Mining excavator crawler device and control method

Abstract

The invention discloses a mining excavator crawler device and a control method.The mining excavator crawler device comprises a crawler frame, crawler chains, supporting wheel devices, tensioning wheel devices and driving wheels, the crawler chains are installed on the crawler frame, the supporting wheel devices are arranged along the bottom of the crawler frame, and the tensioning wheel devices are installed at the front end of the crawler frame and abut against the crawler chains; the driving wheels are mounted at the rear ends of the crawler frames and connected with the crawler chains; the tensioning wheel device comprises a tensioning rack, copper sleeves, a tensioning wheel body, deformed steel thrust pads, screws and an oil injection assembly, the tensioning wheel body is rotationally arranged on the tensioning rack, the copper sleeves are arranged on the two sides in the tensioning wheel body and fixed through the screws, and the deformed steel thrust pads are symmetrically arranged on the two sides of the tensioning wheel body and abut against the copper sleeves. And the oil injection assembly is arranged between the copper sleeve and the deformed steel thrust pad. The impact resistance of the tensioning wheel device is effectively improved, abrasion and additional loads of the crawler chain are reduced, and the service life of the crawler chain is prolonged.

Description

Technical Field

[0001] The present invention belongs to the technical field of excavators, and in particular relates to a crawler device and a control method of a mining excavator. Background Art

[0002] As an important component of mining excavators, crawler devices account for about 1 / 3 of the total weight of the machine, carrying the weight of the entire upper body (the maximum weight of the equipment exceeds 2000t) and the operating load; they are mainly used for long-distance walking and short-distance posture adjustment during excavation operations; they have the characteristics of large size, heavy weight, and large bearing capacity. Because they serve in harsh environments such as high hard rock, extreme cold, extremely uneven ground, high dust, and long-term exposure to harsh working conditions such as heavy loads, strong impacts, and random mutations, they have problems such as short life and high failure rate.

[0003] In the prior art, since the tension wheel device bears huge radial loads and impacts during startup and axial loads and impacts during turning, the copper pads on both sides of the tension wheel and the tension wheel body generate impacts. The body is a steel plate and the contact area with the copper pads is too small. The copper pads are easily moved by the impact, causing the copper pads to break by the impact, thereby causing the entire tension wheel device to fail. During operation, the track chain slides on the upper end of the track frame, resulting in severe wear on the track of the track chain. The position where the track chain is subjected to the greatest force in the system is the meshing point between the track shoe and the drive wheel. Since the middle part of the drive wheel is a circular structure during the process of the drive wheel driving the track shoe, relative movement and impact are easily generated between the track shoe and the drive wheel, resulting in greater impact on the track surface of the track shoe, the track shoe lug and the drive wheel lug, thereby shortening the overall service life of the excavator crawler device.

[0004] During the operation of the crawler device, especially when turning and working on slopes, the additional load is large and the impact is large, resulting in unstable force, heavy load and short life of the crawler device. When the crawler device travels over long distances, the tensioning wheel device is prone to overheating due to long-term continuous walking, resulting in serious wear of the copper sleeve and early failure of the wheel system structure, thereby increasing maintenance costs. Summary of the invention

[0005] In order to at least partially solve the technical problems existing in the above-mentioned prior art, the present invention provides a crawler device and a control method for a mining excavator.

[0006] The crawler device of the mining excavator of the present invention comprises a crawler frame, a crawler chain, a support wheel device, a tension wheel device and a driving wheel, wherein the crawler chain is installed on the crawler frame and is used to drive the crawler frame to move, the support wheel device is arranged along the bottom of the crawler frame and is used to support the crawler chain, the tension wheel device is installed at the front end of the crawler frame and abuts against the crawler chain and is used to adjust the tightness of the crawler chain, and the driving wheel is installed at the rear end of the crawler frame and is connected to the crawler chain and is used to provide force to the crawler chain, wherein:

