Wall-climbing coating robot

Abstract

According to the wall-climbing coating robot, the wall-climbing coating robot comprises a chassis, a position adjusting component, a spraying assembly, an adsorption component and a steering component, the chassis is simple in structure, the self weight of the robot can be reduced, and therefore the safety and stability of wall attachment of the robot are improved; the position adjusting component is arranged on the frame and drives the spraying assembly to move in a certain area, so that the spraying precision is improved; the adsorption part is arranged on the frame to ensure that the robot is safely and stably adsorbed on the wall surface of a ship; the steering component is arranged on the frame and controls the angle of the frame, so that the angles of the driving wheel assembly and the driven wheel assembly are adjusted, the steering flexibility of the robot is greatly improved, the robot has good self-adaptability for curved surfaces with height difference, the spraying efficiency of the robot is greatly improved, and the service life of tires is greatly prolonged. The problems that in the prior art, the control precision is low, steering is difficult, the maintenance cost is high, and the self-adaptability of the curved surface is poor are effectively solved.

Description

Technical Field

[0001] The invention belongs to the technical field of ship outer surface painting, and in particular relates to a wall-climbing painting robot. Background Art

[0002] With the continuous development of economic globalization, the shipbuilding industries of various countries in the world have close exchanges. Hull painting, as a key production link in shipbuilding and maintenance, has a very important impact on the life of the hull. However, the current traditional manual painting method is not only inefficient but also has great safety hazards. The manual painting process is often affected by environmental factors, resulting in unstable coating quality, which in turn affects the corrosion resistance and service life of the ship. In order to better adapt to the development of the industry, the application of robotic automation technology in the field of shipbuilding has gradually increased. Among them, hull painting robots have become a trend of industry development due to their high efficiency, precision and repeatability. Using robots to paint the walls of ships can not only significantly improve work efficiency, but also reduce labor costs and material waste, while improving the quality of painting and ensuring uniform coating and good adhesion on the surface of the hull.

[0003] Most of the painting robots used in the prior art use four-wheel drive to crawl on the wall. This drive method greatly increases the weight of the robot itself and has a complex structure. Especially when the robot turns, it controls four motors to generate differential speed for steering. This method requires high control accuracy and causes greater wear on the tires, resulting in high maintenance costs. In addition, since ships often have uneven walls, most robots in the prior art are rigid structures that cannot adapt well to walls with height differences, greatly affecting the spraying efficiency. Summary of the invention

[0004] The embodiment of the present invention provides a wall-climbing painting robot, which reduces the robot's own weight and control difficulty, greatly increases the robot's steering flexibility, improves spraying efficiency and prolongs its service life.

[0005] The present invention provides a wall-climbing painting robot, the chassis includes a frame, a driving wheel assembly and a driven wheel assembly, the driving wheel assembly is arranged at one end of the frame, and the driven wheel assembly is arranged at the other end of the frame; a position adjustment component is arranged on the frame; a spraying component is arranged on the position adjustment component, including a first bracket and a spraying element, the first bracket is arranged on the position adjustment component, and the spraying element is arranged on the first bracket; an adsorption component is arranged on the frame; a steering component is arranged on the frame; and a controller is electrically connected to the driving wheel assembly, the position adjustment component, the spraying component and the steering component, respectively.

[0006] In some optional embodiments, the frame includes a first support rod and a second support rod, the first support rod and the second support rod are arranged in parallel, the driving wheel assembly is arranged on the first support rod, the driven wheel assembly is arranged on the second support rod, and the steering component is respectively connected to the first support rod and the second support rod.

[0007] In some optional embodiments, the driving wheel assembly includes a first driving wheel assembly and a second driving wheel assembly, and the first driving wheel assembly and the second driving wheel assembly are respectively arranged at opposite ends of the first support rod in the length direction.

[0008] In some optional embodiments, the first driving wheel assembly and the second driving wheel assembly have the same structure, the first driving wheel assembly includes a first driving component, a first deceleration component, a first voltage conversion component, a first connecting shaft and a first driving wheel, the first driving component, the first deceleration component and the first voltage conversion component are all arranged on the first support rod, the first driving component is connected to the first deceleration component through the first voltage conversion component, and the first deceleration component is connected to the first driving wheel through the first connecting shaft.

