

Abstract

The present invention discloses a crawler frame, a crawler mobile system and a mobile device. The crawler frame includes a fixed seat, a first telescopic rod, a second telescopic rod and a third telescopic rod. Among the first telescopic rod, the second telescopic rod and the third telescopic rod, the extending length of each relative to the fixed seat is adjustable, and the relative positions of the free ends of the three satisfy that each free end can be respectively used as different vertices of the same triangle. It further includes a flipping component connected to the fixed seat, and a crawler tension adjustment device. The mobile device uses the crawler mobile system as its crawler walking component, and the crawler mobile system uses the crawler frame. By adopting the crawler frame provided by this solution, not only can the conversion between leg-type walking and crawler driving be realized, but also the length of the crawler in contact with the ground and the adjustable range of the leg-type walking height are large.

Description

Technical Field

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

[0002] Crawler-type mobile mechanisms have the characteristics of large ground contact pressure and large traction force, and have strong passing ability and adaptability in complex terrain environments. They can be applied to heavy or dangerous tasks such as transportation, reconnaissance, bomb disposal, and search and rescue. Therefore, the research and development of crawler-type mobile mechanisms are relatively rapid, and their demand is also increasing continuously.

[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-type mobile robots. In the prior art solutions, in the patent document with the publication (announcement) number CN 110723225 A, an underwater mining multi-degree-of-freedom four-crawler walking device is proposed, which uses an additional hydraulic cylinder and is set so that the crawler can rotate around the suspension support plate within a certain angle to achieve adaptive movement.

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

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

[0006] Further optimizing the structure of the crawler-type mobile mechanism to further improve its demand satisfaction ability on the basis of the prior art is of great significance for the development of the crawler-type mobile mechanism. Summary of the Invention

[0007] For the above-mentioned technical problem of further optimizing the structure of the crawler mobile mechanism to further improve its demand satisfaction ability on the basis of the existing technology and promoting the development of the crawler mobile mechanism, the present invention provides a crawler frame, a crawler mobile system and a mobile device. The mobile device uses the crawler mobile system as its crawler walking component, and the crawler mobile system uses the crawler frame. By adopting the crawler frame provided by this solution, not only can the conversion between leg-type walking and crawler driving be realized, but also the crawler ground contact length and the adjustable range of the leg-type walking height are large.

[0008] To solve the above problems, the crawler frame, the crawler mobile system and the mobile device provided by the present invention solve the problems through the following technical points: The crawler frame includes a fixed seat for installing crawler wheels, and a first telescopic rod, a second telescopic rod and a third telescopic rod are arranged on the fixed seat;

[0009] Among the first telescopic rod, the second telescopic rod and the third telescopic rod, the extension length of each relative to the fixed seat is adjustable, and the relative positions of the free ends of the three satisfy that the free ends can be respectively used as different vertices of the same triangle;

[0010] It further includes a flipping component connected to the fixed seat, and the fixed seat can be flipped around the flipping component. The flipping is used to realize the conversion of the crawler ground contact state. Among them, the ground contact state includes state one and state two. State one is that after crawler wheels are arranged on the free ends of the three and a crawler is installed, the crawler section between the free ends of two of them is used to contact the ground, and the crawler wheel at the free end of the other is used to tension the crawler and is located above the crawler section; State two is that relative to state one, the crawler section between the two free ends is suspended, and the crawler wheel at the other free end touches the ground and / or the crawler section around the position of the crawler wheel touches the ground;

[0011] It further includes a crawler tension adjustment device fixedly connected to the fixed seat. A pressing wheel for restricting the shape of the crawler is arranged on the crawler tension adjustment device. In the triangle formed by the vertices, the pressing wheel is located inside the triangle.

[0012] In the prior art, in order to improve the passing ability, driving performance, etc. of mobile devices, there are track-leg composite mobile systems that can achieve tracked driving and legged walking. When these track-leg composite mobile systems are in use, they travel in a tracked driving mode on the ground suitable for tracked driving, which can ensure the driving speed and driving stability. When it is necessary to cross obstacles or the road surface flatness is too poor, they travel in a legged walking mode. In the specific structural design, the existing track-leg composite mobile systems include the following structural forms: 1. Having different mobile systems, and realizing tracked driving and legged walking through different mobile systems respectively. For example, a tracked mobile system and a legged walking system are respectively installed on the frame of the mobile device. When the tracked mobile system works, the legged walking system retracts, and when the legged walking system works, the tracked mobile system retracts; 2. The tracked mobile system and the legged walking system are mutually reused in the two traveling modes. For example, the tracked mobile system is used as a part of the legged walking system. By deforming the system, the support method of the ground on it and the supported position on the system are adjusted. According to the specific state, the tracked rotation or the system swing is selected to obtain different traveling forms. The specific technical solutions are as disclosed in the technical solutions of patents with application numbers CN201710310946.1, CN201710252742.7, CN202110889033.6, etc.

[0013] Compared with the prior art, this solution provides a track frame different from the prior art. The configuration of this track frame can not only realize the conversion between legged walking and tracked driving, but also has a large adjustable range of the track contact length and the legged walking height, and also has the characteristic of being convenient to maintain the support height of the mobile device in the legged walking state.

[0014] Specifically, the usage method of this solution is as follows: Track support assemblies including track wheels are installed on the free ends of the first telescopic rod, the second telescopic rod, and the third telescopic rod respectively, and tracks are stretched over the track wheels. The pressing wheel is in contact with the track. By adjusting the position of the pressing wheel, the tension of the track is adjusted. The track frame is connected to the mobile device through a flipping component. In this way, the positions of the free ends of the three are the installation positions of the track support assemblies, which are used to form three inflection points of the track shape. In this way, in the first state, for example, the track segments for contacting the ground are formed by the track wheels at the free ends of the second telescopic rod and the third telescopic rod. By increasing or decreasing the extended lengths of the second telescopic rod and the third telescopic rod, correspondingly, by decreasing or increasing the length of the first telescopic rod, different lengths of supported track segments can be obtained in the case of tensioning the track. In this way, according to the current terrain, factors such as track subsidence control, track mobility, track power consumption, and traveling speed can be taken into account. When it is necessary to solve the problem of road passability by legged walking, the flipping component is used to convert the track contact state from the first state to the second state. The track wheel at the free end of the first telescopic rod touches the ground and / or the track segment surrounding the position of this track wheel touches the ground, and it is switched to the legged walking posture. At the same time, according to the height of the obstacle, the first telescopic rod can be extended or shortened relative to the fixed seat, and correspondingly, the second telescopic rod and the third telescopic rod can be shortened or extended. Without the track being disengaged from the track wheel, a support height that takes into account the traveling performance can be obtained.

[0015] In summary, different from the prior art, by adopting the above configuration method and shape adjustment mode of the track frame, since the first telescopic rod, the second telescopic rod, and the third telescopic rod can all telescopically move relative to the fixed seat, not only can the track traveling and legged walking mode switching be realized, but also the adjustable range of the length of the track segment in contact with the ground is large, and the adjustable range of the support height during legged walking is large; the mutual actions of the first telescopic rod, the second telescopic rod, and the third telescopic rod on the track can keep the track in an appropriate tension state to avoid the track from being disengaged and excessively worn during use; due to the inclusion of the track tension adjustment device, generally, the overall track in the track traveling mode will be stretched. At this time, the track tension adjustment device can appropriately relax the track, reduce the stress on the track, and extend the service life of the track. In the legged walking mode, the overall track will be relaxed. At this time, the track tension adjustment device can press the track tightly to avoid excessive relaxation of the track. At the same time, the position of the pressing wheel relative to the triangle can increase the wrap angle between the track and the track wheel, so that a greater track driving power can be obtained and the smoothness during track traveling can be improved. Particularly, in the legged walking mode, to ensure the support height and track tension of the current mobile device, it can be achieved only by the action of the track tension adjustment device, thereby improving the accuracy of the support height and the adjustability of the tension.

