Crawler-mounted crusher
By installing slide bars and limiting devices on the tracked crusher, the orientation of the multi-section robotic arm can be adjusted, solving the problem of small crushing range in the existing technology and improving crushing efficiency and ease of operation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHANGAN UNIV
- Filing Date
- 2024-02-05
- Publication Date
- 2026-05-19
AI Technical Summary
Existing tracked crushers are not convenient to change the position of their multi-section robotic arms during movement, resulting in a smaller crushing range and reduced crushing efficiency.
By setting a first slide bar, a second slide bar, a telescopic bar, and a limiting device on the tracked crusher, the orientation of multiple robotic arms can be adjusted on the slide bars, and the limiting device can be used to fix them in the limiting groove, thus realizing the rapid adjustment of the robotic arms.
It increases the crushing range and improves crushing efficiency. It has a simple structure, is easy to operate, and improves the ease of disassembly and assembly of the machine body.
Smart Images
Figure CN117845714B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of crusher technology, and more particularly to a tracked crusher. Background Technology
[0002] Tracked crushers, also known as tracked mobile crushing plants or hydraulically driven tracked mobile crushing plants, are crushing equipment that integrates high efficiency and multiple functions. Their main feature is their self-propelled operation, providing excellent mobility and adaptability to different work sites.
[0003] Existing tracked crushers use drill bits on multiple robotic arms to break up road surfaces, process the broken soil, and perform subsequent maintenance. However, it is inconvenient to change the position of the multiple robotic arms during the movement of the tracked crusher, which reduces the crushing range and thus the crushing efficiency. Summary of the Invention
[0004] This application provides a tracked crusher that solves the technical problem of the limited crushing range of existing tracked crushers due to the inconvenience of changing the position of multiple mechanical arms during movement.
[0005] This application provides a tracked crusher, including a body, a tracked chassis, a driver's cab, a crushing section, a first slide bar, a second slide bar, a power component, a telescopic rod, a first limiting device, and a multi-section robotic arm. The body and the driver's cab are spaced apart along the length of the tracked chassis and located on top of the tracked chassis. The body is detachably connected to the tracked chassis. The first slide bar and the second slide bar are both disposed on the outer wall of the body and spaced apart along the height of the body. The second slide bar is close to the tracked chassis. One end of the multi-section robotic arm is sleeved on the outer wall of the first slide bar, and the other end is connected to the crushing section. The power component is disposed on the outer wall of the multi-section robotic arm and close to the tracked chassis. The telescopic rod is attached to the machine body; one end of the telescopic rod is sleeved on the outer wall of the second slide rod, and the other end is connected to the outer wall of the multi-section robotic arm. The telescopic rod, the machine body, and part of the multi-section robotic arm form a triangular structure. The second slide rod has multiple limiting grooves along its length. The first limiting device is disposed between the second slide rod and the telescopic rod, and both sides of the first limiting device facing the telescopic rod are fixedly connected to the inner wall of the telescopic rod. When adjusting the position of the multi-section robotic arm, the first limiting device is pulled out of the limiting groove. When the multi-section robotic arm is adjusted to a suitable position, the first limiting device is inserted into the corresponding limiting groove to fix the telescopic rod to the second slide rod.
[0006] In one possible implementation, the first limiting device includes a first pin, a first elastic element, a base plate, and two first limiting rods; the first pin is disposed between the second sliding rod and the telescopic rod; the first pin has first grooves on both sides facing the telescopic rod; the base plate is disposed at the end of the first pin away from the second sliding rod; one end of each of the two first limiting rods is fixedly connected to the inner wall of the telescopic rod, and the other end of each rod extends into the first groove; the first elastic element is sleeved on the outer wall of the first pin, and its two ends are respectively connected to the side of the first limiting rod facing the base plate and the base plate; when the orientation of the multi-section robotic arm is adjusted, the base plate is pulled, the base plate drives the first pin to move, the first elastic element is in a stretched state, and the first pin is pulled out of the limiting groove; when the multi-section robotic arm is adjusted to a suitable position, the base plate is released, the first elastic element returns to its initial state, so as to drive the first pin to insert into the corresponding limiting groove.
[0007] In one possible implementation, the first limiting device further includes a pull ring; the pull ring is disposed at the end of the base plate away from the first pin.
[0008] In one possible implementation, the plurality of the limiting grooves are all oriented toward the tracked chassis.
[0009] In one possible implementation, both the first slide bar and the second slide bar are semi-cylinders.