[0009] In some optional embodiments, the driven wheel assembly includes a first driven wheel assembly and a second driven wheel assembly, and the first driven wheel assembly and the second driven wheel assembly are respectively arranged at opposite ends of the second support rod in the length direction.

[0010] In some optional embodiments, the first driven wheel assembly includes a first driven wheel and a first rotating bearing, the first rotating bearing is disposed at an end of the second support rod, and the first driven wheel is connected to the first rotating bearing.

[0011] In some optional embodiments, the steering component includes a first steering bearing, a second steering bearing, a third steering bearing, a rotating frame and a pull rod, the first steering bearing is arranged on the second support rod, the second steering bearing is arranged on the first support rod, and the third steering bearing is arranged on the second steering bearing, the rotating frame is respectively connected to the first steering bearing and the third steering bearing, the pull rod is respectively rotatably connected to the first support rod and the second support rod, the central axes of the first steering bearing and the second steering bearing are parallel, and the central axes of the third steering bearing and the first steering bearing are perpendicular.

[0012] In some optional embodiments, a rotating component is further included, and the rotating component includes a first rotating element and a second rotating element. The pull rod is connected to the first support rod through the first rotating element, and the pull rod is connected to the second support rod through the second rotating element.

[0013] In some optional embodiments, the adsorption component is a permanent magnet adsorption block, and a plurality of the adsorption components are provided, and the plurality of the adsorption components are evenly arranged on the frame.

[0014] In some optional embodiments, the position adjustment component includes a second bracket, a sliding rail, a first synchronous idler wheel, a second synchronous idler wheel, a third drive component, a third deceleration component and a track, the second bracket connects the sliding rail and the frame, the track is laid on the sliding rail, the first synchronous idler wheel and the second synchronous idler wheel are arranged at opposite ends of the sliding rail in the length direction, the third drive component and the third deceleration component are arranged on the sliding rail, the third drive component is connected to the first synchronous idler wheel through the third deceleration component, the slider is connected to the track, and the slider supports the first bracket.

[0015] The beneficial effects brought by the present invention are as follows:

[0016] It can be seen from the above scheme that an embodiment of the present invention provides a wall-climbing painting robot, which includes a chassis, a position adjustment component, a spraying component, an adsorption component, a steering component and a controller, and the controller is electrically connected to the driving wheel component, the position adjustment component, the spraying component and the steering component respectively. The chassis includes a frame, a driving wheel component and a driven wheel component, the driving wheel component is arranged at one end of the frame, and the driven wheel component is arranged at the other end of the frame. The frame is used to support the driving wheel component and the driven wheel component, and the driving wheel component and the driven wheel component drive the frame to move. The structure is simple and can reduce the deadweight of the robot, thereby improving the safety and stability of the robot's attachment to the wall; the position adjustment component is arranged on the frame, and the spraying component includes a first bracket and The spraying element, the first bracket is arranged on the position adjustment component, the spraying element is arranged on the first bracket, the controller controls the position adjustment component to drive the spraying component to keep moving in a certain area, thereby improving the spraying accuracy; the adsorption component is arranged on the frame, which can ensure that the robot is safely and stably adsorbed on the wall of the ship; the steering component is arranged on the frame, and the steering component controls the angle of the frame, thereby adjusting the angles of the driving wheel assembly and the driven wheel assembly, which greatly increases the steering flexibility of the robot, and makes the robot have better adaptability to curved surfaces with height differences, greatly improving the spraying efficiency of the robot and the service life of the tire, and effectively solving the problems of low control accuracy, difficult steering, high maintenance cost and poor curved surface adaptability in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a wall-climbing painting robot from a first perspective provided by an embodiment of the present invention;

[0018] Figure 2 for Figure 1A schematic structural diagram of a wall-climbing painting robot in a second viewing angle according to the provided embodiment;

[0019] Figure 3 for Figure 1 A schematic structural diagram of a wall-climbing painting robot from a third perspective of the provided embodiment;

[0020] Figure 4 for Figure 1 A schematic structural diagram of a wall-climbing painting robot in a fourth perspective according to the provided embodiment;

[0021] Figure 5 for Figure 1 A schematic structural diagram of the steering component of the provided embodiment.

