A crawler walking device adaptable to multiple road conditions

Abstract

The present invention relates to the technical field of crawler vehicles. The present invention discloses a crawler-type traveling device adaptable to multiple road conditions, comprising: a base; a cross frame, two cross frames are respectively installed at the bottom end of the base in parallel through support suspensions, and two sets of driving wheel assemblies and several sets of load-bearing wheel assemblies are installed on each cross frame. The several sets of load-bearing wheel assemblies are located between the two sets of driving wheel assemblies. The driving wheel assembly includes three driving wheels distributed in a circular array; a crawler, the crawler is wound around the driving wheel assembly and the load-bearing wheel assembly; a draw shaft assembly, two sets of draw shaft assemblies are installed at the bottom end of the base and are connected to one of the sets of driving wheel assemblies in each crawler. The crawler-type traveling device adaptable to multiple road conditions provided by the present invention, when turning at high speed, the crawler in its turning direction increases the contact area with the ground, increases the friction between the crawler and the ground, and at the same time, the crawler in its turning direction sinks, and the center of gravity shifts to the crawler in its turning direction, suppressing rollover and improving passability.

Description

Technical Field

[0001] The present invention relates to the technical field of crawler vehicles, and more specifically, to a crawler-type traveling device adaptable to various road conditions. Background Art

[0002] As one of the key types of construction machinery, crawler bulldozers are widely used in fields such as transportation, mineral mining, farmland agriculture, water conservancy, and urban and rural construction, and the demand is also increasing. The performance of crawler bulldozers depends on their crawler-type traveling devices, which have the advantages of small unit area pressure on the soil, good soil adhesion performance, and not easy to slip. This enables crawler bulldozers to have better passing performance. However, in complex driving environments, such as when making a high-speed turn on a muddy road surface, how to effectively suppress roll and improve the stability and passing performance of turning is an urgent problem to be solved. Existing technologies use a gearbox to achieve differential drive of the left and right crawlers to reduce the turning radius and improve passing performance.

[0003] Chinese Patent CN114701579 A discloses a crawler-type traveling device, including a crawler-type chassis traveling mechanism. The crawler-type chassis traveling mechanism includes a chassis, a driving device, a plurality of traveling wheels, and two sets of crawlers sleeved on the traveling wheels. It further includes a turning control mechanism, which includes a support mechanism and a rotating mechanism. The support mechanism includes a whole machine support seat and a hydraulic cylinder system connected to the whole machine support seat; the rotating mechanism includes a fixed seat, a control motor, a first gear rotatably connected to the control motor, and a second gear meshing with the first gear, and the second gear is rotatably connected to the chassis; the hydraulic cylinder system includes a hydraulic cylinder connected to the fixed seat and a hydraulic cylinder rod fixed on the whole machine support seat.

[0004] Whether it is through a gearbox or using a turning control mechanism to reduce the turning radius as described above, the problem of suppressing roll has not been solved. Based on this, there is an urgent need for a crawler-type traveling device adaptable to various road conditions. Summary of the Invention

[0005] To achieve the above object, the present invention discloses a crawler-type traveling device adaptable to various road conditions, including:

[0006] A base;

[0007] A cross frame, two cross frames are respectively installed in parallel at the bottom end of the base through support suspensions. Two sets of drive wheel assemblies and several sets of load-bearing wheel assemblies are installed on each cross frame. The several sets of load-bearing wheel assemblies are located between the two sets of drive wheel assemblies. The drive wheel assembly includes three drive wheels distributed in a circular array;

[0008] Crawlers, which are wound around the drive wheel assemblies and the load-bearing wheel assemblies;

[0009] The drawbar assembly, two sets of drawbar assemblies are installed at the bottom end of the base and are connected to one set of driving wheel assemblies in each crawler, so that there is a height difference between the driving wheel assemblies at both ends of the drawbar assembly.