[0007] The crawler frame includes a crawler mounting beam, an upper tug wheel and a positioning sleeve, wherein the upper tug wheel is arranged at the upper end of the crawler mounting beam and is used to support the crawler chain at the upper end of the crawler mounting beam, and the positioning sleeve is arranged at one side of the upper end of the crawler mounting beam and is used to be positioned and connected with the bottom frame beam;

[0008] The tensioning wheel device includes a tensioning frame, a copper sleeve, a tensioning wheel body, a special-shaped steel thrust pad, a screw and an oil injection assembly. The tensioning wheel body is rotatably arranged on the tensioning frame, the copper sleeve is arranged on both sides of the tensioning wheel body and fixed by the screws, the special-shaped steel thrust pads are symmetrically arranged on both sides of the tensioning wheel body and abut against the copper sleeve, and the oil injection assembly is arranged between the copper sleeve and the special-shaped steel thrust pad for lubricating and cooling the copper sleeve.

[0009] Furthermore, in the above-mentioned crawler device of the mining excavator, a mounting frame is provided on the crawler mounting beam, the upper tug wheel is connected to the mounting frame via a pin shaft, and the upper tug wheel is rollingly connected to the crawler chain.

[0010] Furthermore, in the above-mentioned mining excavator crawler device, the special-shaped steel thrust pad is made of steel plate, the middle part of the special-shaped steel thrust pad is rectangular, the middle part of the special-shaped steel thrust pad matches one side of the tensioning frame, and the special-shaped steel thrust pad is limited and fixed to the tensioning frame.

[0011] Furthermore, in the above-mentioned mining excavator crawler device, a mounting groove is provided in the middle of the tension wheel body, the copper sleeve is interference-fitted in the mounting groove, a mounting hole is provided around the copper sleeve, and the screw passes through the mounting hole and engages with the thread of the tension wheel body.

[0012] Furthermore, in the above-mentioned crawler device of the mining excavator, the crawler chain includes crawler plates and lugs, and the crawler plates are connected through the lugs.

[0013] Furthermore, in the above-mentioned crawler device for mining excavator, an octagonal protrusion is arranged in the middle of the driving wheel, the octagonal protrusion matches the track shoe, and the driving wheel and the track shoe are matched with each other in a concave-convex manner.

[0014] Furthermore, in the above-mentioned crawler device for mining excavator, it also includes an inclination angle sensor, which is arranged on the crawler frame and is used to monitor the inclination angle of the crawler frame.

[0015] Furthermore, in the above-mentioned mining excavator crawler device, a temperature sensor is also included, and the temperature sensor is arranged on the copper sleeve to monitor the temperature of the copper sleeve.

[0016] The mining excavator crawler device control method of the present invention comprises:

[0017] When the excavator is in walking mode, a driving command is sent to the driving wheels on both sides of the excavator underframe beam at the same time. When the driving wheels on both sides receive the driving command, the crawler device of the excavator runs at the set speed. When one side of the driving wheel is braked, the driving wheel stops running.

[0018] When working on a slope, the tilt angle sensor monitors the tilt angle of the excavator crawler device in real time. When the tilt angle exceeds the set value, the drive wheel stops running and issues a warning.

[0019] During the operation of the excavator crawler device, the temperature sensor monitors the copper sleeve temperature in real time, and sets the copper sleeve temperature first-level warning and copper sleeve temperature second-level warning. When the excavator crawler device runs for a long time, the copper sleeve temperature rises to the copper sleeve temperature first-level warning, the driving wheel rotation speed is controlled, and the oil injection amount of the oil injection component is increased, and the oil injection interval time is shortened. When the copper sleeve temperature continues to rise and reaches the second-level warning, the driving wheel stops running, and the excavator crawler device can continue to be driven after the copper sleeve temperature drops to the first-level warning.