[0010] In one possible implementation, the tracked chassis includes a dedicated chassis, track wheels, and a plurality of second limiting devices; the bottom of the dedicated chassis is fixedly connected to the track wheels; a second groove is provided inside the dedicated chassis, the projection of the second groove on the horizontal plane coincides with the projection of the body, and extends toward both sides of the body; a plurality of fixing blocks are provided at the bottom of the body, and the plurality of fixing blocks extend into the second groove; a plurality of second limiting devices are disposed between the corresponding fixing blocks and the second grooves, and one end away from the fixing block is fixedly connected to the side wall of the second groove; a third groove is provided on the side of the plurality of fixing blocks facing the plurality of second limiting devices, and the other end of the plurality of second limiting devices is configured to be inserted into or pulled out of the third groove.
[0011] In one possible implementation, the second limiting device includes a second pin, a push plate, a second limiting rod, and a second elastic element; the second pin has a fourth groove on the side facing away from the fixed block; one end of the second limiting rod is fixedly connected to the side wall of the second groove away from the fixed block, and the other end extends into the fourth groove; the second elastic element is sleeved on the outside of the second limiting rod, and both ends of the second elastic element are respectively connected to the side wall of the second groove away from the fixed block and the side of the second pin facing the second limiting rod; one end of the push plate is connected to the side of the second pin away from the track wheel, and the other end extends out of the second groove and is located outside the side of the special chassis away from the track wheel.
[0012] In one possible implementation, the second limiting device further includes a connecting block and a roller; the connecting block is disposed on the side of the second pin away from the push plate; one end of the roller is inserted into the connecting block, and the other end abuts against the bottom wall of the second groove.
[0013] In one possible implementation, the tracked crusher further includes a plurality of elastic pads; one end of the plurality of elastic pads is fixedly connected to the bottom wall of the second groove, and the other end abuts against the side of the fixed block away from the machine body.
[0014] One or more technical solutions provided in the embodiments of this application have at least the following technical effects:
[0015] The tracked crusher provided in this embodiment includes a machine body, a tracked chassis, a driver's cab, a crushing section, a first slide bar, a second slide bar, a power component, a telescopic rod, a first limiting device, and a multi-section robotic arm. In actual operation, firstly, when the position of the multi-section robotic arm needs adjustment, the limiting device is pulled out of its limiting groove; secondly, the telescopic rod is pushed, causing the multi-section robotic arm to move and adjust under the limiting of the first and second slide bars; finally, after the multi-section robotic arm is adjusted to the appropriate position, the limiting device is released, allowing it to insert into the limiting groove, thus fixing the telescopic rod to the second slide bar. The machine body in this embodiment is detachably connected to the tracked chassis for easy installation. Therefore, the tracked crusher in this embodiment can quickly adjust the position of the multi-section robotic arm, increasing the crushing range, improving crushing efficiency, and has a simple structure and is easy to operate. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is a schematic diagram of the structure of the tracked crusher provided in the embodiments of this application;
[0018] Figure 2 A front view of one embodiment of the tracked crusher provided in this application;
[0019] Figure 3 for Figure 2 A magnified view of part A;
[0020] Figure 4 for Figure 2 A magnified view of section B;
[0021] Figure 5 A front view of another embodiment of the tracked crusher provided in this application;
[0022] Figure 6 for Figure 5 A magnified view of a portion of point C.
[0023] Reference numerals: 1-Body; 2-Tracked chassis; 21-Special chassis; 211-Second groove; 22-Track wheel; 23-Second limiting device; 231-Second pin; 2311-Fourth groove; 232-Push plate; 233-Second limiting rod; 234-Second elastic element; 235-Connecting block; 236-Roller; 3-Driver's cab; 4-Crushing section; 5-First sliding rod; 6-Second sliding rod; 61-Limiting groove; 7-Power component; 8-Telescopic rod; 9-First limiting device; 91-First pin; 911-First groove; 92-First elastic element; 93-Base plate; 94-First limiting rod; 95-Pull ring; 10-Multi-section robotic arm; 11-Fixing block; 111-Third groove; 12-Elastic pad. Detailed Implementation
[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0025] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the embodiments of this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.