[0010] Preferably, the drawbar assembly includes:

[0011] A telescopic rod, one end of the telescopic rod is rotatably installed at the bottom end of the base, and a transmission slider is installed at the other end of the telescopic rod;

[0012] An electro-telescopic cylinder, the electro-telescopic cylinder is obliquely connected between the bottom end of the base and the end of the telescopic rod close to the transmission slider;

[0013] An intermediate rod, a chute is provided on the intermediate rod, the transmission slider is slidably connected in the chute, drawbars are rotatably installed at both ends of the intermediate rod, and the end of the drawbar away from the intermediate rod is connected to the driving wheel assembly;

[0014] A magnetic ring seat, the magnetic ring seat is sleeved on the drawbar, and the magnetic ring seat is connected to the bottom end of the base through a spring rod.

[0015] Preferably, the number of load-bearing wheel assemblies is at least two groups, and the load-bearing wheel assembly includes:

[0016] A side mounting seat, the side mounting seat is fixedly installed on the cross frame;

[0017] An installation connecting rod, the installation connecting rod is vertically penetrated through the side mounting seat, an upper load-bearing wheel is installed at the top end of the installation connecting rod, two lower load-bearing wheels are symmetrically installed at the bottom end of the installation connecting rod, both the upper load-bearing wheel and the lower load-bearing wheel are attached to the inner ring of the crawler, and a spring is sleeved on the installation connecting rod and abuts against the top end of the side mounting seat and the bottom end of the installation connecting rod.

[0018] Preferably, the driving wheel assembly further includes:

[0019] A rotating disk, a rotating cylinder is installed at the central end of the rotating disk, the rotating cylinder is rotatably installed on the cross frame, and the end of the drawbar away from the intermediate rod extends into the rotating cylinder;

[0020] Auxiliary support frames, three auxiliary support frames are circularly arrayed on the rotating disk, and a driving wheel is installed on each auxiliary support frame;

[0021] Oblique grooves, two oblique grooves are oppositely provided on the inner wall of the rotating cylinder, a guiding slider is slidably connected in the oblique groove, and the guiding slider is connected to the drawbar.

[0022] Preferably, the middle position of the base is recessed, and a trigger assembly for sending working instructions to the electro-telescopic cylinder and the magnetic ring seat is installed at the middle position of the base. Under the action of centrifugal force, the two sets of driving wheel assemblies in each crawler can move synchronously.

[0023] Preferably, the trigger assembly includes:

[0024] Trigger seat, which is installed at the middle position of the base;

[0025] Trigger chamber. There are two independent trigger chambers in the trigger seat. Each trigger chamber is used to trigger the synchronous action of two groups of drive wheel assemblies in the crawler close to it;

[0026] Adjustable support plate and mounting ring, which are installed in the trigger chamber;

[0027] Mounting cap, which is located at the end of the mounting ring away from the adjustable support plate. Spring two is connected between the mounting cap and the adjustable support plate, and spring two is arranged through the mounting ring;

[0028] Trigger piece and trigger switch. An electro-stretching cylinder and a magnetic ring seat are connected in series on the circuit where the trigger piece and the trigger switch are located. The trigger piece is installed on the mounting cap, and the trigger switch is installed on the mounting ring.

[0029] Preferably, the trigger chamber includes a left trigger chamber and a right trigger chamber. An electro-stretching cylinder and a magnetic ring seat far from the left trigger chamber are connected in series on the circuit where the trigger piece and the trigger switch in the left trigger chamber are located. An electro-stretching cylinder and a magnetic ring seat far from the right trigger chamber are connected in series on the circuit where the trigger piece and the trigger switch in the right trigger chamber are located. After the trigger piece and the trigger switch in the left trigger chamber form a closed circuit and the trigger piece and the trigger switch in the right trigger chamber form a closed circuit, the electro-stretching cylinders perform opposite actions.

[0030] Preferably, there is also an action chamber in the trigger seat between the left trigger chamber and the right trigger chamber. The adjustable support plate is arranged close to the action chamber. There are two trigger screws. One trigger screw extends between the left trigger chamber and the action chamber, and the other trigger screw extends between the right trigger chamber and the action chamber. There are screw sleeves in both the left trigger chamber and the right trigger chamber. The screw sleeves are sleeved on the trigger screws, and the screw sleeves are connected to the adjustable support plate. Two bevel gears one are located in the action chamber and are respectively installed on the two trigger screws. Bevel gear two is located in the action chamber and meshes with the two bevel gears one. The adjusting rod extends into the action chamber and is connected to the bevel gear two.