[0020] The mining excavator crawler device and control method of the present invention have the following advantages and beneficial effects:

[0021] (1) By adopting the special-shaped thrust washer, the contact area between the copper sleeve and the special-shaped thrust washer is increased, which effectively avoids the problems of cracking of the tension wheel body and breaking of the copper sleeve, and prolongs the service life of the tension wheel device;

[0022] (2) By adopting the upper supporting wheel structure, the track position of the crawler shoe and the upper tug wheel roll friction, effectively reducing the friction coefficient, reducing the wear of the crawler shoe track surface, and effectively increasing the service life of the crawler chain;

[0023] (3) The middle part of the driving wheel adopts an eight-deformation structure to bear the weight of the track shoe, limit the movement of the track shoe, reduce the relative slip between the track shoe and the driving wheel, and greatly improve the force between the track shoe and the driving wheel;

[0024] (4) By controlling the crawler device, the additional load of the crawler device during turning and slope working conditions can be effectively reduced, thereby extending the service life of the four-wheel belt;

[0025] (5) Real-time monitoring of the copper sleeves on both sides of the tension wheel device, real-time control of the copper sleeve oil injection amount, oil injection interval time and equipment travel speed, effectively avoiding the problem of tension wheel device failure caused by high temperature of the copper sleeve. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only used to further understand the embodiments of the present invention and constitute a part of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0027] Figure 1 It is a front view of the crawler device of the mining excavator of the present invention;

[0028] Figure 2 A top view of a crawler device for a mining excavator according to the present invention;

[0029] Figure 3 for Figure 1 The cross-sectional structure diagram of the middle BB shows the structure of the tensioning wheel device;

[0030] Figure 4 for Figure 2 Schematic diagram of the cross-sectional structure of AA;

[0031] Figure 5 It is a schematic diagram of the driving wheel structure of the crawler device of the mining excavator of the present invention;

[0032] Figure 6 It is a schematic diagram of the structure of the special-shaped steel thrust pad of the crawler device of the mining excavator of the present invention;

[0033] Figure 7 This is a control flow chart of the crawler device of the excavator of the present invention.

[0034] Description of reference numerals:

[0035] 60: Excavator underframe beam;

[0036] 1: crawler frame, 11: crawler mounting beam, 111: mounting frame, 12: upper tug wheel, 13: positioning sleeve;

[0037] 2: track chain, 21: track shoe, 22: pull ear;

[0038] 3: Support wheel device;

[0039] 4: tension wheel device, 41: tension frame, 42: copper sleeve, 421: mounting hole, 43: tension wheel body, 431: mounting groove, 44: special-shaped steel thrust pad, 45: screw, 46: oil injection assembly;

[0040] 5: driving wheel, 51: octagonal protrusion. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] like Figures 1 to 6 As shown, the crawler device of the mining excavator of the present invention comprises a crawler frame 1, a crawler chain 2, a support wheel device 3, a tension wheel device 4 and a driving wheel 5. The crawler chain 2 is installed on the crawler frame 1 to drive the crawler frame 1 to move. The support wheel device 3 is arranged along the bottom of the crawler frame 1 to support the crawler chain 2. The tension wheel device 4 is installed at the front end of the crawler frame 1 and abuts against the crawler chain 2 to adjust the tightness of the crawler chain 2. The driving wheel 5 is installed at the rear end of the crawler frame 1 and connected to the crawler chain 2 to provide power to the crawler chain 2, wherein:

[0043] The crawler frame 1 includes a crawler mounting beam 11, an upper tug wheel 12 and a positioning sleeve 13. The upper tug wheel 12 is arranged at the upper end of the crawler mounting beam 11 and is used to support the crawler chain 2 at the upper end of the crawler mounting beam 11. The positioning sleeve 13 is arranged at one side of the upper end of the crawler mounting beam 11 and is used to be positioned and connected with the bottom frame beam. When connected, the upper part of the crawler mounting beam 11 and the bottom frame beam are positioned through the stopper of the positioning sleeve 13.