[0016] As a further technical solution of the track frame:

[0017] For those skilled in the art, the shape of the fixed seat can be set to satisfy the constraint of the corresponding telescopic rod. As a technical solution that is beneficial to the weight reduction design of the crawler frame and can effectively utilize the extended lengths of the second telescopic rod and the third telescopic rod to increase the adjustable range of the length of the crawler section for crawler travel, it is set as follows: The fixed seat includes a first fixed seat, a second fixed seat, and a third fixed seat, all of which are strip-shaped structures and are fixedly connected to each other;

[0018] The first telescopic rod is telescopically connected to the first fixed seat, and the first telescopic rod and the first fixed seat form a first hydraulic telescopic mechanism;

[0019] The second telescopic rod is telescopically connected to the second fixed seat, and the second telescopic rod and the second fixed seat form a second hydraulic telescopic mechanism;

[0020] The third telescopic rod is telescopically connected to the third fixed seat, and the third telescopic rod and the third fixed seat form a third hydraulic telescopic mechanism;

[0021] Among them, the second fixed seat and the third fixed seat are coaxial, and the first fixed seat is perpendicular to the second fixed seat. In the above solution, the corresponding fixed seat can be the cylinder body of the hydraulic telescopic mechanism, and the corresponding telescopic rod can be the piston rod of the hydraulic telescopic mechanism. Adopting this solution, the corresponding oil circuit and control valve are simple in design and reliable in telescopic performance. The crawler section between the crawler wheels installed on the free ends of the second telescopic rod and the third telescopic rod is used as the crawler section for contacting the ground during crawler travel.

[0022] To facilitate the installation of the flipping component and the crawler tension adjustment device on the fixed seat, it is set as follows: It further includes a fixed frame fixed to the fixed seat, and the flipping component is arranged on the fixed frame;

[0023] The crawler tension adjustment device includes a slide rail fixed to the fixed frame, a first slider slidably connected to the slide rail, a driving motor installed on the first slider, a crank connected to the rotor of the driving motor, a connecting rod connected to the crank, a first core shaft connected to the connecting rod, and a second slider connected to the first core shaft. The second slider is slidably arranged in a slider groove on the fixed frame. Slider grooves are provided on a pair of opposite sides of the slide rail, and the second slider has a sliding connection relationship with each slider groove: The second slider passes through different slider grooves through different sliding rods on it, and pressure wheels are installed on each sliding rod, and the pressure wheels and the driving motor are on different sides of the fixed frame;

[0024] The relationship between the slider groove and the slide rail satisfies that when the driving motor rotates, the linkage mechanism formed by the crank and the connecting rod forces the second slider to slide in the slider groove and the first slider to slide on the slide rail, so that the spatial position of the pressure wheel changes to realize the tensioning and relaxation of the crawler. The crawler tensioning device with the above structural form is not only simple in structure and small in size, but also, if the pressure wheels are arranged on a pair of opposite sides of the first telescopic rod, when the driving motor operates, the two pressure wheels can simultaneously tighten and relax the crawlers on both sides of the first telescopic rod. If the first telescopic rod is arranged in the middle relative to the two slider grooves, the actions of the two pressure wheels on the crawlers on different sides are synchronous actions. More specifically, the extending direction of the slide rail is along the axis direction of the first telescopic rod, and the slider grooves on both sides are strip-shaped and are inclined relative to the slide rail. In this way, when the driving motor operates, the sliding rod moves horizontally in the width direction of the slider groove, and the component force of the extrusion force on the side surface of the slider groove can make both the first slider and the second slider slide to adapt to the deformation of the linkage mechanism.

[0025] This solution also discloses a crawler moving system, including a crawler frame, crawler wheels installed on the crawler frame, and a crawler installed on the crawler wheels, where the crawler frame is the crawler frame described in any one of the above;

[0026] Crawler wheels are arranged on the free ends of the three, and the crawler wheels all serve as crawler support components of the crawler;

[0027] The pressure wheel is in contact with the crawler. This crawler moving system includes the crawler frame proposed above. Adopting this solution, it can not only realize the switching between crawler driving and leg walking modes, but also has a large adjustable range for the length of the crawler section in contact with the ground and a large adjustable range for the support height during leg walking; it is convenient to maintain an appropriate tension force on the crawler; it can ensure the driving power transmitted to the crawler and the smoothness during crawler driving; the support height accuracy is high and the tension adjustability is good under leg support.

[0028] As a further technical solution of the crawler moving system:

[0029] The crawler includes a first crawler and a second crawler;

[0030] 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;

[0031] The first crawler and the second crawler overlap each other: one side of the first crawler close to the second crawler and one side of the second crawler close to the first crawler have an overlapping section that overlaps with each other, and the width of the overlapping section is adjustable. The existing crawler includes a number of crawler plates (chain plates) and chain pins connecting the crawler plates. The crawler plates are connected in series by crawler pins to form a crawler chain, and generally only a single crawler chain is meshed on the crawler wheel.

[0032] The above solution is different from the prior art:

[0033] It is set that the first track and the second track are installed on the crawler wheels. It can be understood that both the first track and the second track are a complete track chain. At the same time, this solution describes the situation where the first track and the second track are included in the width direction of the track. However, in specific implementation, if the width direction of the track includes a number greater than or equal to 2 track chains with overlapping segments, they all belong to the same concept as this solution. At the same time, the adjustable width of the overlapping segment proposed above actually defines the mutual cooperation relationship between the first track and the second track and the assembly method on the crawler wheels. For example, the shape and cooperation relationship of the first track and the second track with a lap relationship need to meet the purpose of adjustable width of the overlapping segment; the meshing relationship between the crawler wheels and the first track and the second track needs to meet the purpose of adjustable width of the overlapping segment. The specific technical solution is, for example, 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 at the same time, the first track and the second track have an overlapping segment. By adjusting the width of the overlapping segment, in the left-right direction, the first track and the second track move towards each other and move away from each other, and finally the purpose of adjusting the track width is achieved.

[0034] At the same time, the purpose of proposing the above concept is: when this solution travels on different road surfaces, for different road surfaces, by completing the configuration conversion of different track widths, the purpose of improving the road surface adaptability of the track moving system is achieved. For example: when this solution passes through a soft road surface, if the force-bearing area of the track cannot be changed, there is a risk of subsidence of the corresponding moving device. At this time, through manual or other means, the first track and the second track move away from each other, resulting in the configuration conversion: the width of the overlapping segment decreases, the effective length of the track plate increases, and the ground contact area of the track increases. In this way, the pressure of the track plate can be reduced, that is: by reducing the subsidence amount, the purpose of adapting to more working conditions (such as unstructured road surfaces) is achieved. At the same time, a wider track can also improve the stability margin of the moving device. At the same time, when passing through a soft road surface, since the stiffness of this type of terrain is low, the loss of the walking mechanism is not obvious. Compared with the existing track form, this solution does not adopt the scheme of setting the track as an integral structure, aiming at the following problems:

[0035] For example, in order to make the track adapt to a soft road surface and set the track to always maintain a relatively wide width, there are:

[0036] 1. The driving maneuverability will decrease, and the structural life of the track plate and other components will also decrease;

[0037] 2. The wider the track plate, the greater the friction with the ground, and the greater the power consumption loss during driving;

[0038] 3. It is not conducive to track steering;

[0039] 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.

[0040] 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.

[0041] 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.

