Walking device and engineering machinery

Abstract

The invention relates to the technical field of engineering machinery, in particular to a walking device and engineering machinery. The walking device comprises a crawler belt, a trolley frame and thrust wheels, and the trolley frame is arranged in the crawler belt; the track roller is arranged in the track and located at the bottom of the trolley frame, the track roller comprises a roller body, a roller shaft and an end cover, the roller shaft penetrates through the roller body, a first sealing structure is arranged between the roller shaft and the roller body, the end cover comprises a first main body and a second main body, and the first main body and the second main body are both in interference connection with the roller shaft. The first body and the second body are arranged at intervals in the axial direction of the axle, and the first body is arranged between the first sealing structure and the second body. The temperature of the first main body is reduced compared with the second main body, the temperature of the wheel shaft and the wheel body transmitted by the first main body is attenuated again, in addition, the first sealing structure is arranged between the wheel shaft and the wheel body, so that the actual temperature of the first sealing structure is smaller compared with the external temperature, and the influence of high temperature on the first sealing structure is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a traveling device and an engineering machinery. Background Art

[0002] Engineering machinery is an important part of the equipment industry and is widely used in earthwork construction, wind power generation construction, construction engineering and other fields. When working in steel mills and power plants, engineering machinery is needed to transport and clean up high-temperature waste materials such as coal slag and steel slag piled on the ground, but the rubber tires of traditional wheeled chassis are easily coked and deformed under high-temperature working conditions and cannot meet the needs of high-temperature working conditions.

[0003] For this reason, waste materials such as coal slag or steel slag are transported and cleaned using engineering machinery with crawler chassis. However, the O-rings used in traditional crawler chassis cannot meet the performance requirements of direct contact with high-temperature materials, and the O-rings will fail in a high-temperature environment for a long time.

[0004] Therefore, a walking device is urgently needed to solve the above-mentioned technical problems. Summary of the invention

[0005] The purpose of the present invention is to provide a walking device and an engineering machine, which can reduce the probability of high-temperature failure of an O-ring and increase the service life of the O-ring.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] In a first aspect, a walking device is provided, comprising:

[0008] track;

[0009] A trolley frame is arranged in the crawler, and driving wheels and guide wheels are respectively arranged at both ends of the trolley frame, and the guide wheels and the driving wheels are respectively rotatably mounted at the two ends of the trolley frame;

[0010] A supporting wheel is arranged in the crawler, and the supporting wheel is located at the bottom of the trolley frame. The supporting wheel includes a wheel body, a wheel axle and an end cover. The wheel axle passes through the wheel body, and a first sealing structure is arranged between the wheel axle and the wheel body. The end cover includes a first main body and a second main body. The first main body and the second main body are both interference connected with the wheel axle, and the first main body and the second main body are spaced apart in the axial direction of the wheel axle, and the first main body is arranged between the first sealing structure and the second main body.

[0011] As a preferred technical solution of the above-mentioned walking device, a bearing is arranged between the wheel body and the wheel axle, the first sealing structure is arranged between the bearing and the wheel axle, and the first main body abuts against the end face of the bearing.

[0012] As a preferred technical solution of the above-mentioned walking device, it also includes a guide wheel guard plate structure, an opening is provided at one end of the trolley frame facing the guide wheel, and a mounting groove is provided on the side of the trolley frame, the mounting groove is communicated with the opening, the guide wheel portion extends into the opening and is connected to the trolley frame through a guide wheel pushing fork, the guide wheel pushing fork extends into the opening and abuts against two oppositely arranged groove walls of the mounting groove, and the guide wheel guard plate structure is installed on the trolley frame and is used to cover the opening and the end face gap between the guide wheel and the trolley frame.

[0013] As a preferred technical solution for the above-mentioned walking device, the guide wheel guard plate structure includes a first guard plate, a second guard plate and a third guard plate. The first guard plate is installed on the side of the trolley frame to cover the mounting groove, the second guard plate is arranged below the first guard plate, and the third guard plate is arranged at the opening. One side of the third guard plate is fixedly connected to the trolley frame, and the other side is arranged with a gap with the guide wheel.

[0014] As a preferred technical solution of the above-mentioned walking device, a supporting wheel guard plate structure is provided at both ends of the supporting wheel, and the supporting wheel guard plate structure is arranged on the side of the trolley frame and is used to shield the supporting wheel.