[0031] Preferably, the thread directions of the two trigger screws are opposite.

[0032] Preferably, each drive wheel is equipped with an independent drive device.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] A crawler-type walking device adaptable to multiple road conditions provided by the present invention. The base is installed on the cross frame through a support suspension. The drawbar shaft assembly works, thereby driving one of the drive wheel assemblies connected thereto to work. The three drive wheels distributed in a circular array rotate to change the contact area between the crawler and the ground. The cross frame connected to the drive wheel assembly undergoes an initial settlement, so that the crawler located on this set of drive wheel assemblies settles, resulting in a height difference, and thus the center of gravity shifts towards the end close to the settled crawler. When turning at high speed, the crawler in its turning direction increases the contact area with the ground, increasing the friction between the crawler and the ground. At the same time, the crawler in its turning direction settles, so that the center of gravity shifts towards the crawler in its turning direction. In this way, roll is inhibited and passability is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0036] Figure 1 Structural schematic of the present invention Figure 1 ;

[0037] Figure 2 Structural schematic of the drawbar shaft assembly of the present invention Figure 1 ;

[0038] Figure 3 Structural schematic of the present invention Figure 2 ;

[0039] Figure 4 Structural schematic of the drawbar shaft assembly of the present invention Figure 2 ;

[0040] Figure 5 Structural schematic diagram of the drive wheel assembly of the present invention;

[0041] Figure 6 Structural schematic diagram of the trigger assembly of the present invention.

[0042] In the figure: 10. Base; 11. Cross frame; 12. Support suspension; 13. Driving wheel assembly; 14. Load-bearing wheel assembly; 15. Driving wheel; 16. Crawler belt; 18. Telescopic rod; 19. Electric telescopic cylinder; 20. Intermediate rod; 21. Pull-out shaft; 22. Magnetic ring seat; 23. Spring rod; 24. Side mounting seat; 25. Mounting link; 26. Upper load-bearing wheel; 27. Lower load-bearing wheel; 28. First spring; 29. Rotating disc; 30. Sub-support frame; 31. Trigger seat; 32. Trigger chamber; 33. Adjustable support plate; 34. Mounting ring; 35. Mounting cap; 36. Second spring; 37. Trigger piece; 38. Trigger switch; 39. Action chamber; 40. Nut sleeve; 41. Screw rod; 42. First helical gear; 43. Second helical gear; 44. Inclined groove; 45. Guide slider; 46. Trigger assembly; 47. Rotary cylinder. Detailed implementation mode

[0043] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] Embodiment

[0045] The present invention will be further described below with reference to the accompanying drawings.

[0046] As Figures 1 to 6 shown, a crawler-type walking device adapted to multiple road conditions provided in this embodiment includes:

[0047] Base 10;

[0048] Cross frames 11, two cross frames 11 are respectively installed at the bottom end of the base 10 in parallel through support suspensions 12. Two sets of driving wheel assemblies 13 and several sets of load-bearing wheel assemblies 14 are installed on each cross frame 11. The several sets of load-bearing wheel assemblies 14 are located between the two sets of driving wheel assemblies 13. The driving wheel assembly 13 includes three driving wheels 15 distributed in a circular array;

[0049] Crawler belt 16, the crawler belt 16 is wound around the driving wheel assembly 13 and the load-bearing wheel assembly 14;

[0050] Pull-out shaft assembly, two sets of pull-out shaft assemblies are installed at the bottom end of the base 10 and are connected to one of the two sets of driving wheel assemblies 13 in each crawler belt 16, so that there is a height difference between the driving wheel assemblies 13 at both ends of the pull-out shaft assembly.

[0051] The working principle and beneficial effects of the above technical solution are:

[0052] The present invention provides a crawler-type walking device that can adapt to multiple road conditions. The base 10 is installed on the cross frame 11 through the support suspension 12. The pull-out shaft assembly works, thereby driving one of the drive wheel assemblies 13 connected thereto to work. The three drive wheels 15 distributed in a circular array rotate to change the contact area between the crawler 16 and the ground. The cross frame 11 connected to the drive wheel assembly 13 sinks for the first time, so that the crawler 16 located on the group of drive wheel assemblies 13 sinks to produce a height difference, so that the center of gravity shifts to one end of the crawler 16 that is close to the sinking. The crawler-type walking device that can adapt to multiple road conditions disclosed by the present invention increases the contact area with the ground and the friction between the crawler 16 and the ground when turning at high speed. At the same time, the crawler 16 located in the turning direction sinks, so that the center of gravity shifts to the crawler 16 located in the turning direction. In this way, the roll is suppressed and the passability is improved.