[0044] The tensioning wheel device 4 includes a tensioning frame 41, a copper sleeve 42, a tensioning wheel body 43, a special-shaped steel thrust pad 44, a screw 45 and an oil injection assembly 46. The tensioning wheel body 43 is rotatably set on the tensioning frame 41, the copper sleeve 42 is set on both sides of the tensioning wheel body 43 and fixed by screws 45, the special-shaped steel thrust pad 44 is symmetrically set on both sides of the tensioning wheel body 43 and abuts against the copper sleeve 42, and the oil injection assembly 46 is set between the copper sleeve 42 and the special-shaped steel thrust pad 44, and is used to lubricate and cool the copper sleeve 42.

[0045] Furthermore, in the above-mentioned mining excavator crawler device, a mounting frame 111 is provided on the crawler mounting beam 11, the upper tugwheel 12 is connected to the mounting frame 111 through a pin shaft, and the upper tugwheel 12 is rollingly connected to the crawler chain 2, so that the crawler chain 2 and the upper tugwheel 12 have rolling friction, which effectively reduces the friction coefficient, while avoiding wear on the track surface of the crawler chain 2 and increasing the service life of the crawler chain 2.

[0046] Furthermore, in the above-mentioned mining excavator crawler device, the special-shaped steel thrust pad 44 is made of steel plate, the middle part of the special-shaped steel thrust pad 44 is rectangular, the middle part of the special-shaped steel thrust pad 44 matches one side of the tensioning frame 41, and the special-shaped steel thrust pad 44 is limited and fixed to the tensioning frame 41, so that the tensioning wheel body 43 can effectively prevent the special-shaped steel thrust pad 44 from rotating when it rotates.

[0047] Furthermore, in the above-mentioned mining excavator crawler device, a mounting groove 431 is provided in the middle of the tension wheel body 43, and the copper sleeve 42 is interference-installed in the mounting groove 431. The copper sleeve 42 is surrounded by a mounting hole 421, and the screw 45 passes through the mounting hole 421 and is threadedly engaged with the tension wheel body 43, thereby effectively increasing the contact area between the copper sleeve 42 and the tension wheel body 43. At the same time, when the tension wheel body 43 is subjected to force, the interference fit between the copper sleeve 42 and the mounting groove 431 and the copper sleeve 42 being fixed to the tension wheel body 43 by the screw 45 can effectively withstand the axial impact strength, effectively avoid the breakage of the tension wheel body 43, and improve the service life of the tension wheel body 43.

[0048] Furthermore, in the above-mentioned crawler device of the mining excavator, the crawler chain 2 includes a crawler shoe 21 and a lug 22 , and the crawler shoe 21 is connected via the lug 22 .

[0049] Furthermore, in the above-mentioned mining excavator crawler device, an octagonal protrusion 51 is provided in the middle of the driving wheel 5, and the octagonal protrusion 51 matches the track shoe 21. The driving wheel 5 and the track shoe 21 are matched with each other in a concave-convex manner, so that the track shoe 21 is supported by the octagonal protrusion 51, which effectively avoids slippage during the process of the driving wheel 5 engaging the track shoe 21, effectively reduces the wear on the track surface of the track shoe 21, and at the same time reduces the additional load on the pull ear 22 of the track shoe 21 and the convex teeth of the driving wheel 5.

[0050] Furthermore, the above-mentioned crawler device for mining excavator further includes an inclination angle sensor, which is arranged on the crawler frame 1 and is used to monitor the inclination angle of the crawler frame 1 .

[0051] Furthermore, in the above-mentioned mining excavator crawler device, a temperature sensor is also included. The temperature sensor is arranged on the copper sleeve 42 and is used to monitor the temperature of the copper sleeve 42.

[0052] Specifically, the driving wheel 5 provides driving force during operation, and the convex teeth of the driving wheel 5 engage with the track chain 2. During this process, the octagonal protrusion 51 in the middle of the driving wheel 5 supports the track plate 21. At the same time, the upper tugwheel 12 supports the track chain 2, so that the track chain 2 rolls and rubs with the upper tugwheel 12 when passing. When the track chain 2 needs to be tensioned, the tensioning wheel device 4 extends out, and the tensioning wheel body 43 engages with the chain and drives the tensioning wheel body 43 to rotate. During the rotation, the special-shaped steel thrust pad 44 remains stationary. When the tensioning wheel is subjected to axial impact force, the copper sleeve 42 fixes the tensioning wheel body 43 to withstand the axial impact force, thereby avoiding damage to the tensioning wheel body 43.