[0026] This application provides a tracked crusher, such as... Figures 1 to 6 As shown. The tracked crusher includes a body 1, a tracked chassis 2, a driver's cab 3, a crushing section 4, a first slide bar 5, a second slide bar 6, a power unit 7, a telescopic rod 8, a first limiting device 9, and a multi-section robotic arm 10. The body 1 and the driver's cab 3 are spaced apart along the length of the tracked chassis 2 and located on top of the tracked chassis 2. The body 1 is detachably connected to the tracked chassis 2. The first slide bar 5 and the second slide bar 6 are both located on the outer wall of the body 1 and spaced apart along the height of the body 1. The second slide bar 6 is close to the tracked chassis 2. One end of the multi-section robotic arm 10 is fitted onto the outer wall of the first slide bar 5, and the other end is connected to the crushing section 4. The power unit 7 is located on the outer wall of the multi-section robotic arm 10 and close to the body 1. One end of the telescopic rod 8 is fitted onto the outer wall of the second slide bar 6, and the other end is connected to the outer wall of the multi-section robotic arm 10. The telescopic rod 8, the body 1, and part of the multi-section robotic arm 10 form a triangular structure. Triangular structures are more stable.
[0027] The second slide rod 6 has multiple limiting grooves 61 along its length. A first limiting device 9 is disposed between the second slide rod 6 and the telescopic rod 8, and both sides of the first limiting device 9 facing the telescopic rod 8 are fixedly connected to the inner wall of the telescopic rod 8. When adjusting the position of the multi-section robotic arm 10, the first limiting device 9 is pulled out of the limiting grooves 61, allowing the telescopic rod 8 to slide on the second slide rod 6. When the multi-section robotic arm 10 is adjusted to a suitable position, the first limiting device 9 is inserted into the corresponding limiting groove 61, fixing the telescopic rod 8 to the second slide rod 6.
[0028] Furthermore, in this embodiment, the telescopic rod 8 is a hydraulic telescopic rod.
[0029] It should be noted that in actual operation, firstly, when the orientation of the multi-section robotic arm 10 needs to be adjusted, the limiting device is pulled out of the limiting groove 61; secondly, the telescopic rod 8 is pushed, causing the multi-section robotic arm 10 to move and adjust under the limiting of the first slide rod 5 and the second slide rod 6; finally, after the multi-section robotic arm 10 is adjusted to the appropriate position, the limiting device is released, allowing the limiting device to insert into the limiting groove 61, so that the telescopic rod 8 is fixed to the second slide rod 6. In this embodiment, the machine body 1 is detachably connected to the tracked chassis 2, facilitating disassembly and assembly. Therefore, the tracked crusher in this embodiment can quickly adjust the orientation of the multi-section robotic arm 10, increasing the crushing range, improving crushing efficiency, and has a simple structure and is easy to operate.
[0030] In the embodiments of this application, such as Figure 2 and Figure 3 As shown, the first limiting device 9 includes a first pin 91, a first elastic element 92, a base plate 93, and two first limiting rods 94. The first pin 91 is disposed between the second sliding rod 6 and the telescopic rod 8. First grooves 911 are respectively provided on both sides of the first pin 91 facing the telescopic rod 8. The base plate 93 is disposed at the end of the first pin 91 away from the second sliding rod 6. One end of each of the two first limiting rods 94 is fixedly connected to the inner wall of the telescopic rod 8, and the other end of each extends into the first groove 911. Specifically, the first groove 911 is used to limit the range of movement of the first limiting rods 94.
[0031] The first elastic element 92 is sleeved on the outer wall of the first pin 91, and its two ends are respectively connected to the side of the first limiting rod 94 facing the base plate 93 and the base plate 93. When it is necessary to adjust the position of the multi-section robotic arm 10, the base plate 93 is pulled, and the base plate 93 drives the first pin 91 to move. The first elastic element 92 is in a stretched state, pulling the first pin 91 out of the limiting groove 61. Then, the telescopic rod 8 is pushed, which drives the multi-section robotic arm 10 to move and adjust under the limitation of the first slide rod 5 and the second slide rod 6. When the multi-section robotic arm 10 is adjusted to a suitable position, the base plate 93 is released, the first elastic element 92 returns to its initial state, and the first elastic element 92 drives the first pin 91 to insert into the corresponding limiting groove 61, so that the telescopic rod 8 is fixed to the second slide rod 6. In this embodiment, the first pin 91 has a circular cross-section, which is more convenient for fixing the telescopic rod 8 and avoids the telescopic rod 8 from shaking when moving, thereby avoiding the deviation of the position of the first pin 91.
[0032] When the tracked crusher moves a certain distance and the position of the multi-section robotic arm 10 needs to be adjusted, the position of the multi-section robotic arm 10 is quickly adjusted to increase the crushing range of the tracked crusher, thereby improving the crushing efficiency.