[0015] As a preferred technical solution for the above-mentioned walking device, the supporting wheel guard plate structure includes a wheel guard plate and a wheel guard frame. The wheel guard plates are arranged on both sides of the trolley frame. Along the forward direction of the trolley frame, the wheel guard plate is located in front of the wheel guard frame. The wheel guard frame is partially arranged at the bottom of the trolley frame, and the other part is arranged on both sides of the trolley frame.

[0016] As a preferred technical solution for the above-mentioned walking device, the trolley frame includes a guide wheel guide frame, a balance beam seat, a bent plate assembly and a pivot box which are connected in sequence, the guide wheel is passed through the guide wheel guide frame, the supporting wheel is arranged at the bottom of the bent plate assembly, and a tensioning structure is arranged inside the bent plate assembly.

[0017] As a preferred technical solution of the above-mentioned walking device, a self-lubricating bushing is installed in the pivot box.

[0018] As a preferred technical solution of the above-mentioned walking device, the crawler includes multiple track shoes, and the multiple track shoes are connected in sequence. The track shoes are connected by a pin shaft, and the pin shaft outer sleeve is provided with a pin sleeve, and there is grease between the pin shaft and the pin sleeve.

[0019] In a second aspect, there is provided an engineering machine, comprising a vehicle body and a traveling device as described in any of the above schemes, wherein the traveling device is arranged below the vehicle body.

[0020] The present invention has at least the following beneficial effects:

[0021] The supporting wheel works in an external high-temperature environment, and the heat is first transferred to the end cover, and then transferred to the axle and the wheel body by the end cover. The end cover provided by the present invention includes a first main body and a second main body, and the second main body is spaced apart from the first main body, and the first main body is arranged between the first sealing structure and the second main body. Therefore, the temperature of the second main body rises first, and the first main body is spaced apart from the second main body, so that the temperature decays between the second main body and the first main body, and the temperature of the first main body will be lower than that of the second main body. The temperature of the axle and the wheel body transferred by the first body will decay again. In addition, the first sealing structure is arranged between the axle and the wheel body, so that the actual temperature of the first sealing structure is smaller than the external temperature, and its own temperature is lower than that of the prior art, reducing the impact of high temperature on the first sealing structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0023] Figure 1 It is a structural schematic diagram of an existing walking device;

[0024] Figure 2 A schematic diagram of the structure of a walking device provided in an embodiment of the present invention;

[0025] Figure 3 A front view of a walking device provided by an embodiment of the present invention;

[0026] Figure 4 An exploded view of a walking device provided by an embodiment of the present invention;

[0027] Figure 5 A schematic diagram of the structure of a trolley frame provided in an embodiment of the present invention;

[0028] Figure 6 A schematic diagram of the structure of a balance beam seat assembly provided in an embodiment of the present invention;

[0029] Figure 7 An exploded view of a balance beam seat assembly provided in an embodiment of the present invention;

[0030] Figure 8 A schematic structural diagram of a front guard plate assembly of a track roller provided in an embodiment of the present invention;

[0031] Fig. 9 A schematic structural diagram of a rear guard plate assembly of a track wheel provided in an embodiment of the present invention;

[0032] Fig.10 A schematic diagram of a structure in which a guide wheel guard plate structure and a supporting wheel guard plate structure are installed on a trolley frame provided in an embodiment of the present invention;

[0033] Fig.11 A schematic diagram of the relationship between the track position and the supporting wheel guard plate structure provided by an embodiment of the present invention;

[0034] Fig.12 A diagram of a high temperature resistant roller mechanism provided by an embodiment of the present invention;

[0035] Fig.13 A dry crawler structure is provided in an embodiment of the present invention.

[0036] In the figure:

[0037] 1. crawler track; 11. crawler plate; 12. pin shaft; 2. trolley frame; 21. guide wheel guide frame; 211. opening; 212. mounting groove; 22. balance beam seat; 221. first balance beam upright plate; 222. second balance beam upright plate; 223. bottom plate; 224. bent plate; 225. mounting plate; 226. lifting ear; 227. cylinder; 23. bent plate assembly; 24. pivot box; 3. supporting roller; 31. wheel body; 32. wheel axle; 33. end cover; 331. first main body; 332. second main body; 34. bearing; 4. guide wheel; 5. guide wheel guard plate structure; 51. first guard plate; 52. second guard plate; 53. third guard plate; 6. supporting roller guard plate structure; 61. wheel guard plate; 62. wheel guard frame; 7. supporting wheel; 8. first sealing structure; 9. guide wheel push fork. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0039] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0041] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0042] like Figure 1 As shown, in the existing traveling device, the supporting wheel 3 is exposed, so the sealing structure provided in the supporting wheel 3 is very easy to age under high temperature conditions, which affects the use.