[0053] Specifically, when the crawler-type walking device turns left at high speed, the pulling shaft assembly drives the driving wheel assembly 13 at the left end to work. In the initial state, among the three driving wheels 15 distributed in a circular array, two of the driving wheels 15 are close to the upper end of the crawler 16, so that the crawler 16 as a whole presents an inverted trapezoidal structure. After the driving wheel assembly 13 works, two of the driving wheels 15 are close to the lower end of the crawler 16, and the crawler 16 as a whole presents a regular trapezoidal structure, which increases the contact area between the crawler 16 at the left end and the ground, and the left end cross frame 11 connected to the driving wheel assembly 13 sinks for the first time, and the crawler 16 sinks for the first time. In this way, when the crawler-type walking device turns left at high speed, because the crawler 16 at the left end increases the contact area and the center of gravity shifts to the crawler 16 near the left end, the roll of the crawler-type walking device is suppressed, and the passability of the crawler-type walking device is improved.

[0054] In one embodiment, the pull shaft assembly includes:

[0055] A telescopic rod 18, one end of which is rotatably mounted on the bottom end of the base 10, and a transmission slider is mounted on the other end of the telescopic rod 18;

[0056] The electric telescopic cylinder 19 is connected between the bottom end of the base 10 and the end of the telescopic rod 18 close to the transmission slider in an inclined manner;

[0057] An intermediate rod 20, on which a slide groove is provided, in which a transmission slider is slidably connected, and a pull-out shaft 21 is rotatably mounted at both ends of the intermediate rod 20, and the pull-out shaft 21 is connected to the driving wheel assembly 13 away from the end of the intermediate rod 20;

[0058] The magnetic ring seat 22 is sleeved on the pulling shaft 21 , and the magnetic ring seat 22 is connected to the bottom end of the base 10 through a spring rod 23 .

[0059] The working principle and beneficial effects of the above technical solution are:

[0060] When the crawler walking device turns left at high speed, the electric telescopic cylinder 19 contracts, thereby driving the telescopic rod 18 to flip in the direction close to the electric telescopic cylinder 19, and the magnetic ring seat 22 sleeved on the pull-out shaft 21 at the left end loses its magnetism, and the spring rod 23 on the magnetic ring seat 22 sleeved on the pull-out shaft 21 at the left end contracts, and the electric telescopic cylinder 19 drives the transmission slider on the telescopic rod 18 to slide in the slide groove, and the middle rod 20 pulls the pull-out shaft 21 at the left end, thereby driving the transmission slider connected to the pull-out shaft 21 at the left end. The connected driving wheel assembly 13 works, increasing the contact area between the left end crawler 16 and the ground, and the left end cross frame 11 connected to the driving wheel assembly 13 sinks for the first time. At the same time, because the magnetic ring seat 22 on the pulling shaft 21 at the right end is magnetic, the pulling shaft 21 at the right end does not move. In this case, the height of the pulling shaft at the left end is higher than the height of the pulling shaft at the right end, and there is a height difference between the crawler at the left end and the crawler at the right end. The crawler at the left end sinks again, and the center of gravity of the base 10 further shifts to the left end.