[0053] The mining excavator crawler device control method of the present invention comprises:

[0054] like Figure 7As shown, when the excavator executes the walking mode, the driving wheels 5 on both sides of the excavator chassis beam 60 are simultaneously sent driving commands. When the driving wheels 5 on both sides receive the driving commands, the crawler device of the excavator runs at the set speed. When the driving wheel 5 on one side is braked, the driving wheel 5 stops running, thereby effectively avoiding the driving wheel 5 on one side from operating in the driving state without receiving the command, and at the same time avoiding the situation where the crawler chain 2 on one side is driven to turn;

[0055] When working on a slope, the tilt angle sensor monitors the tilt angle of the excavator crawler device in real time. When the tilt angle exceeds the set value, the driving wheel 5 stops running and issues a warning, thereby effectively avoiding the high additional load generated by gravity on the excavator crawler device in the slope state, reducing the additional load and impact of the crawler chain 2, and effectively extending the service life of the crawler chain 2;

[0056] During the operation of the excavator crawler device, the temperature sensor monitors the temperature of the copper sleeve 42 in real time, and sets the first-level warning and the second-level warning of the copper sleeve 42 temperature. When the excavator crawler device runs for a long time, the temperature of the copper sleeve 42 rises to the first-level warning of the copper sleeve 42 temperature, the rotation speed of the drive wheel 5 is controlled, and the oil injection amount of the oil injection component 46 is increased, and the oil injection interval time is shortened. When the temperature of the copper sleeve 42 continues to rise to the second-level warning, the drive wheel 5 stops running, and the excavator crawler device can continue to be driven to operate after the temperature of the copper sleeve 42 drops to the first-level warning, thereby effectively avoiding the premature failure of the tensioning wheel device 4 caused by overheating of the copper sleeve 42, and improving the service life of the tensioning wheel device 4.

[0057] In summary, compared with the prior art, the mining excavator crawler device and control method of the present invention have the following advantages and beneficial effects:

[0058] (1) By adopting the special-shaped thrust washer, the contact area between the copper sleeve and the special-shaped thrust washer is increased, which effectively avoids the problems of cracking of the tension wheel body and breaking of the copper sleeve, and prolongs the service life of the tension wheel device;

[0059] (2) By adopting the upper supporting wheel structure, the track position of the crawler shoe and the upper tug wheel roll friction, effectively reducing the friction coefficient, reducing the wear of the crawler shoe track surface, and effectively increasing the service life of the crawler chain;

[0060] (3) The middle part of the driving wheel adopts an eight-deformation structure to bear the weight of the track shoe, limit the movement of the track shoe, reduce the relative slip between the track shoe and the driving wheel, and greatly improve the force between the track shoe and the driving wheel;

[0061] (4) By controlling the crawler device, the additional load of the crawler device during turning and slope working conditions can be effectively reduced, thereby extending the service life of the four-wheel belt;

[0062] (5) Real-time monitoring of the copper sleeves on both sides of the tension wheel device, real-time control of the copper sleeve oil injection amount, oil injection interval time and equipment travel speed, effectively avoiding the problem of tension wheel device failure caused by high temperature of the copper sleeve.