[0022] In the figure, 1-chassis; 11-first support rod; 12-second support rod; 13-first driving component; 14-first deceleration component; 15-first voltage conversion component; 16-first driving wheel; 17-first driven wheel; 2-position adjustment component; 21-second bracket; 22-sliding track; 23-first synchronous idler wheel; 24-third driving component; 25-third deceleration component; 26-track; 27-slider; 3-spraying assembly; 31-first bracket; 32-spraying element; 4-adsorption component; 5-steering component; 51-first steering bearing; 52-second steering bearing; 53-third steering bearing; 54-rotating frame; 55-pull rod; 61-first rotating element; 62-second rotating element. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] With the continuous development of economic globalization, the shipbuilding industries of various countries in the world have close exchanges. Hull painting, as a key production link in shipbuilding and maintenance, has a very important impact on the life of the hull. However, the current traditional manual painting method is not only inefficient but also has great safety hazards. The manual painting process is often affected by environmental factors, resulting in unstable coating quality, which in turn affects the corrosion resistance and service life of the ship. In order to better adapt to the development of the industry, the application of robotic automation technology in the field of shipbuilding has gradually increased. Among them, hull painting robots have become a trend of industry development due to their high efficiency, precision and repeatability. Using robots to paint the walls of ships can not only significantly improve work efficiency, but also reduce labor costs and material waste, while improving the quality of painting and ensuring uniform coating and good adhesion on the surface of the hull.

[0025] Most of the painting robots used in the prior art use four-wheel drive to crawl on the wall. This drive method greatly increases the weight of the robot itself and has a complex structure. Especially when the robot turns, it controls four motors to generate differential speed for steering. This method requires high control accuracy and causes greater wear on the tires, resulting in high maintenance costs. In addition, since ships often have uneven walls, most robots in the prior art are rigid structures that cannot adapt well to walls with height differences, greatly affecting the spraying efficiency.

[0026] The embodiment of the present invention provides a wall-climbing painting robot, which reduces the robot's own weight and control difficulty, greatly increases the robot's steering flexibility, improves spraying efficiency and prolongs its service life.

[0027] The following is combined with the accompanying drawings of the specification Figure 1 to Figure 5 The wall-climbing painting robot is described in detail.

[0028] The present application provides a wall-climbing painting robot, which includes: a chassis 1, including a frame, a driving wheel assembly and a driven wheel assembly, the driving wheel assembly is arranged at one end of the frame, and the driven wheel assembly is arranged at the other end of the frame; a position adjustment component 2, arranged on the frame; a spraying component 3, arranged on the position adjustment component 2, including a first bracket 31 and a spraying element 32, the first bracket 31 is arranged on the position adjustment component 2, and the spraying element 32 is arranged on the first bracket 31; an adsorption component 4, arranged on the frame; and a steering component 5, arranged on the frame.

[0029] Specifically, the wall-climbing painting robot includes a chassis 1, a position adjustment component 2, a spraying assembly 3, an adsorption component 4 and a steering component 5. The chassis 1 includes a frame, a driving wheel assembly and a driven wheel assembly. The driving wheel assembly is arranged at one end of the frame, and the driven wheel assembly is arranged at the other end of the frame. The frame is used to support the driving wheel assembly and the driven wheel assembly. The driving wheel assembly and the driven wheel assembly drive the frame to move. The structure is simple and can reduce the robot's own weight, thereby improving the safety and stability of the robot's attachment to the wall; the position adjustment component 2 is arranged on the frame, and the spraying assembly 3 includes a first bracket 31 and a spraying element 32. The first bracket 31 is arranged on the position adjustment component 2, and the spraying element 32 Arranged on the first bracket 31, the position adjustment component 2 drives the spraying component 3 to keep moving within a certain area, thereby improving the spraying accuracy; the adsorption component 4 is arranged on the frame, which can ensure that the robot is safely and stably adsorbed on the wall of the ship; the steering component 5 is arranged on the frame, and the steering component 5 controls the angle of the frame, thereby adjusting the angles of the driving wheel assembly and the driven wheel assembly, which greatly increases the steering flexibility of the robot, and makes the robot have better adaptability to curved surfaces with height differences, greatly improving the spraying efficiency of the robot and the service life of the tire, and effectively solving the problems of low control accuracy, difficult steering, high maintenance cost and poor curved surface adaptability in the prior art.