[0042] Since the surface of the crawler belt that contacts the ground changes constantly as the crawler belt rotates during the operation of the crawler moving system, to achieve the above-mentioned purpose of increasing the contact area with the ground to reduce the subsidence amount, it is only necessary that the section of the crawler belt in contact with the ground has an overlapping section or intermittently has an overlapping section during the rotation of the crawler belt. Therefore, the above overlapping section can be a complete ring around the circumferential direction of the crawler belt or an intermittent section around the circumferential direction of the crawler belt. As long as these sections can support on the road surface as the crawler belt rotates, the corresponding purpose can be achieved. As a technical solution that enables the crawler moving device to adjust the crawler contact area at any time during the operation process, it is set that: at each position along the length direction of the crawler belt, the first crawler belt and the second crawler belt overlap each other. Under the concept of changing the contact area provided by this solution, when the crawler belt intermittently has an overlapping section, it can be adjusted to control the driving track of the moving device. When passing through a soft area, the section with the overlapping section on the crawler belt is used to provide support to pass through the soft area. It can also be adjusted by designing the spacing between adjacent overlapping sections according to the contact length of the crawler belt, so that there is an overlapping section in contact with the ground at any time. The specific spacing can be determined according to the length of the overlapping section and the contact length of the crawler belt. It is set that at each position along the length direction of the crawler belt, the first crawler belt and the second crawler belt overlap each other. In this way, when any section of the crawler belt contacts the ground, the structural characteristics of the overlapping section on this section can be used to increase the width of the crawler belt. Compared with intermittently setting overlapping sections in the circumferential direction of the crawler belt, when using the intermittent overlapping section scheme, the ground in front of and behind the overlapping section in the advancing direction will bulge relative to the ground at the overlapping section position, increasing the driving resistance of the crawler belt and causing a decrease in the motion smoothness of the moving system. Regarding the understanding of the overlapping of the first crawler belt and the second crawler belt at each position along the length direction of the crawler belt, it should be understood that: due to the structural configuration determined by the motion characteristics of the crawler belt, it is necessary to design crawler plates that can rotate relative to each other. Therefore, if the following scheme using a sliding groove to achieve overlapping is adopted, along the extension direction of the crawler belt, 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 vacancy along the length direction of the crawler belt. At the same time, according to the selected width of the crawler plate, the width of the gap is only used to adapt to the deformation of the crawler belt and is not suitable for embedding the crawler plate of another crawler belt, that is, there is an overlapping relationship between the first crawler belt and the second crawler belt at each position. Corresponding to the above overlapping at each position, it can also be specifically implemented as the crawler belt intermittently having an overlapping section as mentioned above. In this way, by sacrificing power consumption and smoothness due to the ground bulging in front of and behind the overlapping section relative to the position of the overlapping section, it can be used to improve the anti-skid ability of the moving device when driving on soft ground.

[0043] When those skilled in the art implement the overlapping configuration, it can be set that the first crawler belt overlaps above the second crawler belt. However, there are the following problems with such a method: the flatness of the bottom surface of the crawler belt is reduced, which is not conducive to controlling the subsidence amount of the crawler belt; the first crawler belt and the second crawler belt are unevenly stressed, which is not conducive to controlling the overall service life of the crawler belt; there is a slack state in the upper section of the crawler belt during the rotation process, and at the same time, the crawler belt plates need to have the ability of relative movement, and the crawler belt plates in the overlapping section also need to have this ability of relative movement. Only adopting the stacking measure may cause excessive wear between the first crawler belt and the second crawler belt due to slack, abnormal meshing resulting in chain jamming, etc. Therefore, as a preferred solution, it is set that: chutes extending in the width direction of the crawler belt are provided on both the first crawler belt and the second crawler belt, and the chutes are formed on the crawler belt plates of each or between adjacent crawler belt plates;

[0044] The overlapping method is: the crawler belt plate of any one is embedded in the chute of the other;

[0045] The width adjustment is achieved by adjusting the embedding depth of the crawler belt plate in the chute. With this solution, the adjacent sides of the first crawler belt and the second crawler belt are mutually embedded through the chutes to achieve mutual overlap, and changing the embedding depth can change the width of the overlapping section to achieve the purpose of adjusting the width of the crawler belt. With the structural configuration provided by this solution, a flat bottom surface of the crawler belt can be obtained, which is conducive to controlling the subsidence amount and uniform stress. Due to the existence of the chute, for the crawler belt plate embedded in the chute, the chute can reduce the sliding amount of the crawler belt plates on the first crawler belt and the second crawler belt respectively during operation, which is beneficial to controlling the wear speed. By restricting the crawler belt plate embedded in it through the chute, chain jamming and other problems caused by abnormal meshing can be avoided to a certain extent. By restricting the crawler belt plate embedded in it through the chute, the overall stiffness of the crawler belt can be maintained to a certain extent, which is beneficial to maintaining its driving performance and wear speed.

[0046] Regarding the proposed track forming position, for the track shoes of the first track and the second track on the overlapping section, when formed between adjacent track shoes, the gap existing between the track shoes itself can be utilized to provide part or all of the chute. In this way, a more compact arrangement of track shoes can be obtained, which is not only convenient for track shoe processing, but also beneficial to maintaining the strength and stiffness of the track shoes. However, after the track pin friction pair wears, the change in the matching accuracy between the track shoes on the first track and the second track will be accelerated. Another way is to form the chute on the track shoe. Compared with the existing track shoe form, it is necessary to make a relatively large change to the structure of the track shoe. Compared with the former, it will also weaken more track shoe stiffness. However, the change in the said matching accuracy will not be affected by the wear of the track pin friction pair. Those skilled in the art can select a suitable way to obtain the chute according to the specific track design. Further, since it is possible for soil, sand, etc. to be embedded in the chute, in order to make the resistance smaller during the process of changing the track structure to a narrower width, the chute is set as a through chute. In this way, during the process of width reduction, the foreign matter in the chute can be discharged through the end of the chute to reduce the resistance of the first track and the second track moving towards each other. This method is suitable for forming the chute between adjacent track shoes and achieving the above purpose by using the natural arrangement form of the track shoes; otherwise, based on this concept, when the chute is formed on the track shoe, it is set that: among the first track and the second track, at one end of the chute on each track shoe close to the other track shoe, it penetrates through the track shoe up and down, and at the other end, there is a slope extending from the bottom side to the top side of the track shoe, and the side of the slope top is located on the side close to the track side. In this way, on the basis of ensuring the configuration of the track shoe, not only is it convenient to achieve the above-mentioned purpose of discharging foreign matter, but also since the foreign matter is pushed upwards, the discharge resistance is relatively small.

[0047] As described above, since it is necessary to maintain the relative movement state between adjacent track shoes, and the track movement process will also cause a relaxation stage in the upper track section. If only the above-mentioned chute embedding method is adopted, it is possible for the track shoes to move out of the corresponding chute. After moving out, under the tensile deformation of the track, the first track and the second track cannot return to the meshing state where they are overlapped through the chute. To solve this problem, it is preferably set that: strip-shaped ribs or strip-shaped grooves are further provided on the side wall of the chute, and strip-shaped grooves or strip-shaped ribs are also provided on the side wall of the track shoe embedded in the chute, and the length directions of the strip-shaped ribs and the strip-shaped grooves are all along the width direction of the track;

[0048] When strip-shaped ribs are provided on the side wall of the chute and strip-shaped grooves are provided on the side wall of the track shoe embedded in the chute, the strip-shaped ribs are embedded in the strip-shaped grooves, and the shapes of the strip-shaped ribs and the strip-shaped grooves satisfy that through the mutual restraint of the strip-shaped ribs and the strip-shaped grooves, the position of the track shoe in the height direction of the chute is restricted;

[0049] 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.

[0050] The present invention also discloses a mobile device, including a device frame and a travel device mounted on the device frame, wherein the travel device includes a crawler moving system as described in any one of the above, and the flip component is a connecting piece connected to the device frame as a fixed seat. The mobile device proposed in the present invention is a specific application of the crawler moving system.