[0061] On the contrary, when the crawler walking device turns right at high speed, the electric telescopic cylinder 19 extends, thereby driving the telescopic rod 18 to flip in the direction away from the electric telescopic cylinder 19, and the magnetic ring seat 22 sleeved on the pulling shaft 21 at the right end loses its magnetism, and the spring rod 23 on the magnetic ring seat 22 sleeved on the pulling shaft 21 at the right end contracts, and the electric telescopic cylinder 19 drives the transmission slider on the telescopic rod 18 to slide in the opposite direction in the slide groove, and the middle rod 20 pulls the pulling shaft 21 at the right end, thereby driving the pulling shaft 21 at the right end. The driving wheel assembly 13 connected to the shaft 21 works, increasing the contact area between the right end crawler 16 and the ground, and the right end cross frame 11 connected to the driving wheel assembly 13 sinks for the first time. At the same time, because the magnetic ring seat 22 on the pulling shaft 21 at the left end is magnetic, the pulling shaft 21 at the left end does not move. In this case, the height of the pulling shaft at the right end is higher than the height of the pulling shaft at the left end, and there is a height difference between the crawler at the right end and the crawler at the left end. The crawler at the right end sinks, and the center of gravity of the base 10 further shifts to the right end.

[0062] In one embodiment, the number of the load-bearing wheel assemblies 14 is at least two, and the load-bearing wheel assemblies 14 include:

[0063] A side mounting seat 24, the side mounting seat 24 is fixedly mounted on the cross frame 11;

[0064] The mounting link 25 is vertically penetrated through the side mounting seat 24, an upper load-bearing wheel 26 is mounted on the top of the mounting link 25, and two lower load-bearing wheels 27 are symmetrically mounted on the bottom of the mounting link 25, the upper load-bearing wheel 26 and the lower load-bearing wheel 27 are both attached to the inner circle of the crawler track 16, a spring 28 is sleeved on the mounting link 25, and is against the top of the side mounting seat 24 and the bottom of the mounting link 25.

[0065] The beneficial effects of the above technical solution are as follows:

[0066] The upper load-bearing wheel 26 and the lower load-bearing wheel 27 fit and run on the inner ring of the crawler belt 16, thus playing a supporting role for the crawler belt. When the crawler belt settles, the first spring 28 contracts.

[0067] In one embodiment, the drive wheel assembly 13 further includes:

[0068] A rotating disk 29, a rotating cylinder 47 is installed at the central end of the rotating disk 29, the rotating cylinder 47 is rotatably installed on the cross frame 11, and the end of the draw shaft 21 away from the intermediate rod 20 extends into the rotating cylinder 47;

[0069] Auxiliary support frames 30, three auxiliary support frames 30 are distributed in a circular array on the rotating disk 29, and a drive wheel 15 is installed on each auxiliary support frame 30;

[0070] Oblique grooves 44, two oblique grooves 44 are oppositely formed on the inner wall of the rotating cylinder 47, a guiding slider 45 is slidably connected in the oblique groove 44, and the guiding slider 45 is connected to the draw shaft 21.

[0071] The working principle and beneficial effects of the above technical solution are as follows:

[0072] Among the three drive wheels 15 distributed in a circular array, two of the drive wheels 15 are connected to the rotating disk 29 through the auxiliary support frames 30, and the rotating disk 29 is connected to the cross frame 11 through the rotating cylinder 47. In the initial state, among the three drive wheels 15 distributed in a circular array, two of the drive wheels 15 are in contact with the upper end of the crawler belt 16. When the crawler belt needs to settle, the intermediate rod 20 pulls the draw shaft 21, and the guiding slider 45 installed on the draw shaft 21 slides in the oblique groove 44, thereby driving the rotating cylinder 47 sleeved on the draw shaft 21 to rotate in the cross frame 11, thereby driving the rotating disk 29 connected to the rotating cylinder 47 and the three drive wheels 15 installed on the rotating disk 29 to rotate. In this way, two of the drive wheels 15 are in contact with the lower end of the crawler belt 16, so that the cross frame 11 connected to the rotating disk 29 settles for the first time.

[0073] Furthermore, a bearing can be sleeved outside the rotating cylinder 47, and a position for installing the bearing seat for the bearing is reserved on the cross frame 11.

[0074] In one embodiment, the middle position of the base 10 is recessed, and a trigger assembly 46 for sending working instructions to the electro-hydraulic cylinder 19 and the magnetic ring seat 22 is installed at the middle position of the base 10. Under the action of centrifugal force, the trigger assembly 46 enables the two sets of drive wheel assemblies 13 in each crawler belt 16 to act synchronously.