[0030] In some optional embodiments, the frame includes a first support rod 11 and a second support rod 12, the first support rod 11 and the second support rod 12 are arranged in parallel, the driving wheel assembly is arranged on the first support rod 11, and the driven wheel assembly is arranged on the second support rod 12.

[0031] Specifically, the driving wheel assembly includes a first driving wheel assembly and a second driving wheel assembly, and the first driving wheel assembly and the second driving wheel assembly are respectively arranged at two opposite ends of the length direction of the first support rod 11. The driven wheel assembly includes a first driven wheel assembly and a second driven wheel assembly, and the first driven wheel assembly and the second driven wheel assembly are respectively arranged at two opposite ends of the length direction of the second support rod 12. The frame is used to support the driving wheel assembly and the driven wheel assembly, and the driving wheel assembly and the driven wheel assembly drive the frame to move. The structure is simple and can reduce the deadweight of the robot, thereby improving the safety and stability of the robot's wall attachment. The steering component 5 is connected to the first support rod 11 and the second support rod 12 respectively. The steering component 5 controls the angle of the frame, thereby adjusting the angle of the driving wheel assembly and the driven wheel assembly, greatly increasing the flexibility of the robot's steering, so that the robot has good adaptability to the curved surface with height difference, greatly improving the robot's spraying efficiency and tire service life, and effectively solving the problems of low control accuracy, difficult steering, high maintenance cost and poor curved surface adaptability in the prior art.

[0032] In some optional embodiments, the first driving wheel assembly and the second driving wheel assembly have the same structure, the first driving wheel assembly includes a first driving component 13, a first deceleration component 14, a first voltage conversion component 15, a first connecting shaft and a first driving wheel 16, the first driving component 13, the first deceleration component 14 and the first voltage conversion component 15 are all arranged on the first support rod 11, the first driving component 13 is connected to the first deceleration component 14 through the first voltage conversion component 15, and the first deceleration component 14 is connected to the first driving wheel 16 through the first connecting shaft.

[0033] Specifically, the second driving wheel assembly includes a second driving component, a second deceleration component, a second voltage conversion component, a second connecting shaft and a second driving wheel. The second driving component, the second deceleration component and the second voltage conversion component are all arranged on the second support rod 12. The second driving component is connected to the second deceleration component through the second voltage conversion component, and the second deceleration component is connected to the second driving wheel through the second connecting shaft. The controller is electrically connected to the first driving component 13. The controller is electrically connected to the second driving component.

[0034] Furthermore, the first support rod 11 and the second support rod 12 are both channel steels, and the first support rod 11 and the second support rod 12 are arranged in parallel. The first driving component 13 and the second driving component are both driving motors. The first deceleration component 14 and the second deceleration component are both reducers. The first transformer component 15 and the second transformer component are both transformers. The robot drives the transformer to work through two sets of driving motors, so that the reducer drives the first driving wheel 16 and the second driving wheel to rotate, so as to realize the advancement of the robot. In the process of driving to the target area, if it is necessary to turn, the differential speed generated by the first driving wheel 16 and the second driving wheel of the robot is controlled by two driving motors so that the two front wheels turn due to different turning radii. At the same time, the robot turns through the steering component 5. If a curved surface with a height difference is encountered, the robot body automatically adjusts the posture of the first driven wheel 17 and the second driven wheel of the robot through the steering component 5 in real time until it drives to the target area.

[0035] In some optional embodiments, the first driven wheel assembly and the second driven wheel assembly have the same structure, and the first driven wheel assembly includes a first driven wheel 17 and a first rotating bearing. The first rotating bearing is arranged at the end of the second support rod 12, and the first driven wheel 17 is connected to the first rotating bearing.

[0036] Specifically, the first driven wheel assembly and the second driven wheel assembly are respectively arranged at opposite ends of the second support rod 12 in the length direction. The second driven wheel assembly includes a second driven wheel and a second rotating bearing. The second rotating bearing is arranged at the end of the second support rod 12, and the second driven wheel is connected to the second rotating bearing.