[0051] As a further technical solution of the mobile device:

[0052] More specifically, in order to improve the steering ability and the adaptability to uneven ground of the mobile device, it is configured as follows: the crawler frame is connected to the device frame through a steering mechanism, the steering mechanism includes a plurality of steering joints connected in series, and each steering joint is provided with a rotating shaft;

[0053] 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;

[0054] The crawler frame can rotate around the first rotating shaft, the second rotating shaft and the third rotating shaft;

[0055] The flipping component serves as a connecting member between the fixed seat and the steering mechanism. In this solution, the rotations occurring at the positions of each rotating shaft can be manually adjusted and locked, or can be adjusted and locked by an actuator such as a corresponding motor installed on the mobile device. The multi-degree-of-freedom design can optimize the flexibility and ground clearance of this solution. For example, the crawler moving system rotates around the first rotating shaft to adjust the front and rear slopes of the crawler to adapt to obstacles; the crawler moving system rotates around the second rotating shaft for non-traditional steering of the crawler; the crawler moving system rotates around the third rotating shaft to adjust the degree of fit between the crawler and the ground in the width direction, adapting to the inclined slope in the width direction of the crawler, and enhancing the stability during the driving process through, for example, adaptive fitting. During legged walking, by rotating the crawler moving system around the corresponding rotating shafts, actions such as corresponding leg lifting, leg rotation, and side leg lifting can be completed, greatly improving the ground clearance of the mobile device. In specific applications, the arrangement form of the above rotating shafts is, from bottom to top, the third rotating shaft, the second rotating shaft, and the first rotating shaft. The second core shaft on the third joint can be used to connect the fixed frame, and the first joint is connected to the device frame of the vehicle frame through the first rotating shaft. At the same time, the second core shaft cooperates with the flipping component on the crawler frame. During legged walking, the swinging leg action is also obtained through the rotation of the cooperation position between the second core shaft and the flipping component.

[0056] More comprehensively, for uniform wear on the crawler and convenient control of the touchdown point position, etc., the crawler is arranged on the same plane; the axes of the crawler wheels, the axes of the press wheels, and the axis of the second core shaft are parallel to each other and parallel to the width direction of the device frame.

[0057] The present invention has the following beneficial effects:

[0058] By adopting the above-mentioned configuration method and shape adjustment mode of the crawler frame, since the first telescopic rod, the second telescopic rod and the third telescopic rod can all stretch relative to the fixed seat, not only can the crawler travel and the leg walking mode be switched, but also the adjustable range of the length of the crawler section in contact with the ground is large, and the adjustable range of the support height during leg walking is large; the mutual actions of the first telescopic rod, the second telescopic rod and the third telescopic rod on the crawler can keep the crawler in an appropriate tension state to avoid the crawler from being disengaged and excessively worn during use; since the crawler tension adjustment device is included, generally, the overall crawler in the crawler travel mode will be stretched, and at this time, the crawler tension adjustment device can appropriately relax the crawler, reduce the stress on the crawler, and extend the service life of the crawler. In the leg walking mode, the overall crawler will be relaxed, and at this time, the crawler tension adjustment device can press the crawler to avoid excessive slack of the crawler. At the same time, the position of the idler wheel relative to the triangle can increase the wrap angle between the crawler and the crawler wheel, so that a greater crawler driving power can be obtained and the smoothness during crawler travel can be improved. Particularly, in the leg walking mode, to ensure the support height and the tension of the crawler of the current mobile device, it can be achieved only by the action of the crawler tension adjustment device, thereby improving the accuracy of the support height and the adjustability of the tension.

[0059] The crawler mobile system is the specific application of the combination of the crawler frame, the crawler wheel and the crawler, and the mobile device is the specific application of the crawler mobile system as the traveling device of the mobile device. Brief Description of the Drawings

[0060] Figure 1 It is a schematic structural diagram of a specific embodiment of the mobile device described in this solution;

[0061] Figure 2 It is a schematic structural diagram of the walking drive system in a specific embodiment of the mobile device described in this solution;

[0062] Figure 3 It is a schematic structural diagram of the crawler mobile system in a specific embodiment of the mobile device described in this solution;

[0063] Figure 4 It is a schematic structural diagram of the crawler mobile system in a specific embodiment of the mobile device described in this solution, different from Figure 3 , the crawler tension adjustment device is in a different state;

[0064] Figure 5 It is a schematic structural diagram of the crawler mobile system in a specific embodiment of the mobile device described in this solution, different from Figure 3 , the viewport position of the schematic diagram is different;

[0065] Figure 6In a specific embodiment of the mobile device described in this solution, it is a partial structural schematic diagram of the crawler moving system, used to show the form of the crawler and the cooperation relationship between the crawler and the crawler wheel;

[0066] Figure 7 In a specific embodiment of the mobile device described in this solution, it is a partial structural schematic diagram of the crawler moving system, used to show the form of the crawler and the cooperation relationship between the crawler and the crawler wheel, relative to Figure 6 , the crawler width is increased;

[0067] Figure 8 In a specific embodiment of the mobile device described in this solution, it is a structural schematic diagram of the second crawler. In this embodiment, T-shaped grooves are provided on the crawler plate;

[0068] Figure 9 In a specific embodiment of the mobile device described in this solution, it is a structural schematic diagram of the first crawler. In this embodiment, T-shaped ridges are provided on the crawler plate;

[0069] Figure 10 In a specific embodiment of the mobile device described in this solution, it is a partial structural schematic diagram of the crawler moving system, used to show the form of the crawler and the cooperation relationship between the crawler and the crawler wheel, different from Figure 6 and Figure 7 , the overlapping section covers the entire length of the crawler;

[0070] Figure 11 In a specific embodiment of the mobile device described in this solution, it is a partial structural schematic diagram of the crawler moving system, used to show the form of the crawler and the cooperation relationship between the crawler and the crawler wheel, different from Figure 6 and Figure 7 , the overlapping section covers the entire length of the crawler, relative to Figure 10 , the crawler width is decreased;

[0071] Figure 12 It is the liquid circuit diagram described in Embodiment 2.

[0072] The reference numerals in the 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 core shaft, 108, second slider, 109, pressing wheel, 1010, slider groove, 11, crawler assembly, 1101, first crawler, 1102, second crawler, 12, crawler support assembly, 1201, fixed seat, 1202, first telescopic rod, 1203, first crawler wheel, 1204, second telescopic rod, 1205, second crawler wheel, 1206, third telescopic rod, 1207, third crawler wheel, 2, walking drive system, 201, first joint, 202, second joint, 203, third joint, 204, second core shaft, 3, vehicle frame. Detailed implementation manners

[0073] The present invention will be further described in detail below in conjunction with embodiments, but the present invention is not limited to the following embodiments:

[0074] Embodiment 1:

[0075] As Figures 1 to 11 shown, the crawler frame includes a fixed seat 1201 for installing crawler wheels, and a first telescopic rod 1202, a second telescopic rod 1204 and a third telescopic rod 1206 are arranged on the fixed seat 1201;

[0076] Among the first telescopic rod 1202, the second telescopic rod 1204 and the third telescopic rod 1206, the extending length of each relative to the fixed seat 1201 is adjustable, and the relative positions of the free ends of the three satisfy that the free ends can be respectively used as different vertices of the same triangle;

[0077] It further includes a flipping component connected to the fixed seat 1201, and the fixed seat 1201 can be flipped around the flipping component. The flipping is used to realize the conversion of the crawler contact state with the ground. Among them, the contact state includes State 1 and State 2. State 1 is that after crawler wheels are arranged on the free ends of the three and a crawler is installed, the crawler section between the free ends of two of them is used to contact the ground, and the crawler wheel at the free end of the other is used to tension the crawler and is located above the crawler section; State 2 is that relative to State 1, the crawler section between the two free ends is suspended, and the crawler wheel at the other free end touches the ground and / or the crawler section surrounding the position of the crawler wheel touches the ground;

[0078] It further includes a crawler tension adjustment device fixedly connected to the fixed seat 1201. A pressing wheel 109 for restricting the shape of the crawler is arranged on the crawler tension adjustment device. In the triangle formed by the vertices, the pressing wheel 109 is located inside the triangle.

[0079] In the prior art, in order to improve the passing ability, driving performance, etc. of mobile devices, there are leg-track composite mobile systems that can achieve tracked driving and legged walking. When these leg-track composite mobile systems are in use, they travel in a tracked driving mode on the ground suitable for tracked driving, which can ensure the driving speed and driving stability. When it is necessary to cross obstacles or the road surface flatness is too poor, they travel in a legged walking mode. In the specific structural design, the existing leg-track composite mobile systems include the following structural forms: 1. Having different mobile systems, and realizing tracked driving and legged walking through different mobile systems respectively. For example, a tracked mobile system and a legged walking system are respectively installed on the frame of the mobile device. When the tracked mobile system works, the legged walking system retracts, and when the legged walking system works, the tracked mobile system retracts; 2. The tracked mobile system and the legged walking system are mutually reused in the two traveling modes. For example, the tracked mobile system is used as a part of the legged walking system. By deforming the system, the support method of the ground on it and the supported position on the system are adjusted. According to the specific state, the tracked rotation or the system swing is selected to obtain different traveling forms. The specific technical solutions are as disclosed in the technical solutions of patents with application numbers CN201710310946.1, CN201710252742.7, CN202110889033.6, etc.