[0075] Among them, the trigger assembly 46 includes:

[0076] A trigger seat 31, the trigger seat 31 is installed at the middle position of the base 10;

[0077] The trigger chamber 32. There are two independent trigger chambers 32 provided in the trigger seat 31. Each trigger chamber 32 is used to trigger the synchronous action of two sets of drive wheel assemblies 13 in the crawler belt 16 close to it.

[0078] The adjustable support plate 33 and the mounting ring 34. The adjustable support plate 33 and the mounting ring 34 are installed in the trigger chamber 32.

[0079] The mounting cap 35. The mounting cap 35 is located at the end of the mounting ring 34 away from the adjustable support plate 33. The second spring 36 is connected between the mounting cap 35 and the adjustable support plate 33, and the second spring 36 is arranged through the mounting ring 34.

[0080] The trigger piece 37 and the trigger switch 38. An electro - telescopic cylinder 19 and a magnetic ring seat 22 are connected in series on the circuit where the trigger piece 37 and the trigger switch 38 are located. The trigger piece 37 is installed on the mounting cap 35, and the trigger switch 38 is installed on the mounting ring 34.

[0081] Among them, the trigger chamber 32 includes a left trigger chamber and a right trigger chamber. An electro - telescopic cylinder 19 and a magnetic ring seat 22 far from the left trigger chamber are connected in series on the circuit where the trigger piece 37 and the trigger switch 38 in the left trigger chamber are located. An electro - telescopic cylinder 19 and a magnetic ring seat 22 far from the right trigger chamber are connected in series on the circuit where the trigger piece 37 and the trigger switch 38 in the right trigger chamber are located. After the trigger piece 37 and the trigger switch 38 in the left trigger chamber form a closed circuit and the trigger piece 37 and the trigger switch 38 in the right trigger chamber form a closed circuit, the electro - telescopic cylinder 19 performs opposite actions.

[0082] The working principle and beneficial effects of the above - mentioned technical solution are as follows:

[0083] When the crawler - type walking device turns left at high speed, under the action of centrifugal force, the second spring 36 in the left trigger chamber contracts, and the trigger piece 37 and the trigger switch 38 in the left trigger chamber come into contact. Then, the electro - telescopic cylinder 19 and the magnetic ring seat 22 far from the left trigger chamber connected in series on the circuit work synchronously. While the electro - telescopic cylinder 19 contracts, the magnetic ring seat 22 on the right - hand end of the pull - out shaft 21 generates magnetism, and the middle rod 20 pulls the left - hand end of the pull - out shaft 21, thereby driving the drive wheel assembly 13 connected to the left - hand end of the pull - out shaft 21 to work, increasing the contact area between the left - hand end of the crawler belt 16 and the ground. The left - hand end cross - frame 11 connected to the drive wheel assembly 13 sinks for the first time. At the same time, because the magnetic ring seat 22 on the right - hand end of the pull - out shaft 21 has magnetism, the right - hand end of the pull - out shaft 21 does not move.

[0084] When the crawler walking device turns to the right at high speed, under the action of centrifugal force, the spring 2 36 in the right trigger chamber contracts, and the trigger plate 37 in the right trigger chamber contacts the trigger switch 38, thereby making the electric telescopic cylinder 19 connected in series on the line and the magnetic ring seat 22 away from the right trigger chamber work synchronously. When the electric telescopic cylinder 19 extends, the magnetic ring seat 22 on the pulling shaft 21 at the left end generates magnetism, and the middle rod 20 pulls the pulling shaft 21 at the right end, thereby driving the driving wheel assembly 13 connected to the pulling shaft 21 at the right end to work, thereby increasing the contact area between the crawler 16 at the right end and the ground, and the right end cross frame 11 connected to the driving wheel assembly 13 sinks for the first time. At the same time, because the magnetic ring seat 22 on the pulling shaft 21 at the left end is magnetic, the pulling shaft 21 at the left end does not move.

[0085] When the crawler-type walking device is walking in a normal straight line, the trigger sheet 37 and the trigger switch 38 in the left trigger chamber and the right trigger chamber are not in contact, and the electric telescopic cylinder 19 is restored to Figure 2 In the initial state shown, the magnetic ring seat 22 is de-energized and does not generate magnetism.

[0086] The pulling shaft 21 is provided with a rigid portion adapted to the magnetic ring seat 22 .