[0033] In this embodiment, the first limiting device 9 further includes a pull ring 95. The pull ring 95 is disposed at the end of the base plate 93 away from the first pin 91. In this embodiment, the operator can pull the first pin 91 with less effort using the pull ring 95, making operation convenient.
[0034] In this embodiment, multiple limiting grooves 61 are all oriented toward the tracked chassis 2. The first limiting device 9 in this embodiment is located on the side facing the tracked chassis 2, which facilitates operation by the operator.
[0035] In this embodiment, both the first slide bar 5 and the second slide bar 6 are semi-cylinders, which facilitates the sliding adjustment of the telescopic rod 8 and the multi-section robotic arm 10 around the first slide bar 5 and the second slide bar 6. If the first slide bar 5 and the second slide bar 6 are set as long cylinders, it will be inconvenient for the multi-section robotic arm 10 and the telescopic rod 8 to adjust around the machine body 1 when sliding on the first slide bar 5 and the second slide bar 6, and the crushing range will not be as wide as that of a cylinder.
[0036] Specifically, in this embodiment of the application, the projections of the first slide bar 5 and the second slide bar 6 on the horizontal plane coincide.
[0037] In the embodiments of this application, such as Figure 4 As shown, the tracked chassis 2 includes a dedicated chassis 21, track wheels 22, and multiple second limiting devices 23. The bottom of the dedicated chassis 21 is fixedly connected to the track wheels 22. A second groove 211 is provided inside the dedicated chassis 21. The projection of the second groove 211 on the horizontal plane coincides with the projection of the body 1 and extends towards both sides of the body 1. Multiple fixing blocks 11 are provided at the bottom of the body 1, and all fixing blocks 11 extend into the second groove 211. Multiple second limiting devices 23 are disposed between corresponding fixing blocks 11 and second grooves 211, with one end away from the fixing block 11 fixedly connected to the side wall of the second groove 211. A third groove 111 is provided on the side of each fixing block 11 facing the multiple second limiting devices 23, and the other end of each second limiting device 23 is configured to be inserted into or pulled out of the third groove 111.
[0038] It should be noted that two second limiting devices 23 can be provided in this embodiment, and correspondingly two fixing blocks 11 can be provided. The second groove 211 in this embodiment is an annular groove. Of course, this embodiment is not limited to an annular groove, and two second grooves 211 can also be provided, each corresponding to a fixing block 11.
[0039] In this embodiment, the dedicated chassis 21 is mounted on top of the track wheel 22, and both fixing blocks 11 are inserted into the second groove 211. The two fixing blocks 11 respectively press against the second limiting devices 23 on both sides. When the second limiting device 23 is inserted into the third groove 111, the machine body 1 is fixed to the chassis, thereby preventing the internal rotation of the machine body 1 from being damaged by the rotational force, and improving the service life of the machine body 1; when the second limiting device 23 is pulled out of the third groove 111, it facilitates disassembly and maintenance.
[0040] In the embodiments of this application, such as Figure 4 As shown, the second limiting device 23 includes a second pin 231, a push plate 232, a second limiting rod 233, and a second elastic member 234. The second pin 231 has a fourth groove 2311 on the side facing away from the fixing block 11. One end of the second limiting rod 233 is fixedly connected to the side wall of the second groove 2311 away from the fixing block 11, and the other end extends into the fourth groove 2311. In this embodiment, the fourth groove 2311 can limit the movement range of the second limiting rod 233.
[0041] The second elastic element 234 is sleeved on the outside of the second limiting rod 233. Both ends of the second elastic element 234 are respectively connected to the side wall of the second groove 211 away from the fixing block 11 and the side of the second pin 231 facing the second limiting rod 233. One end of the push plate 232 is connected to the side of the second pin 231 away from the track wheel 22, and the other end extends out of the second groove 211 and is located on the outside of the special chassis 21 on the side away from the track wheel 22. The push plate 232 facilitates the operator to push the second pin 231.
[0042] It should be noted that when the body 1 needs to be removed, the push plate 232 is pushed to move away from the body 1, so that the push plate 232 drives the second pin 231 to pull out the third groove 111 of the fixing block 11 under the limit of the second limit rod 233, and then pull out the body 1; when the body 1 needs to be installed, both fixing blocks 11 are inserted into the second groove 211, and the two fixing blocks 11 respectively squeeze the second pin 231 on both sides, so that the second pin 231 compresses the second elastic member 234 under the limit of the second limit rod 233. At this time, the fixing block 11 squeezes the second pin 231, so that the fixing block 11 is inserted into the third groove 111 of the fixing block 11 under the elastic potential energy of the second elastic member 234, so as to achieve locking and fixing of the body 1.