[0080] Compared with the prior art, this solution provides a track frame different from the prior art. The configuration of this track frame can not only realize the conversion between legged walking and tracked driving, but also has a large adjustable range of the track ground contact length and the legged walking height, and also has the characteristic of being convenient to maintain the support height of the mobile device in the legged walking state.

[0081] Specifically, the usage method of this solution is as follows: Track support components including crawler wheels are installed on the free ends of the first telescopic rod 1202, the second telescopic rod 1204, and the third telescopic rod 1206 respectively, and crawler belts are stretched on the crawler wheels. The pressing wheel 109 is in contact with the crawler belt. By adjusting the position of the pressing wheel 109, the tension of the crawler belt is adjusted. The crawler frame is connected to the moving device through a flipping component. In this way, the positions of the free ends of the three components are the installation positions of the track support components, which are used to form three inflection points for the crawler belt to travel. In this way, in the first state, for example, the crawler wheels at the free ends of the second telescopic rod 1204 and the third telescopic rod 1206 form a crawler belt section for contacting the ground. By increasing or decreasing the extended lengths of the second telescopic rod 1204 and the third telescopic rod 1206, correspondingly, by shortening or increasing the length of the first telescopic rod 1202, different lengths of the supported crawler belt sections can be obtained under the condition of tensioning the crawler belt. In this way, according to the current terrain, factors such as crawler belt sinking amount control, crawler belt mobility, crawler belt power consumption, and traveling speed can be taken into account. When it is necessary to solve the problem of road passability by leg-type walking, the flipping component is used to convert the crawler belt ground contact state from the first state to the second state, and the crawler wheel at the free end of the first telescopic rod 1202 touches the ground and / or the crawler belt section surrounding the position of the crawler wheel touches the ground, and the leg-type walking posture is switched. At the same time, according to the height of the obstacle, the first telescopic rod 1202 can be extended or shortened relative to the fixed seat 1201, and correspondingly, the second telescopic rod 1204 and the third telescopic rod 1206 can be shortened or extended to obtain a support height that takes into account the driving performance while avoiding the crawler belt from being disengaged from the crawler wheel.

[0082] In summary, different from the prior art, by adopting the above-mentioned configuration method and shape adjustment mode of the crawler frame, since the first telescopic rod 1202, the second telescopic rod 1204, and the third telescopic rod 1206 can all telescopically move relative to the fixed seat 1201, they can not only realize the switching between the crawler driving and the legged walking modes. At the same time, the adjustable range of the length of the crawler section in contact with the ground is large, and the adjustable range of the support height during legged walking is large; the interaction of the first telescopic rod 1202, the second telescopic rod 1204, and the third telescopic rod 1206 on the crawler can keep the crawler in an appropriate tension state to avoid the crawler from being disengaged and excessively worn during use; since the crawler tension adjustment device is included, generally, the overall crawler in the crawler driving mode will be stretched, and at this time, the crawler tension adjustment device can appropriately relax the crawler, reduce the stress on the crawler, and extend the service life of the crawler. In the legged walking mode, the overall crawler will be relaxed, and at this time, the crawler tension adjustment device can press the crawler to avoid excessive slack of the crawler. At the same time, the position of the idler wheel 109 relative to the triangle can increase the wrap angle between the crawler and the crawler wheel, so that a greater crawler driving power can be obtained and the smoothness during crawler driving can be improved. Particularly, in the legged walking mode, to ensure the support height and the tension of the crawler of the current mobile device, it can be achieved only by the action of the crawler tension adjustment device, thereby improving the accuracy of the support height and the adjustability of the tension.

[0083] Embodiment 2:

[0084] This embodiment is further optimized on the basis of Embodiment 1:

[0085] As a person skilled in the art, the shape of the fixed seat 1201 can be set to satisfy the constraint of the corresponding telescopic rod. As a technical solution that is beneficial to the weight reduction design of the crawler frame and can effectively utilize the extended lengths of the second telescopic rod 1204 and the third telescopic rod 1206 to increase the adjustable range of the length of the crawler section for crawler driving, it is set that: the fixed seat 1201 includes a first fixed seat 1201, a second fixed seat 1201, and a third fixed seat 1201, all of which are strip-shaped structures and are fixedly connected to each other;

[0086] The first telescopic rod 1202 is telescopically connected to the first fixed seat 1201, and the first telescopic rod 1202 and the first fixed seat 1201 form a first hydraulic telescopic mechanism;

[0087] The second telescopic rod 1204 is telescopically connected to the second fixed seat 1201, and the second telescopic rod 1204 and the second fixed seat 1201 form a second hydraulic telescopic mechanism;

[0088] The third telescopic rod 1206 is telescopically connected to the third fixed seat 1201, and the third telescopic rod 1206 and the third fixed seat 1201 form a third hydraulic telescopic mechanism;

[0089] Among them, the second fixed seat 1201 and the third fixed seat 1201 are coaxial, and the first fixed seat 1201 is perpendicular to the second fixed seat 1201. In the above solution, the corresponding fixed seat 1201 can be the cylinder body of the hydraulic telescopic mechanism, and the corresponding telescopic rod can be the piston rod of the hydraulic telescopic mechanism. Adopting this solution, the corresponding oil circuit and control valve are simple in design and reliable in telescopic performance. The crawler section between the free ends of the above second telescopic rod 1204 and the third telescopic rod 1206 and the crawler wheels installed thereon is the crawler section used for contacting the ground when the crawler travels.

[0090] Correspondingly, as Figure 12 , a specific hydraulic circuit diagram of the above hydraulic telescopic mechanism is provided. Among them, S1 to S6 are limiters, and C and D are reversing valves serving as hydraulic control valves in the hydraulic circuit.

[0091] Embodiment 3:

[0092] This embodiment is further optimized on the basis of Embodiment 1 or 2:

[0093] To facilitate the installation of the flipping component and the crawler tension adjustment device on the fixed seat 1201, it is set that: a fixing frame 101 fixed on the fixed seat 1201 is further included, and the flipping component is arranged on the fixing frame 101;

[0094] The crawler tension adjustment device includes a slide rail 102 fixed on the fixing frame 101, a first slider 103 slidably connected to the slide rail 102, a driving motor 104 installed on the first slider 103, a crank 105 connected to the rotor of the driving motor 104, a connecting rod 106 connected to the crank 105, a first core shaft 107 connected to the connecting rod 106, and a second slider 108 connected to the first core shaft 107. The second slider 108 is slidably arranged in a slider groove 1010 on the fixing frame 101. Slider grooves 1010 are arranged on a pair of opposite sides of the slide rail 102, and the second slider 108 has a sliding connection relationship with each slider groove 1010: the second slider 108 passes through different slider grooves 1010 through different slide rods thereon, and a pressing wheel 109 is installed on each slide rod. The pressing wheel 109 and the driving motor 104 are located on different sides of the fixing frame 101;

[0095] The relationship between the slider groove 1010 and the slide rail 102 satisfies that when the driving motor 104 rotates, the linkage mechanism formed by the crank 105 and the connecting rod 106 forces the second slider 108 to slide in the slider groove 1010 and the first slider 103 to slide on the slide rail 102, so that the spatial position of the pressure wheel 109 changes to realize the tensioning and relaxation of the crawler belt. The crawler belt tensioning device with the above structural form is not only simple in structure and small in size, but also, if the pressure wheel 109 is arranged on a pair of opposite sides of the first telescopic rod 1202, when the driving motor 104 operates, the two pressure wheels 109 can simultaneously press and relax the crawler belts on both sides of the first telescopic rod 1202. If the first telescopic rod 1202 is arranged centrally relative to the two slider grooves 1010, the actions of the two pressure wheels 109 on the crawler belts on different sides are synchronous actions. More specifically, the extending direction of the slide rail 102 is along the axial direction of the first telescopic rod 1202, and the slider grooves 1010 on both sides are strip-shaped and are inclined relative to the slide rail 102. In this way, when the driving motor 104 operates, the slide rod moves horizontally in the width direction of the slider groove 1010, and the component force of the extrusion force on the side surface of the slider groove 1010 can make both the first slider 103 and the second slider 108 slide to adapt to the deformation of the linkage mechanism of the connecting rod 106.