[0087] In one embodiment, the trigger seat 31 is further provided with an action chamber 39 located between the left trigger chamber and the right trigger chamber, the adjustable support plate 33 is arranged close to the action chamber 39, two trigger screws 41, one of which extends between the left trigger chamber and the action chamber 39, and the other of which extends between the right trigger chamber and the action chamber 39, a screw sleeve 40 is provided in the left trigger chamber and the right trigger chamber, the screw sleeve 40 is sleeved on the trigger screw, and the screw sleeve 40 is connected to the adjustable support plate 33, two bevel gears 1 42 are located in the action chamber 39, and are installed on the two trigger screws 41 one by one, a bevel gear 2 43 is located in the action chamber 39, and meshes with the two bevel gears 1 42, and the adjusting rod extends into the action chamber 39 and is connected to the bevel gear 2 43.

[0088] The working principle and beneficial effects of the above technical solution are:

[0089] When it is necessary to adjust the sensitivity of the trigger assembly 46 relative to the centrifugal force, manually rotate the adjusting rod, thereby driving the second helical gear 43 connected to the adjusting rod to rotate in the action chamber 39. The second helical gear 43 drives the two first helical gears 42 meshing with it to rotate synchronously. The first helical gear 42 drives the trigger screw 41 connected to it to rotate synchronously. The screw sleeve 40 on the trigger screw 41 drives the adjustable support plate 33 to move in the trigger chamber in a direction close to or away from the action chamber 39, thereby realizing the adjustment of the distance between the mounting cap 35 and the mounting ring 34 connected to the adjustable support plate 33 through the second spring 36. The greater the distance between the mounting cap 35 and the mounting ring 34, the lower the sensitivity of the trigger assembly 46 relative to the centrifugal force. The smaller the distance between the mounting cap 35 and the mounting ring 34, the higher the sensitivity of the trigger assembly 46 relative to the centrifugal force.

[0090] In one embodiment, the thread directions of the two trigger screws 41 are opposite.

[0091] In one embodiment, each driving wheel 15 is equipped with an independent driving device.

[0092] The beneficial effects of the above technical solutions are as follows:

[0093] Each driving wheel 15 is equipped with an independent driving device, so that each driving wheel 15 can act independently.