[0043] Furthermore, each of the second limiting devices 23 in this application embodiment includes two second limiting rods 233 and two fourth grooves 2311. By providing two second limiting rods 233, the second pin 231 moves more stably under the limitation of the second limiting rods 233.
[0044] In this embodiment, the second limiting device 23 further includes a connecting block 235 and a roller 236. The connecting block 235 is disposed on the side of the second pin 231 away from the push plate 232. One end of the roller 236 is inserted into the connecting block 235, and the other end abuts against the bottom wall of the second groove 211. In this embodiment, the roller 236 facilitates the insertion or removal of the second pin 231 into the third groove 111.
[0045] Specifically, in the embodiments of this application, both the first elastic element 92 and the second elastic element 234 are springs.
[0046] In the embodiments of this application, such as Figure 5 and Figure 6 As shown, the tracked crusher also includes multiple elastic pads 12. One end of each elastic pad 12 is fixedly connected to the bottom wall of the second groove 211, and the other end abuts against the side of the fixing block 11 away from the machine body 1.
[0047] It should be noted that the elastic pad 12 in this embodiment is a rubber pad. When the tracked crusher is working, the fixed block 11 compresses the elastic pad 12, and the elastic pad 12 cushions the fixed block 11, thereby improving the service life of the fixed block 11.
[0048] In this embodiment, the side of the second pin 231 facing the third groove 111 is provided with a slope, which facilitates insertion into the third groove 111, so that when the two fixing blocks 11 respectively press the corresponding two second pins 231, the two second pins 231 move toward the sides of the body 1 respectively.
[0049] The working principle of this tracked crusher is as follows: The machine body 1 is installed on a special chassis 21. Fixing blocks 11 are inserted into the second groove 211 of the special chassis 21. The two fixing blocks 11 respectively press the second pins 231 on both sides, causing the second pins 231 to be inserted into the second groove 211 under the limiting of the second limiting rod 233 and the auxiliary movement of the connecting block 235 and roller 236. At this time, the second elastic element 234 is in a compressed state, and the fixing blocks 11 press the second pins 231, causing... The second pin 231 is inserted into the third groove 111 of the fixing block 11 under the elastic potential energy of the second elastic element 234, so that the machine body 1 and the special chassis 21 are locked together. When the machine body 1 needs to be removed later, push the push plates 232 on both sides of the machine body 1, so that the push plates 232 drive the second pin 231 to pull out the fixing block 11 under the limit of the second limit rod 233 and the auxiliary movement of the connecting block 235 and the roller 236, and then pull out the machine body 1, so that the fixing block 11 is pulled out of the chassis.
[0050] When the position of the multi-section robotic arm 10 needs to be adjusted, pull the pull ring 95, which causes the first pin 91 to stretch the first elastic element 92 under the limit of the first limit rod 94, so that the first pin 91 is pulled out of the limit groove 61. Then push the telescopic rod 8, which causes the multi-section robotic arm 10 to move and adjust under the limit of the first slide rod 5 and the second slide rod 6. When the multi-section robotic arm 10 is adjusted to the appropriate position, release the pull ring 95, so that the first pin 91 is inserted into the limit groove 61 under the elastic potential energy of the first elastic element 92.
[0051] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, please refer to each other. Each embodiment focuses on describing the differences from other embodiments.
[0052] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this application.