[0063] It should be noted that, in this article, unless otherwise clearly specified and limited, the term "connection" or its synonyms should be understood in a broad sense. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected 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 the specific circumstances. Moreover, expressions such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. At the same time, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A crawler device for a mining excavator, installed on both sides of the excavator chassis beam, characterized in that: The crawler device of the mining excavator comprises a crawler frame, a crawler chain, a support wheel device, a tension wheel device and a driving wheel. The crawler chain is installed on the crawler frame and is used to drive the crawler frame to move. The support wheel device is arranged along the bottom of the crawler frame and is used to support the crawler chain. The tension wheel device is installed at the front end of the crawler frame and abuts against the crawler chain to adjust the tightness of the crawler chain. The driving wheel is installed at the rear end of the crawler frame and is connected to the crawler chain to provide force to the crawler chain, wherein: The crawler frame includes a crawler mounting beam, an upper tug wheel and a positioning sleeve, wherein the upper tug wheel is arranged at the upper end of the crawler mounting beam and is used to support the crawler chain at the upper end of the crawler mounting beam, and the positioning sleeve is arranged at one side of the upper end of the crawler mounting beam and is used to be positioned and connected with the bottom frame beam; The tensioning wheel device includes a tensioning frame, a copper sleeve, a tensioning wheel body, a special-shaped steel thrust pad, a screw and an oil injection assembly. The tensioning wheel body is rotatably arranged on the tensioning frame, the copper sleeve is arranged on both sides of the tensioning wheel body and fixed by the screws, the special-shaped steel thrust pads are symmetrically arranged on both sides of the tensioning wheel body and abut against the copper sleeve, and the oil injection assembly is arranged between the copper sleeve and the special-shaped steel thrust pad for lubricating and cooling the copper sleeve.

2. The crawler device for mining excavator according to claim 1, characterized in that: A mounting frame is arranged on the crawler mounting beam, the upper tug wheel is connected to the mounting frame via a pin shaft, and the upper tug wheel is rollingly connected to the crawler chain.

3. The crawler device for mining excavator according to claim 1, characterized in that: The special-shaped steel thrust pad is made of steel plate, the middle part of the special-shaped steel thrust pad is rectangular, the middle part of the special-shaped steel thrust pad matches one side of the tensioning frame, and the special-shaped steel thrust pad is limited and fixed to the tensioning frame.

4. The crawler device for mining excavator according to claim 1, characterized in that: The tension wheel body is provided with a mounting groove in the middle, the copper sleeve is interference-fitted in the mounting groove, the copper sleeve is surrounded by a mounting hole, and the screw passes through the mounting hole and is threadedly engaged with the tension wheel body.

5. The crawler device for mining excavator according to claim 1, characterized in that: The track chain comprises a track shoe and a pull ear, and the track shoe is connected through the pull ear.

6. The crawler device for mining excavator according to claim 5, characterized in that: An octagonal protrusion is arranged in the middle of the driving wheel, and the octagonal protrusion matches the track shoe, and the driving wheel and the track shoe are matched with each other in a concave-convex manner.

7. The crawler device for mining excavator according to claim 1, characterized in that: It also includes an inclination angle sensor, which is arranged on the track frame and is used to monitor the inclination angle of the track frame.

8. The crawler device for mining excavator according to claim 1, characterized in that: It also includes a temperature sensor, which is arranged on the copper sleeve and is used to monitor the temperature of the copper sleeve.

9. A method for controlling a crawler device of a mining excavator comprises: When the excavator is in walking mode, a driving command is sent to the driving wheels on both sides of the excavator underframe beam at the same time. When the driving wheels on both sides receive the driving command, the crawler device of the excavator runs at the set speed. When one side of the driving wheel is braked, the driving wheel stops running. When working on a slope, the tilt angle sensor monitors the tilt angle of the excavator crawler device in real time. When the tilt angle exceeds the set value, the drive wheel stops running and issues a warning. During the operation of the excavator crawler device, the temperature sensor monitors the copper sleeve temperature in real time, and sets the copper sleeve temperature first-level warning and copper sleeve temperature second-level warning. When the excavator crawler device runs for a long time, the copper sleeve temperature rises to the copper sleeve temperature first-level warning, the driving wheel rotation speed is controlled, and the oil injection amount of the oil injection component is increased, and the oil injection interval time is shortened. When the copper sleeve temperature continues to rise and reaches the second-level warning, the driving wheel stops running, and the excavator crawler device can continue to be driven after the copper sleeve temperature drops to the first-level warning.

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