[0043] A walking device is provided in an embodiment of the present invention, which can reduce the probability of high-temperature failure of an O-ring and increase the service life of the O-ring.

[0044] Specifically, Figure 2-Figure 5 As shown, the walking device includes a crawler 1, a trolley frame 2 and supporting wheels 3. The trolley frame 2 is arranged in the crawler 1. The two ends of the trolley frame 2 are respectively provided with a driving wheel and a guide wheel 4. The guide wheel 4 and the driving wheel are rotatably mounted on the two ends of the trolley frame 2 respectively; the supporting wheels 3 are arranged in the crawler 1, and the supporting wheels 3 are located at the bottom of the trolley frame 2, as shown in FIG. Fig.12 As shown, the supporting wheel 3 includes a wheel body 31, an axle 32 and an end cover 33. The axle 32 is inserted into the wheel body 31. A first sealing structure is arranged between the axle 32 and the wheel body 31. The end cover 33 includes a first body 331 and a second body 332. The first body 331 and the second body 332 are both interference connected with the axle 32, and the first body 331 and the second body 332 are arranged at intervals along the axial direction of the axle 32. The first body 331 is arranged between the first sealing structure and the second body 332.

[0045] The supporting wheel 3 works in an external high-temperature environment, and the heat is first transferred to the end cover 33, and then transferred to the axle 32 and the wheel body 31 by the end cover 33. The end cover 33 provided by the present invention includes a first main body 331 and a second main body 332. The second main body 332 is spaced apart from the first main body 331, and the first main body 331 is arranged between the first sealing structure and the second main body 332. Therefore, the temperature of the second main body 332 rises first, and the first main body 331 is spaced apart from the second main body 332, so that the temperature decays between the second main body 332 and the first main body 331, and the temperature of the first main body 331 will be lower than that of the second main body 332. The temperature transferred from the first main body 331 to the axle 32 and the wheel body 31 will decay again. In addition, the first sealing structure is arranged between the axle 32 and the wheel body 31, so that the actual temperature of the first sealing structure is smaller than the external temperature, and its own temperature is lower than that of the prior art, thereby reducing the influence of high temperature on the first sealing structure.

[0046] Specifically, a bearing bush 34 is disposed between the wheel body 31 and the wheel axle 32, the first sealing structure is disposed between the bearing bush 34 and the wheel axle 32, and the first body 331 abuts against the end surface of the bearing bush 34. The first sealing structure is disposed closer to the inner side of the wheel body 31 than in the prior art, further reducing the influence of high temperature on the first sealing structure.

[0047] Exemplarily, the first sealing structure is an O-ring.

[0048] Continue to refer Figure 7 A second sealing structure is arranged in the guide wheel 4, and the second sealing structure can be specifically an O-ring. Since the walking device works in an environment where high-temperature materials are piled on the ground such as steel mills and power plants, the walking device will cause high-temperature materials such as coal slag to splash during walking, and smaller particles of high-temperature materials may enter the guide wheel 4 through the gap and affect the second sealing structure of the guide wheel 4. For this reason, in some embodiments, the walking device also includes a guide wheel guard plate structure, an opening 211 is arranged at one end of the trolley frame 2 facing the guide wheel 4, and a mounting groove 212 is arranged on the side of the trolley frame 2, and the mounting groove 212 is connected to the opening 211. The guide wheel 4 partially extends into the opening 211 and is connected to the trolley frame 2 through the guide wheel pushing fork 9. The guide wheel pushing fork 9 extends into the opening 211 and abuts against the two oppositely arranged groove walls of the mounting groove 212. The guide wheel guard plate structure is installed on the trolley frame 2 and is used to cover the opening 211 and the end face gap between the guide wheel 4 and the trolley frame 2. The guide wheel guard plate structure can shield the trolley frame 2 and the installation gap between the trolley frame 2 and the guide wheel 4, preventing high-temperature substances from entering the trolley frame 2 and affecting the second sealing structure, thereby increasing the service life of the second sealing structure.