Claims
1. A tracked crusher, characterized in that, It includes a fuselage (1), a tracked chassis (2), a driver's cab (3), a crushing section (4), a first slide bar (5), a second slide bar (6), a power unit (7), a telescopic rod (8), a first limiting device (9), and a multi-section robotic arm (10). The fuselage (1) and the driver's cab (3) are spaced apart along the length of the tracked chassis (2) and located on top of the tracked chassis (2). The fuselage (1) is detachably connected to the tracked chassis (2). The first slide bar (5) and the second slide bar (6) are both disposed on the outer wall of the body (1) and are spaced apart along the height direction of the body (1). The second slide bar (6) is close to the tracked chassis (2). One end of the multi-section robotic arm (10) is sleeved on the outer wall of the first slide bar (5), and the other end is connected to the crushing part (4). The power component (7) is disposed on the outer wall of the multi-section robotic arm (10) and close to the body (1); One end of the telescopic rod (8) is sleeved on the outer wall of the second slide rod (6), and the other end is connected to the outer wall of the multi-section robotic arm (10). The telescopic rod (8), the body (1), and part of the multi-section robotic arm (10) form a triangular structure. The second slide bar (6) is provided with multiple limiting grooves (61) along its length direction; The first limiting device (9) is disposed between the second sliding rod (6) and the telescopic rod (8), and the first limiting device (9) is fixedly connected to the inner wall of the telescopic rod (8) on both sides facing the telescopic rod (8); The first limiting device (9) includes a first pin (91), a first elastic element (92), a base plate (93), and two first limiting rods (94). The first pin (91) is disposed between the second slide bar (6) and the telescopic rod (8); The first pin (91) has a first groove (911) on each side facing the telescopic rod (8). The base plate (93) is located at the end of the first pin (91) away from the second slide bar (6); One end of each of the two first limiting rods (94) is fixedly connected to the inner wall of the telescopic rod (8), and the other end of each of them extends into the first groove (911); The first elastic element (92) is sleeved on the outer wall of the first pin (91), and its two ends are respectively connected to the side of the first limiting rod (94) facing the bottom plate (93) and the bottom plate (93). When the position of the multi-section robotic arm (10) is adjusted, the base plate (93) is pulled, and the base plate (93) drives the first pin (91) to move. The first elastic element (92) is in a stretched state, pulling the first pin (91) out of the limiting groove (61). When the multi-section robotic arm (10) is adjusted to a suitable position, the base plate (93) is released, and the first elastic element (92) returns to its initial state, so as to drive the first pin (91) to insert into the corresponding limiting groove (61), so that the telescopic rod (8) is fixed to the second slide rod (6).
2. The tracked crusher according to claim 1, characterized in that, The first limiting device (9) also includes a pull ring (95); The pull ring (95) is located at the end of the base plate (93) away from the first pin (91).
3. The tracked crusher according to claim 1, characterized in that, The plurality of the limiting grooves (61) are all oriented toward the tracked chassis (2).
4. The tracked crusher according to claim 1, characterized in that, Both the first slide bar (5) and the second slide bar (6) are semi-cylinders.
5. The tracked crusher according to claim 1, characterized in that, The tracked chassis (2) includes a dedicated chassis (21), track wheels (22) and multiple second limiting devices (23). The bottom of the special chassis (21) is fixedly connected to the track wheel (22); The special chassis (21) has a second groove (211) inside. The projection of the second groove (211) on the horizontal plane coincides with the projection of the fuselage (1) and extends toward both sides of the fuselage (1). The bottom of the body (1) is provided with a plurality of fixing blocks (11), and the plurality of fixing blocks (11) extend into the second groove (211); Multiple second limiting devices (23) are disposed between the corresponding fixing block (11) and the second groove (211), and one end away from the fixing block (11) is fixedly connected to the side wall of the second groove (211); Each of the plurality of fixing blocks (11) is provided with a third groove (111) on the side facing the plurality of second limiting devices (23), and the other end of the plurality of second limiting devices (23) is configured to be inserted into the third groove (111) or pulled out of the third groove (111).
6. The tracked crusher according to claim 5, characterized in that, The second limiting device (23) includes a second pin (231), a push plate (232), a second limiting rod (233), and a second elastic element (234); The second pin (231) is provided with a fourth groove (2311) facing away from the fixing block (11). One end of the second limiting rod (233) is fixedly connected to the side wall of the second groove (211) away from the fixing block (11), and the other end extends into the fourth groove (2311); The second elastic member (234) is sleeved on the outside of the second limiting rod (233), and the two ends of the second elastic member (234) are respectively connected to the side wall of the second groove (211) away from the fixed block (11) and the side of the second pin (231) facing the second limiting rod (233); One end of the push plate (232) is connected to the side of the second pin (231) away from the track wheel (22), and the other end extends out of the second groove (211) and is located outside the side of the special chassis (21) away from the track wheel (22).
7. The tracked crusher according to claim 6, characterized in that, The second limiting device (23) also includes a connecting block (235) and a roller (236); The connecting block (235) is located on the side of the second pin (231) away from the push plate (232); One end of the roller (236) is inserted into the connecting block (235), and the other end abuts against the bottom wall of the second groove (211).
8. The tracked crusher according to claim 5, characterized in that, It also includes multiple elastic pads (12); One end of each of the elastic pads (12) is fixedly connected to the bottom wall of the second groove (211), and the other end abuts against the side of the fixing block (11) away from the body (1).