[0037] In some optional embodiments, the steering component 5 includes a first steering bearing 51, a second steering bearing 52, a third steering bearing 53, a rotating frame 54 and a pull rod 55, the first steering bearing 51 is arranged on the second support rod 12, the second steering bearing 52 is arranged on the first support rod 11, the third steering bearing 53 is arranged on the second steering bearing 52, the rotating frame 54 is respectively connected to the first steering bearing 51 and the third steering bearing 53, the pull rod 55 is respectively rotatably connected to the first support rod 11 and the second support rod 12, the central axes of the first steering bearing 51 and the second steering bearing 52 are parallel, and the central axes of the third steering bearing 53 and the first steering bearing 51 are perpendicular. The controller is electrically connected to the first steering bearing 51, the second steering bearing 52, and the third steering bearing 53, respectively.

[0038] Specifically, the central axes of the first steering bearing 51 and the second steering bearing 52 are perpendicular to the vehicle frame, and the first steering bearing 51 and the second steering bearing 52 rotate around their own central axes, thereby driving the rotating frame 54 to move in a plane parallel to the vehicle frame. The central axis of the third steering bearing 53 is perpendicular to the central axis of the first steering bearing 51, and the third steering bearing 53 drives the rotating frame 54 to rotate around its own axial direction.

[0039] In some optional embodiments, a rotating component is further included, which includes a first rotating element 61 and a second rotating element 62 . The pull rod 55 is connected to the first support rod 11 through the first rotating element 61 , and the pull rod 55 is connected to the second support rod 12 through the second rotating element 62 .

[0040] Specifically, the first rotating element 61 includes a locking ring, a U-shaped clip and a bolt, wherein the locking ring is arranged at one end of the pull rod 55, the U-shaped clip is arranged at the first support rod 11, and the bolt connects the locking ring and the U-shaped clip, thereby connecting the pull ring to the first support rod 11. The second rotating element 62 includes a locking ring, a U-shaped clip and a bolt, wherein the locking ring is arranged at the other end of the pull rod 55, the U-shaped clip is arranged at the second support rod 12, and the bolt connects the locking ring and the U-shaped clip, thereby connecting the pull ring to the second support rod 12.

[0041] In some optional embodiments, the adsorption component 4 is a permanent magnet adsorption block, and a plurality of adsorption components 4 are provided, and the plurality of adsorption components 4 are evenly arranged on the frame. Specifically, the adsorption component 4 is used to ensure that the robot can be safely and stably adsorbed on the target wall without overturning or sliding down.

[0042] In some optional embodiments, the position adjustment component 2 includes a second bracket 21, a sliding rail 22, a first synchronous idler wheel 23, a second synchronous idler wheel, a third drive component 24, a third deceleration component 25 and a track 26. The second bracket 21 connects the sliding rail 22 and the frame, the track 26 is laid on the sliding rail 22, the first synchronous idler wheel 23 and the second synchronous idler wheel are arranged at opposite ends of the length direction of the sliding rail 22, the third drive component 24 and the third deceleration component 25 are arranged on the sliding rail 22, the third drive component 24 is connected to the first synchronous idler wheel 23 through the third deceleration component 25, the slider 27 is connected to the track 26, and the slider 27 supports the first bracket 31.

[0043] Specifically, the control system controls the third driving component 24, and the third driving component 24 drives the crawler 26 to rotate clockwise and counterclockwise to achieve left and right lateral movement of the spraying component. After spraying the target area, the above operation is repeated until the area to be sprayed is fully covered.

[0044] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A wall-climbing painting robot, characterized in that: include: A chassis (1) comprises a frame, a driving wheel assembly and a driven wheel assembly, wherein the driving wheel assembly is arranged at one end of the frame and the driven wheel assembly is arranged at the other end of the frame; A position adjustment component (2) is arranged on the vehicle frame; A spraying assembly (3), arranged on the position adjustment component (2), comprising a first bracket (31) and a spraying element (32), wherein the first bracket (31) is arranged on the position adjustment component (2), and the spraying element (32) is arranged on the first bracket (31); An adsorption component (4) is arranged on the vehicle frame; A steering component (5) is arranged on the vehicle frame; The controller is electrically connected to the driving wheel assembly, the position adjustment component (2), the spraying component (3) and the steering component (5) respectively.