[0049] Specifically, Fig.10As shown, the guide wheel guard plate structure includes a first guard plate 51, a second guard plate 52 and a third guard plate 53. The first guard plate 51, the second guard plate 52 and the third guard plate 53 are all fixedly installed on the trolley frame 2. The first guard plate 51 is installed on the side of the trolley frame 2 to cover the installation groove 212 to prevent high-temperature substances from entering the trolley frame 2 from the installation groove 212. The second guard plate 52 is arranged below the first guard plate 51 to prevent high-temperature substances from entering the trolley frame 2 from the bottom of the trolley frame 2. The third guard plate 53 is arranged at the opening 211. One side of the third guard plate 53 is fixedly connected to the trolley frame 2, and the other side is arranged with a gap with the guide wheel 4. The number of the third guard plates 53 is two. The third guard plates 53 are located on both sides of the guide wheel 4, thereby blocking the gap between the guide wheel 4 and the trolley frame 2 to prevent high-temperature substances from entering and increasing the ambient temperature of the second sealing structure. The end of the third guard plate 53 away from the driving wheel is in contact with the second guard plate 52 , further reducing the probability of high-temperature substances entering the trolley frame 2 .

[0050] In some embodiments, in order to prevent high-temperature substances from entering the track roller 3 and affecting the first sealing structure, track roller guard plates 6 are provided at both ends of the track roller 3, and the track roller guard plates 6 are provided on the side of the trolley frame 2 and are used to shield the track roller 3. In addition, the track roller guard plates 6 can also protect the chain tracks of part of the crawler track 1, preventing high-temperature substances from entering the chain tracks inside the crawler track 1 and increasing the overall temperature of the track roller 3.

[0051] In some embodiments, as shown in FIG. Figure 8-Figure 11 As shown, the supporting roller guard plate structure 6 includes a wheel guard plate 61 and a wheel guard frame 62. The wheel guard plate 61 and the wheel guard frame 62 are both arranged on both sides of the trolley frame 2. Along the forward direction of the trolley frame 2, the wheel guard plate 61 is located in front of the wheel guard frame 62, and the wheel guard frame 62 is arranged at the bottom of the trolley frame 2. The wheel guard plate 61 can shield all the supporting rollers 3 to prevent high-temperature substances from entering from the side of the walking device and raising the overall temperature of the supporting rollers 3, thereby preventing the first sealing structure from being affected by high temperature. The wheel guard frame 62 can shield both sides of the guide wheel 4 to prevent the temperature on both sides of the guide wheel 4 from being too high.

[0052] A supporting wheel 7 is provided on the top of the trolley frame 2 , and the supporting wheel 7 can support the crawler track 1 above the trolley frame 2 .

[0053] Specifically, the trolley frame 2 is the basic skeleton of the high temperature resistant crawler chassis structure. The trolley frame 2 can be a split structure. The trolley frame 2 is modularly designed, which is easy to manufacture and has low processing difficulty. The outer wall of the outer trolley frame 2 has a reinforcing rib plate to prevent the trolley frame 2 from deforming at high temperature. In some embodiments, Figure 5As shown, the trolley frame 2 includes a guide wheel guide frame 21, a balance beam seat 22, a bent plate assembly 23 and a welded pivot box 24 connected in sequence. The guide wheel 4 is inserted into the guide wheel guide frame 21, and the supporting wheel 3 is arranged at the bottom of the bent plate assembly 23. A tensioning structure is arranged in the bent plate assembly 23. The guide wheel guide bracket 21 cooperates with the guide wheel 4 and the guide wheel push fork 9 respectively, and the front and rear positions of the guide wheel 4 can be adjusted, thereby changing the tension of the crawler track 1. Specifically, the opening 211 and the mounting groove 212 are both arranged on the guide wheel guide frame 21, and the guide wheel guide frame 21 provides support and guidance for the guide wheel 4. The wheel guard plate 61 is fixedly installed below the guide wheel guide frame 21, the balance beam seat 22, the bent plate assembly 23 and the side of the pivot box 24.