[0096] Embodiment 4:

[0097] Based on Embodiment 1, this embodiment provides a crawler belt moving system, including a crawler belt frame, crawler wheels installed on the crawler belt frame, and a crawler belt installed on the crawler wheels. The crawler belt frame is the crawler belt frame described in Embodiment 1;

[0098] Crawler wheels are arranged at the free ends of all of the above three, and the crawler wheels all serve as the crawler belt supporting components of the crawler belt;

[0099] The pressure wheel 109 is in contact with the crawler belt. This crawler belt moving system includes the crawler belt frame proposed above. Adopting this solution, it can not only realize the switching between the crawler belt driving and the leg walking modes, but also has a large adjustable range for the length of the crawler belt section in contact with the ground and a large adjustable range for the supporting height during leg walking; it is convenient to maintain an appropriate tension force on the crawler belt; it can ensure the driving power transmitted to the crawler belt and the smoothness during crawler belt driving; the supporting height accuracy is high and the tension adjustability is good under leg support.

[0100] Embodiment 5:

[0101] This embodiment is further optimized based on Embodiment 4:

[0102] The crawler belt includes a first crawler belt 1101 and a second crawler belt 1102;

[0103] In the width direction of the crawler belt, the first crawler belt 1101 is arranged on one side of the crawler belt, and the second crawler belt 1102 is arranged on the other side of the crawler belt;

[0104] The first crawler belt 1101 and the second crawler belt 1102 overlap each other: on the side of the first crawler belt 1101 close to the second crawler belt 1102 and on the side of the second crawler belt 1102 close to the first crawler belt 1101, there is an overlapping section where they overlap each other, and the width of the overlapping section is adjustable. The existing crawler belt includes a number of crawler plates (chain plates) and chain pins connecting the crawler plates. After the crawler plates are connected in series by the crawler pins, a crawler chain is formed. Generally, only a single crawler chain is meshed on the crawler wheel.

[0105] The above solution is different from the prior art:

[0106] It is arranged that the first crawler belt 1101 and the second crawler belt 1102 are provided on the crawler wheel. It can be understood that both the first crawler belt 1101 and the second crawler belt 1102 are a complete crawler chain. At the same time, this solution describes the situation where the first crawler belt 1101 and the second crawler belt 1102 are included in the width direction of the crawler belt. However, in specific implementation, when the number of crawler chains with overlapping sections included in the width direction of the crawler belt is greater than or equal to 2, they all belong to the same concept as this solution. At the same time, the adjustable width of the overlapping section proposed above actually defines the mutual cooperation relationship between the first crawler belt 1101 and the second crawler belt 1102 and the assembly method on the crawler wheel. For example, the shapes and cooperation relationships of the first crawler belt 1101 and the second crawler belt 1102 with an overlapping relationship need to meet the purpose of adjustable width of the overlapping section; the meshing relationship between the crawler wheel and the first crawler belt 1101 and the second crawler belt 1102 needs to meet the purpose of adjustable width of the overlapping section. The specific technical solution is, for example, if the width direction of the crawler belt is defined along the left - right direction, the first crawler belt 1101 and the second crawler belt 1102 are arranged in a left - right relationship with each other, and at the same time, the first crawler belt 1101 and the second crawler belt 1102 have an overlapping section. By adjusting the width of the overlapping section, in the left - right direction, the first crawler belt 1101 and the second crawler belt 1102 move towards each other and move away from each other, and finally achieve the purpose of adjusting the width of the crawler belt.

[0107] 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:

[0108] For example, in order to make the crawler tracks adapt to soft roads, the crawler tracks are set to always maintain a wider width.

[0109] 1. Driving performance will decrease, and the structural life of track shoes and other components will also decrease;

[0110] 2. The wider the track shoe, the greater the friction with the ground, and the greater the power loss caused during driving;

[0111] 3. It is not conducive to track steering;

[0112] 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.

[0113] 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.

[0114] 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.

[0115] Since the surface of the crawler that contacts the ground changes constantly with the rotation of the crawler during operation, to achieve the above-mentioned goal of increasing the contact area with the ground to reduce the subsidence amount, it is only necessary that the segments of the crawler in contact with the ground have overlapping segments all the time or intermittently during the rotation of the crawler. Therefore, the above overlapping segments can be a complete ring around the circumferential direction of the crawler or intermittent segments around the circumferential direction of the crawler. As long as these segments can support on the road surface as the crawler rotates, the corresponding goal can be achieved. As a technical solution that enables the crawler moving device to adjust the crawler contact area at any time during operation, it is set that at each position along the length direction of the crawler, the first crawler 1101 and the second crawler 1102 overlap each other. Under the concept of changing the contact area provided by this solution, when there are intermittent overlapping segments on the crawler, it can be adjusted to control the driving trajectory of the moving device. When passing through a soft area, the segments with overlapping segments on the crawler are used to provide support to pass through the soft area. It can also be designed by setting the distance between adjacent overlapping segments according to the contact length of the crawler, so that there are overlapping segments in contact with the ground at any time. The specific distance can be determined according to the length of the overlapping segment and the contact length of the crawler. It is set that at each position along the length direction of the crawler, the first crawler 1101 and the second crawler 1102 overlap each other. In this way, when any segment of the crawler contacts the ground, the structural characteristics of the overlapping segments on this segment can be used to increase the width of the crawler. Compared with intermittently setting overlapping segments in the circumferential direction of the crawler, when using the intermittent overlapping segment solution, the ground in front of and behind the overlapping segment in the traveling direction will bulge relative to the ground at the overlapping segment position, increasing the driving resistance of the crawler and causing a decrease in the movement stability of the moving system. Regarding the understanding of the overlapping relationship between the first crawler 1101 and the second crawler 1102 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 crawler plates that can rotate relative to each other. Therefore, if the following solution using a sliding groove to achieve overlapping is adopted, there still needs to be a gap between the crawler plates on the overlapping segment along the extension direction of the crawler. Based on this structural configuration, it is understood that the gap is not an uneven vacancy along the length direction of the crawler. At the same time, according to the width of the selected crawler plate, the width of this gap is only used to adapt to the deformation of the crawler and is not suitable for embedding the crawler plates of another crawler, that is, there is an overlapping relationship between the first crawler 1101 and the second crawler 1102 at each position. Corresponding to the above overlapping relationship at each position, it can also be specifically implemented as having intermittent overlapping segments on the crawler as mentioned above. In this way, by sacrificing power consumption and stability due to the ground bulging in front of and behind the overlapping segment relative to the ground at the overlapping segment position, it can be used to improve the anti-skid ability of the moving device when traveling on soft ground.