2. The wall-climbing painting robot according to claim 1, characterized in that: The frame comprises a first support rod (11) and a second support rod (12), the first support rod (11) and the second support rod (12) are arranged in parallel, the driving wheel assembly is arranged on the first support rod (11), the driven wheel assembly is arranged on the second support rod (12), and the steering component (5) is respectively connected to the first support rod (11) and the second support rod (12).

3. The wall-climbing painting robot according to claim 2, characterized in that: The driving wheel assembly comprises a first driving wheel assembly and a second driving wheel assembly, wherein the first driving wheel assembly and the second driving wheel assembly are respectively arranged at two opposite ends of the first support rod (11) in the length direction.

4. The wall-climbing painting robot according to claim 3, characterized in that: The first driving wheel assembly and the second driving wheel assembly have the same structure. The first driving wheel assembly comprises a first driving component (13), a first deceleration component (14), a first voltage-changing component (15), a first connecting shaft and a first driving wheel (16). The first driving component (13), the first deceleration component (14) and the first voltage-changing component (15) are all arranged on the first supporting rod (11). The first driving component (13) is connected to the first deceleration component (14) via the first voltage-changing component (15), and the first deceleration component (14) is connected to the first driving wheel (16) via the first connecting shaft.

5. The wall-climbing painting robot according to claim 2, characterized in that: The driven wheel assembly comprises a first driven wheel assembly and a second driven wheel assembly, wherein the first driven wheel assembly and the second driven wheel assembly are respectively arranged at two opposite ends of the second support rod (12) in the length direction.

6. The wall-climbing painting robot according to claim 5, characterized in that: The first driven wheel assembly comprises a first driven wheel (17) and a first rotating bearing, wherein the first rotating bearing is arranged at the end of the second support rod (12), and the first driven wheel (17) is connected to the first rotating bearing.

7. The wall-climbing painting robot according to claim 2, characterized in that: The steering component (5) comprises a first steering bearing (51), a second steering bearing (52), a third steering bearing (53), a rotating frame (54) and a pull rod (55); the first steering bearing (51) is arranged on the second support rod (12); the second steering bearing (52) is arranged on the first support rod (11); the third steering bearing (53) is arranged on the second steering bearing (52); the rotating frame (54) is respectively connected to the first steering bearing (51) and the third steering bearing (53); the pull rod (55) is respectively rotatably connected to the first support rod (11) and the second support rod (12); the central axes of the first steering bearing (51) and the second steering bearing (52) are parallel; the central axes of the third steering bearing (53) and the first steering bearing (51) are perpendicular.

8. The wall-climbing painting robot according to claim 7, characterized in that: It also includes a rotating component, which includes a first rotating element (61) and a second rotating element (62). The pull rod (55) is connected to the first support rod (11) through the first rotating element (61), and the pull rod (55) is connected to the second support rod (12) through the second rotating element (62).

9. The wall-climbing painting robot according to claim 1, characterized in that: The adsorption component (4) is a permanent magnet adsorption block, and a plurality of the adsorption components (4) are provided, and the plurality of the adsorption components (4) are evenly arranged on the vehicle frame.

10. The wall-climbing painting robot according to claim 1, characterized in that: The position adjustment component (2) comprises a second bracket (21), a sliding track (22), a first synchronous idler wheel (23), a second synchronous idler wheel, a third driving component (24), a third deceleration component (25), a crawler belt (26) and a slider (27); the second bracket (21) is connected to the sliding track (22) and the vehicle frame; the crawler belt (26) is laid on the sliding track (22); the first synchronous idler wheel (23) and the second synchronous idler wheel are arranged at opposite ends of the sliding track (22) in a length direction; the third driving component (24) and the third deceleration component (25) are arranged on the sliding track (22); the third driving component (24) is connected to the first synchronous idler wheel (23) via the third deceleration component (25); the slider (27) is connected to the crawler belt (26); and the slider (27) supports the first bracket (31).

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