[0094] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. The obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. A crawler-type walking device adaptable to multiple road conditions, characterized in that: include: A base (10), two cross frames (11) are respectively installed in parallel at the bottom end of the base (10) through supporting suspensions (12), two sets of driving wheel assemblies (13) and a plurality of sets of load-bearing wheel assemblies (14) are installed on each cross frame (11), the plurality of sets of load-bearing wheel assemblies (14) are located between the two sets of driving wheel assemblies (13), the driving wheel assembly (13) includes three driving wheels (15) distributed in a circular array, the crawler (16) is wound around the driving wheel assembly (13) and the load-bearing wheel assembly (14), and two sets of pulling shaft assemblies are installed at the bottom end of the base (10) and are connected to one set of driving wheel assemblies (13) in each crawler (16); The pulling shaft assembly comprises: a telescopic rod (18), an electric telescopic cylinder (19), an intermediate rod (20) and a magnetic ring seat (22); one end of the telescopic rod (18) is rotatably mounted on the bottom end of the base (10); a transmission slider is mounted on the other end of the telescopic rod (18); the electric telescopic cylinder (19) is obliquely connected between the bottom end of the base (10) and the end of the telescopic rod (18) close to the transmission slider; a slide groove is provided on the intermediate rod (20); the transmission slider is slidably connected in the slide groove; a pulling shaft (21) is rotatably mounted on both ends of the intermediate rod (20); the pulling shaft (21) is connected to the driving wheel assembly (13) at the end away from the intermediate rod (20); the magnetic ring seat (22) is sleeved on the pulling shaft (21); and the magnetic ring seat (22) is connected to the bottom end of the base (10) through a spring rod (23); The number of the load-bearing wheel assemblies (14) is at least two groups, and the load-bearing wheel assemblies (14) include: a side mounting seat (24) fixedly mounted on the cross frame (11), a mounting connecting rod (25) vertically penetrating the side mounting seat (24), an upper load-bearing wheel (26) mounted on the top end of the mounting connecting rod (25), two lower load-bearing wheels (27) symmetrically mounted on the bottom end of the mounting connecting rod (25), the upper load-bearing wheel (26) and the lower load-bearing wheel (27) both being attached to the inner ring of the crawler track (16), and a spring (28) being sleeved on the mounting connecting rod (25) and being disposed against the top end of the side mounting seat (24) and the bottom end of the mounting connecting rod (25); The middle position of the base (10) is arranged in a sunken manner. A trigger assembly (46) for issuing a working instruction to the electric telescopic cylinder (19) and the magnetic ring seat (22) is installed in the middle position of the base (10). Under the action of centrifugal force, the trigger assembly (46) enables two sets of driving wheel assemblies (13) in each crawler (16) to move synchronously; The trigger assembly (46) comprises: a trigger seat (31) installed at the middle position of the base (10), two independent trigger chambers (32) are arranged in the trigger seat (31), each trigger chamber (32) is used to trigger two sets of driving wheel assemblies (13) in the crawler (16) near it to move synchronously, an adjustable support plate (33) and a mounting ring (34) are installed in the trigger chamber (32), a mounting cap (35) is located at the end of the mounting ring (34) away from the adjustable support plate (33), a second spring (36) is connected between the mounting cap (35) and the adjustable support plate (33), and the second spring (36) is arranged through the mounting ring (34), an electric telescopic cylinder (19) and a magnetic ring seat (22) are connected in series on the circuit where the trigger plate (37) and the trigger switch (38) are located, the trigger plate (37) is installed on the mounting cap (35), and the trigger switch (38) is installed on the mounting ring (34); The trigger chamber (32) includes a left trigger chamber and a right trigger chamber. The circuit where the trigger piece (37) and the trigger switch (38) in the left trigger chamber are connected in series with an electric telescopic cylinder (19) and a magnetic ring seat (22) away from the left trigger chamber. The circuit where the trigger piece (37) and the trigger switch (38) in the right trigger chamber are connected in series with an electric telescopic cylinder (19) and a magnetic ring seat (22) away from the right trigger chamber. After the trigger piece (37) and the trigger switch (38) in the left trigger chamber form a closed circuit and the trigger piece (37) and the trigger switch (38) in the right trigger chamber form a closed circuit, the electric telescopic cylinder (19) performs an opposite action. The trigger seat (31) is further provided with an action chamber (39) located between the left trigger chamber and the right trigger chamber. The adjustable support plate (33) is arranged close to the action chamber (39). Two trigger screw rods (41) are provided, one of which extends between the left trigger chamber and the action chamber (39), and the other of which extends between the right trigger chamber and the action chamber (39). The left trigger chamber and the right trigger chamber are both provided with screw sleeves (40), the screw sleeves (40) are sleeved on the trigger screw rods, and the screw sleeves (40) are connected to the adjustable support plate (33). Two bevel gears (42) are located in the action chamber (39) and are mounted on the two trigger screw rods (41) in a one-to-one correspondence. The bevel gear (43) is located in the action chamber (39) and meshes with the two bevel gears (42). The adjustment rod extends into the action chamber (39) and is connected to the bevel gear (43).

2. A crawler-type walking device adaptable to multiple road conditions according to claim 1, characterized in that: The driving wheel assembly (13) further comprises: a rotating disk (29) and a secondary support frame (30); a rotating drum (47) is mounted on the central end of the rotating disk (29); the rotating drum (47) is rotatably mounted on the cross frame (11); the end of the pull-out shaft (21) away from the middle rod (20) extends into the rotating drum (47); three secondary support frames (30) are distributed on the rotating disk (29) in a circular array; each secondary support frame (30) is mounted with a driving wheel (15); two inclined grooves (44) are oppositely opened on the inner wall of the rotating drum (47); a guide slider (45) is slidably connected to the inclined groove (44); and the guide slider (45) is connected to the pull-out shaft (21).

3. The crawler-type walking device adaptable to multiple road conditions according to claim 1, characterized in that: The threads of the two trigger screws (41) are in opposite directions.

4. The crawler-type walking device adaptable to multiple road conditions according to claim 1, characterized in that: Each driving wheel (15) is provided with an independent driving device.

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