[0116] When those skilled in the art implement the overlapping configuration, it can be set that the first crawler belt 1101 overlaps above the second crawler belt 1102. However, there are the following problems with such a method: the flatness of the bottom surface of the crawler belt is reduced, which is not conducive to controlling the subsidence amount of the crawler belt; the first crawler belt 1101 and the second crawler belt 1102 are unevenly stressed, which is not conducive to controlling the overall service life of the crawler belt; there is a slack state in the upper section of the crawler belt during the rotation process, and at the same time, the crawler belt plates need to have the ability of relative movement, and the crawler belt plates in the overlapping section also need to have this relative movement ability. Only using the stacking measure may cause excessive wear between the first crawler belt 1101 and the second crawler belt 1102 due to slack, abnormal meshing resulting in chain jamming, etc. Therefore, as a preferred solution, it is set that: both the first crawler belt 1101 and the second crawler belt 1102 are provided with chutes extending in the width direction of the crawler belt, and the chutes are formed on the crawler belt plates of each or between adjacent crawler belt plates;

[0117] The overlapping method is: the crawler belt plate of any one is embedded in the chute of the other;

[0118] The width adjustment is achieved by adjusting the embedding depth of the crawler belt plate in the chute. With this solution, the adjacent sides of the first crawler belt 1101 and the second crawler belt 1102 are mutually embedded through the chutes to achieve mutual overlapping, and by changing the embedding depth, the width of the overlapping section can be changed to achieve the purpose of adjusting the width of the crawler belt. With the structural configuration provided by this solution, a flat bottom surface of the crawler belt can be obtained, which is conducive to controlling the subsidence amount and uniform stress. Due to the existence of the chute, for the crawler belt plate embedded in the chute, the chute can reduce the sliding amount of the crawler belt plates on the first crawler belt 1101 and the second crawler belt 1102 during operation, which is beneficial to controlling the wear speed. By restricting the crawler belt plate embedded in it through the chute, chain jamming caused by abnormal meshing can be avoided to a certain extent. By restricting the crawler belt plate embedded in it through the chute, the overall stiffness of the crawler belt can be maintained to a certain extent, which is beneficial to maintaining its driving performance and wear speed.

[0119] Regarding the proposed track forming position, for the track shoes of the first track 1101 and the second track 1102 on the overlapping section, when formed between adjacent track shoes, the gaps existing between the track shoes themselves can be utilized to provide part or all of the chute. In this way, a denser arrangement of track shoes can be obtained, which is not only convenient for track shoe processing but also beneficial to maintaining the strength and stiffness of the track shoes. However, after the track pin friction pair wears, this method will accelerate the change in the fitting accuracy between the track shoes on the first track 1101 and the track shoes on the second track 1102. Another method is to form the chute on the track shoe. Compared with the existing track shoe form, this requires a relatively large change in the structure of the track shoe. Compared with the former method, it will also weaken more of the track shoe stiffness. However, regarding the change in the fitting accuracy, it will not be affected by the wear of the track pin friction pair. Those skilled in the art can select a suitable way to obtain the chute according to the specific track design. Further, since there is a possibility that soil, sand, etc. may be embedded in the chute, in order to make the resistance smaller during the process of changing the track structure to a narrower width, the chute is set as a through chute. In this way, during the process of width narrowing, foreign objects in the chute can be excluded through the ends of the chute to reduce the resistance of the first track 1101 and the second track 1102 moving towards each other. This method is suitable for forming the chute between adjacent track shoes and achieving the above purpose by utilizing the natural arrangement form of the track shoes. Otherwise, based on this concept, when the chute is formed on the track shoe, it is set that: among the first track 1101 and the second track 1102, at one end of the chute on each track shoe close to the other track shoe, it penetrates through the corresponding track shoe up and down, and at the other end, there is a slope extending from the bottom side to the top side of the track shoe, and the side of the slope top is located on the side close to the track side. 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 excluding foreign objects, but also since the foreign objects are pushed upward, the exclusion resistance is relatively small.

[0120] As described above, since it is necessary to maintain the relative movement state between adjacent track shoes, and the track movement process will also cause a relaxation stage in the upper part of the track. If only the above-mentioned chute embedding method is adopted, the track shoes may move out of the corresponding chute. After moving out, when the track is pulled and deformed, the first track 1101 and the second track 1102 cannot return to the meshing state where they are overlapped through the chute. To solve this problem, it is preferably set that: strip-shaped ribs or strip-shaped grooves are further provided on the side wall of the chute, and strip-shaped grooves or strip-shaped ribs are also provided on the side wall of the track shoe embedded in the chute, and the length directions of the strip-shaped ribs and the strip-shaped grooves are all along the width direction of the track;

[0121] When strip-shaped ribs are provided on the side wall of the chute and strip-shaped grooves are provided on the side wall of the track shoe embedded in the chute, the strip-shaped ribs are embedded in the strip-shaped grooves, and the shapes of the strip-shaped ribs and the strip-shaped grooves satisfy: through the mutual restraint of the strip-shaped ribs and the strip-shaped grooves, the position of the track shoe in the height direction of the chute is restricted;

[0122] 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.

[0123] In order to adapt to the change in track width, the corresponding track wheel can adopt a traditional track wheel structure, the only difference is that the track wheel structure is widened, or the following track wheel scheme including a telescopic mechanism with adjustable length can be adopted:

[0124] 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;

[0125] 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.

[0126] 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;

[0127] On one side where the first crawler belt 1101 and the second crawler belt 1102 are each used to engage with the corresponding pulley, there are side edges provided. During the telescopic movement of the telescopic mechanism, the width of the overlapping section is adjusted by the end face of the pulley pushing against the side face of the side edge. In this solution, when it is necessary to adjust to a wider crawler belt, the hydraulic telescopic mechanism extends, and the outer sides of the pulleys push against the side edges on the outer sides of the corresponding crawler belts, making the overall crawler belt wider; when it is necessary to adjust to a narrower crawler belt, the hydraulic telescopic mechanism contracts, and the inner sides of the pulleys push against the side edges on the inner sides of the corresponding crawler belts, making the overall crawler belt narrower.

[0128] In this embodiment, the first crawler belt 1101 and the second crawler belt 1102 form a crawler belt assembly 11 as shown in the figure. The crawler belt wheel part including the length-adjustable telescopic mechanism is the crawler belt support assembly 12 as shown in the figure. The crawler belt wheels corresponding to the crawler belt support assemblies 12 at different positions are the first crawler belt wheel 1203, the second crawler belt wheel 1205, and the third crawler belt wheel 1207 as shown in the figure.

[0129] Embodiment 6:

[0130] Based on Embodiment 4, this embodiment provides a mobile device, including a device frame and a traveling device installed on the device frame. The traveling device includes the crawler belt moving system described in Embodiment 4. The flipping component serves as a connecting member connecting the fixed seat 1201 and the device frame. The mobile device proposed in this solution is a specific application of the crawler belt moving system.

[0131] In this embodiment, the device frame is the vehicle frame 3, and the traveling device is the drive system 1 of the vehicle frame 3.

[0132] Embodiment 7:

[0133] This embodiment is further optimized based on Embodiment 6:

[0134] More specifically, to improve the steering ability and adaptability to uneven ground of the mobile device, it is set that: the crawler belt frame is connected to the device frame through a steering mechanism. The steering mechanism includes a plurality of mutually connected steering joints in series, and each steering joint is provided with a rotating shaft;

[0135] Among them, the steering joint includes a first joint 201, a second joint 202, and a third joint 203. A first rotating shaft parallel to the width direction of the device frame is provided on the first joint 201. A second rotating shaft parallel to the height direction of the device frame is provided on the second joint 202. A third rotating shaft parallel to the length direction of the device frame is provided on the third joint 203;

[0136] The crawler belt frame can rotate around the first rotating shaft, the second rotating shaft, and the third rotating shaft;

[0137] The flipping component serves as a connecting member between the fixed seat 1201 and the steering mechanism. In this solution, the rotations occurring at each rotating shaft position can be manually adjusted and locked, or can be adjusted and locked by corresponding actuators such as motors installed on the mobile device. The multi-degree-of-freedom design can optimize the flexibility and ground clearance of this solution. For example, the crawler movement system rotating around the first rotating shaft can adjust the front and rear slopes of the crawler to adapt to obstacles, etc.; the crawler movement system rotating around the second rotating shaft can be used for non-traditional steering of the crawler; the crawler movement system rotating around the third rotating shaft can adjust the degree of fit between the crawler and the ground in the width direction, adapt to slopes inclined in the width direction of the crawler, and enhance the stability during the driving process through, for example, adaptive fitting. During legged walking, by rotating the crawler movement system around the corresponding rotating shafts, actions such as corresponding leg swinging, leg turning, and side leg lifting can be completed, greatly improving the ground clearance of the mobile device. In specific applications, the arrangement form of the above rotating shafts, from bottom to top, is the third rotating shaft, the second rotating shaft, and the first rotating shaft respectively. The fixed frame 101 can be connected through the second core shaft 204 on the third joint 203, and the first joint 201 is connected to the device frame of the vehicle frame 3 through the first rotating shaft. At the same time, the second core shaft 204 cooperates with the flipping component on the crawler frame. During legged walking, the swinging leg action is also obtained through the rotation of the cooperation position between the second core shaft 204 and the flipping component.