[0054] The balance beam seat 22 is a welded part. Figure 6 and Figure 7 As shown, the balance beam seat 22 includes a first balance beam vertical plate 221, a second balance beam vertical plate 222, a bottom plate 223, a bent plate 224, a hanging plate 225, a lifting ear 226 and a cylinder 227, wherein the first balance beam vertical plate 221 and the second balance beam vertical plate 222 are respectively arranged on both sides of the bent plate 224 and welded to the two side surfaces of the bent plate 224, the bottom plate 223 is arranged at the bottom of the bent plate 224 and welded to the bent plate 224, and one end of the first balance beam vertical plate 221 and the second balance beam vertical plate 222 are connected to the hanging plate 225 The mounting plate 225 is provided with a mounting hole to facilitate the lifting and transportation of the whole vehicle. The lifting lug 226 is fixed to the top of the first balance beam vertical plate 221, the second balance beam vertical plate 222 or the bent plate 224. Preferably, the lifting lug 226 is welded and fixed to the top of the first balance beam vertical plate 221 for lifting the first balance beam vertical plate 221. The first balance beam vertical plate 221 and the second balance beam vertical plate 222 are both provided with through holes. The two ends of the cylinder 227 are respectively inserted into the through holes to be supported by the first balance beam vertical plate 221 and the second balance beam vertical plate 222. Compared with the traditional casting type balance beam seat, the balance beam seat 22 provided by the present invention has a simple structure and high strength. The balance beam seat 22 has a lifting point of the lifting lug 226 and a lifting point of the mounting plate 225, which is convenient for lifting the whole machine in a narrow space, reduces the use of castings, and saves mold costs. The bent plate assembly 23 forms an accommodating cavity, in which a tensioning structure is installed to protect the tensioning structure from external high temperature and external force impact.

[0055] In some embodiments, a self-lubricating bushing is installed inside the pivot box 24, so that lubricating oil does not need to be added to the pivot box 24, which can reduce the use of sealing components and fundamentally eliminate the impact of high temperature on the sealing components. The structure of the pivot box 24 reduces the use of lubricating oil and casting molds, reducing manufacturing costs.

[0056] In some embodiments, a self-lubricating bushing is installed in the welded pivot housing 24 .

[0057] like Fig.13 As shown, the crawler 1 includes a plurality of track shoes 11, which are connected in sequence, and the track shoes 11 are connected by a pin shaft 12, and a pin sleeve is provided on the outer cover of the pin shaft 12, and grease is provided between the pin shaft 12 and the pin sleeve. The sealing gasket of the crawler 1 is made of 20CrMnTi steel to avoid the risk of oil leakage due to high temperature failure of the rubber sealing component of the crawler 1.

[0058] The present invention proposes a traveling device. The overall structure of the trolley frame 2 is welded, which can reduce the use of castings, save manufacturing costs and cycles, and the overall structure of the trolley frame 2 is stable and has good high-temperature deformation resistance. The structures close to the high-temperature ground are all designed to be resistant to high temperatures, reducing the use of O-rings and sealing components. The guide wheel guard plate structure and the supporting wheel guard plate structure 6 are both high-temperature blocking protection structures, which can effectively improve the working environment of the supporting wheel 3 and the guide wheel 4 and avoid direct contact with high-temperature materials on the ground. The traveling device proposed by the present invention has low cost, simple processing and manufacturing, firm structure, good high-temperature resistance, and can adapt to various high-temperature complex working conditions such as steel mills and power plants.

[0059] The walking device provided by the present invention has the following advantages:

[0060] 1. The balance beam seat 22 adopts a welded assembly structure, which reduces the use of castings and saves mold costs. The overall design is simple and the structural strength is high. In addition, the outer edge of the balance beam seat 22 is designed with a lifting point (i.e., a lifting lug 226), which is convenient for lifting the whole machine in a narrow space;

[0061] 2. The supporting wheel guard plate structure 6 cooperates with the chain track of the crawler track 1 to prevent the supporting wheel 3 from directly contacting with high-temperature coal slag and other substances, thereby reducing the risk of oil leakage from the supporting wheel 3;

[0062] 3. The end cover 33 includes a first body 331 and a second body 332, and the first sealing structure is arranged inside the wheel body 31 to reduce the influence of high temperature on the first sealing structure;

[0063] 4. The trolley frame 2 adopts a four-section welded structure with modular design, low processing difficulty, and a reinforcing rib plate is designed on the outside to prevent the trolley frame 2 from high temperature deformation;

[0064] 5. The pivot part adopts a self-lubricating sleeve, eliminating the O-ring seal and the oil filling of the pivot box 24, avoiding the risk of oil leakage of the pivot box 24;

[0065] 6. The guide wheel guard plate structure 5 reduces the impact of high-temperature coal slag and the like on the O-ring provided on the guide wheel shaft, and at the same time prevents the guide wheel 4 from being dislodged due to excessive extension;

[0066] 7. Track 1 is a dry track to avoid the risk of oil leakage due to failure of the sealing component at high temperature; the pivot part of track 1 adopts a self-lubricating bushing design, eliminating the O-ring seal and the oil filling of the pivot box 24 to avoid the risk of oil leakage of the pivot box 24.

[0067] The present invention further provides an engineering machine, comprising a vehicle body and the traveling device described in the above embodiment, wherein the traveling device is arranged below the vehicle body.