[0138] More completely, for uniform wear on the crawler and convenient control of the touchdown point position, etc., the crawler is installed on the same plane; the axes of the crawler wheels, the axis of the pressure wheel 109, and the axis of the second core shaft 204 are parallel to each other and parallel to the width direction of the device frame.

[0139] The above content is a further detailed description of the present invention in combination with specific preferred implementation manners, and it cannot be determined that the specific implementation manners of the present invention are only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention belongs, other implementation manners obtained without departing from the technical solution of the present invention should all be included within the protection scope of the present invention.

Claims

1. Track frame, including a fixed seat (1201) for installing track wheels, characterized in that, A first telescopic rod (1202), a second telescopic rod (1204) and a third telescopic rod (1206) are provided on the fixed seat (1201). Among the first telescopic rod (1202), the second telescopic rod (1204) and the third telescopic rod (1206), the extending length of each with respect to the fixed seat (1201) is adjustable, and the relative positions of the free ends of the three satisfy that each free end can be respectively used as different vertices of the same triangle. It further includes a flipping component connected to the fixed seat (1201). The fixed seat (1201) can be flipped around the flipping component, and the flipping is used to realize the conversion of the crawler touchdown state. Among them, the touchdown state includes state one and state two. State one is that after track wheels are arranged on the free ends of the three and tracks are installed, the track section between the free ends of two of them is used to contact the ground, and the track wheel at the free end of the other is used to tension the track and is located above the track section. State two is that, relative to state one, the track section between the free ends of the two is suspended, and the track wheel at the free end of the other touches the ground and / or the track section surrounding the position of the track wheel touches the ground. It further includes a track tension adjustment device fixedly connected to the fixed seat (1201). A pressing wheel (109) for restricting the shape of the track is provided on the track tension adjustment device. In the triangle formed by the vertices, the pressing wheel (109) is located inside the triangle. It further includes a fixing frame (101) fixed to the fixed seat (1201), and the flipping component is arranged on the fixing frame (101). The track tension adjustment device includes a slide rail (102) fixed to the fixing frame (101), a first slider (103) slidably connected to the slide rail (102), a driving motor (104) installed on the first slider (103), a crank (105) connected to the rotor of the driving motor (104), a connecting rod (106) connected to the crank (105), a first core shaft (107) connected to the connecting rod (106), and a second slider (108) connected to the first core shaft (107). The second slider (108) is slidably arranged in a slider groove (1010) on the fixing frame (101). Slide rail grooves (1010) are provided on a pair of opposite sides of the slide rail (102). The second slider (108) has a sliding connection relationship with each slide rail groove (1010): the second slider (108) passes through different slide rail grooves (1010) through different sliding rods on it, and pressing wheels (109) are installed on each sliding rod. The pressing wheels (109) and the driving motor (104) are located on different sides of the fixing frame (101). The relationship between the slide rail groove (1010) and the slide rail (102) satisfies that when the driving motor (104) rotates, the linkage mechanism formed by the crank (105) and the connecting rod (106) forces the second slider (108) to slide in the slide rail groove (1010) and the first slider (103) to slide on the slide rail (102), so that the spatial position of the pressing wheel (109) changes to realize the tensioning and relaxation of the track. The extending direction of the sliding rail (102) is along the axial direction of the first telescopic rod (1202). The slider grooves (1010) on both sides are both strip-shaped and are inclined relative to the sliding rail (102).

2. The crawler frame according to claim 1, characterized in that, The fixed seat (1201) includes a first fixed seat, a second fixed seat, and a third fixed seat, all of which are strip-shaped structures and are fixedly connected to each other; The first telescopic rod (1202) is telescopically connected to the first fixed seat, and the first telescopic rod (1202) and the first fixed seat form a first hydraulic telescopic mechanism; The second telescopic rod (1204) is telescopically connected to the second fixed seat, and the second telescopic rod (1204) and the second fixed seat form a second hydraulic telescopic mechanism; The third telescopic rod (1206) is telescopically connected to the third fixed seat, and the third telescopic rod (1206) and the third fixed seat form a third hydraulic telescopic mechanism; Wherein, the second fixed seat and the third fixed seat are coaxial, and the first fixed seat is perpendicular to the second fixed seat.

3. The crawler moving system includes a crawler frame, crawler wheels mounted on the crawler frame, and crawlers mounted on the crawler wheels, characterized in that, The crawler frame is the crawler frame according to any one of claims 1 to 2; Track wheels are arranged on the free ends of the three, and the track wheels all serve as the track support components (12) of the track; The pressing wheel (109) is in contact with the track.

4. The crawler mobile system according to claim 3, characterized in that, The track includes a first track (1101) and a second track (1102); In the width direction of the track, the first track (1101) is arranged on one side of the track, and the second track (1102) is arranged on the other side of the track; The first track (1101) and the second track (1102) overlap each other: the side of the first track (1101) close to the second track (1102) and the side of the second track (1102) close to the first track (1101) have an overlapping section that overlaps each other, and the width of the overlapping section is adjustable.

5. The crawler mobile system according to claim 4, characterized in that, At each position along the length direction of the track, the first track (1101) and the second track (1102) overlap each other.

6. The crawler moving system according to claim 4, wherein Chute grooves extending in the width direction of the track are provided on both the first track (1101) and the second track (1102), and the chute grooves are formed on the track plates of each or between adjacent track plates; The overlapping method is: the track plate of any one is embedded in the chute groove of the other; The adjustable width is achieved by adjusting the embedding depth of the track plate in the chute groove.

7. The crawler travel system according to claim 6, characterized in that Strip-shaped ribs or strip-shaped grooves are further provided on the side walls of the chute grooves, and strip-shaped grooves or strip-shaped ribs are provided on the side walls of the track plates embedded in the chute grooves. The length directions of the strip-shaped ribs and the strip-shaped grooves are both along the width direction of the track; When strip-shaped ribs are provided on the side walls of the chute groove and strip-shaped grooves are provided on the side walls of the track plates embedded in the chute groove, the strip-shaped ribs are embedded in the strip-shaped grooves, and the shapes of the strip-shaped ribs and the strip-shaped grooves satisfy: through the mutual restraint of the strip-shaped ribs and the strip-shaped grooves, the position of the track plate in the height direction of the chute groove is restricted; When strip-shaped grooves are provided on the side walls of the chute groove and strip-shaped ribs are provided on the side walls of the track plates embedded in the chute groove, the strip-shaped ribs are embedded in the strip-shaped grooves, and the shapes of the strip-shaped ribs and the strip-shaped grooves satisfy: through the mutual restraint of the strip-shaped ribs and the strip-shaped grooves, the position of the track plate in the height direction of the chute groove is restricted.

8. The mobile device includes a device frame and a traveling device mounted on the device frame, and is characterized in that The traveling device includes the crawler moving system described in any one of claims 3 to 7, and the flipping member serves as a connecting member for connecting the fixed seat (1201) to the device frame.

9. The mobile device according to claim 8, characterized in that, The crawler frame is connected to the device frame through a steering mechanism, and the steering mechanism includes a plurality of serially connected steering joints, and each steering joint is provided with a rotating shaft; Among them, the steering joint includes a first joint (201), a second joint (202), and a third joint (203). A first rotating shaft parallel to the width direction of the device frame is provided on the first joint (201), a second rotating shaft parallel to the height direction of the device frame is provided on the second joint (202), and a third rotating shaft parallel to the length direction of the device frame is provided on the third joint (203); The crawler frame can rotate around the first rotating shaft, the second rotating shaft, and the third rotating shaft; The flipping member serves as a connecting member for connecting the fixed seat (1201) to the steering mechanism.

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