[0068] Since the above-mentioned traveling device is included, the engineering machinery of the embodiment of the present invention has all the advantages and beneficial effects of the above-mentioned embodiments, which will not be described in detail here.

[0069] In addition, the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A walking device, characterized in that: include: Track (1); A trolley frame (2) is arranged inside the crawler track (1), and driving wheels and guide wheels (4) are respectively arranged at both ends of the trolley frame (2), and the guide wheels (4) and the driving wheels are respectively rotatably mounted on the two ends of the trolley frame (2); A supporting wheel (3) is arranged in the crawler (1), the supporting wheel (3) is located at the bottom of the trolley frame (2), the supporting wheel (3) comprises a wheel body (31), a wheel axle (32) and an end cover (33), the wheel axle (32) is passed through the wheel body (31), a first sealing structure is arranged between the wheel axle (32) and the wheel body (31), the end cover (33) comprises a first main body (331) and a second main body (332), the first main body (331) and the second main body (332) are both interference connected with the wheel axle (32), and the first main body (331) and the second main body (332) are arranged at intervals along the axial direction of the wheel axle (32), and the first main body (331) is arranged between the first sealing structure and the second main body (332).

2. The walking device according to claim 1, characterized in that: A bearing shell (34) is arranged between the wheel body (31) and the wheel axle (32), the first sealing structure is arranged between the bearing shell (34) and the wheel axle (32), and the first main body (331) abuts against an end surface of the bearing shell (34).

3. The walking device according to claim 1, characterized in that: It also includes a guide wheel guard plate structure (5), an opening (211) is provided at one end of the trolley frame (2) facing the guide wheel (4), a mounting groove (212) is provided on the side of the trolley frame (2), the mounting groove (212) is communicated with the opening (211), the guide wheel (4) partially extends into the opening (211) and is connected to the trolley frame (2) through a guide wheel pushing fork (9), the guide wheel pushing fork (9) extends into the opening (211) and abuts against two oppositely arranged groove walls of the mounting groove (212), the guide wheel guard plate structure (5) is installed on the trolley frame (2) and is used to cover the opening (211) and the end surface gap between the guide wheel (4) and the trolley frame (2).

4. The walking device according to claim 3, characterized in that: The guide wheel guard plate structure (5) comprises a first guard plate (51), a second guard plate (52) and a third guard plate (53); the first guard plate (51) is installed on the side of the trolley frame (2) to cover the installation groove; the second guard plate (52) is arranged below the first guard plate (51); the third guard plate (53) is arranged at the opening (211); one side of the third guard plate (53) is fixedly connected to the trolley frame (2); and the other side is arranged with a gap between the third guard plate (53) and the guide wheel (4).

5. The walking device according to claim 1, characterized in that: Both ends of the supporting roller (3) are provided with supporting roller guard plate structures (6), and the supporting roller guard plate structures (6) are arranged on the side of the trolley frame (2) and are used to shield the supporting roller (3).

6. The walking device according to claim 5, characterized in that: The supporting wheel guard plate structure (6) comprises a wheel guard plate (61) and a wheel guard frame (62); the wheel guard plate (61) is arranged on both sides of the trolley frame (2); along the forward direction of the trolley frame (2), the wheel guard plate (61) is located in front of the wheel guard frame (62); part of the wheel guard frame (62) is arranged at the bottom of the trolley frame (2), and the other part is arranged on both sides of the trolley frame (2).

7. The walking device according to claim 1, characterized in that: The trolley frame (2) comprises a guide wheel guide frame (21), a balance beam seat (22), a bent plate assembly (23) and a welded pivot box (24) which are connected in sequence; the guide wheel (4) is inserted into the guide wheel guide frame (21); the supporting wheel (3) is arranged at the bottom of the bent plate assembly (23); and a tensioning structure is arranged in the bent plate assembly (23).

8. The walking device according to claim 7, characterized in that: A self-lubricating bushing is installed in the welded pivot box (24).

9. The walking device according to claim 1, characterized in that: The crawler track (1) comprises a plurality of crawler plates (11), wherein the plurality of crawler plates (11) are connected in sequence, and the crawler plates (11) are connected via a pin shaft (12). A pin sleeve is disposed on an outer sleeve of the pin shaft (12), and grease is provided between the pin shaft (12) and the pin sleeve.

10. An engineering machine, characterized in that: It comprises a vehicle body and the running device according to any one of claims 1 to 9, wherein the running device is arranged below the vehicle body.

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