Crawler belt strength detection device and method

Abstract

The invention belongs to the technical field of strength detection, and relates to a track strength detection device and method. The device comprises a detection frame, a torsion stretching part arranged on the detection frame, a soaking box, a stretching roller, a positioning roller, a hammering assembly, a driving part and the like. Static stretching detection, dynamic stretching detection, torsion stretching detection, impact working condition detection, rotation load detection and muddy water soaking load detection of the track body can be realized, and on the basis of the static stretching detection or the dynamic stretching detection, the detection precision is improved. Combined detection is carried out in combination with one to four of four detection modes of torsion stretching detection, impact working condition detection, rotation load detection and muddy water soaking load detection, working conditions of the crawler belt in different working scenes can be simulated, and fatigue performance of the crawler belt under various complex stress conditions can be comprehensively detected. And the reliability of the track in actual use is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of strength detection, and relates to a crawler strength detection device and method. Background Art

[0002] With the continuous development of technology, robot technology has been widely applied in various fields, especially its application in complex environments is increasing day by day. As a robot that can walk freely on water and land, the design and application of the amphibious rescue and exploration robot are of great significance for rescue and exploration work. Such robots are usually equipped with various sensors, cameras and other detection devices, and can perform various tasks in complex environments. As a key component of the amphibious rescue and exploration robot, the strength of the crawler directly affects the passability and durability of the robot. In complex and changeable working environments, such as muddy swamp areas, rugged mountainous areas and narrow culvert spaces, the crawler needs to bear huge pressure and wear. Therefore, the detection of the crawler strength is particularly important.

[0003] For example, the utility model patent with the publication number CN218331023U discloses a tensile force detection device for a rubber crawler, belonging to the technical field of rubber crawler detection. It includes a table board, on the upper surface of which a transfer mechanism is arranged. A slider is arranged on the lower surface of the transfer mechanism, a limiting component is arranged on the lower surface of the transfer mechanism, a support board is arranged on the lower surface of the limiting component, and one side of the transfer mechanism corresponding to the support board is lapped. The transfer mechanism includes a motor, and a gear is fixedly connected to the output end of the motor. For this tensile force detection device for a rubber crawler, by setting the transfer mechanism, during the detection of the rubber crawler, through the mutual cooperation of the gear and the rack, two tensile force counters can be driven to move away from each other, so that the two tensile force counters can simultaneously detect both ends of the rubber crawler, thus ensuring the accuracy of the detection. Moreover, the structural parts used in this detection device are fewer, which is convenient for production and promotion.

[0004] In the prior art, by setting two tensile force counters, it is possible to synchronously monitor the tensile strength at both ends of the rubber crawler. This method provides information about the crawler's ability to withstand tensile loads to a certain extent. However, in actual application scenarios, especially for the crawlers used in amphibious rescue and exploration robots, their performance evaluation is far more than this. The crawlers of amphibious robots not only need to withstand the friction and extrusion of complex terrains on land, but also need to maintain sufficient flexibility in the underwater environment to cope with water flow impact and buoyancy changes. Therefore, relying solely on tensile force detection to evaluate the overall strength of the crawler is far from enough. Although tensile force detection can reveal the strength performance of the crawler under specific tensile conditions, it cannot comprehensively reflect the state of the crawler in terms of key performance indicators such as torsion and resistance to sediment in water.

[0005] In summary, the existing detection devices and methods for the performance detection of crawler tracks are relatively single and cannot comprehensively reflect the performance of crawler tracks. Summary of the Invention

[0006] The purpose of the present invention is to provide a crawler track strength detection device and method to solve the technical problem that the existing detection devices and methods for the performance detection of crawler tracks are relatively single. The present invention can simulate the working conditions of crawler tracks in different working scenarios and comprehensively detect the fatigue performance of crawler tracks under various complex stress conditions.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions: The present invention discloses a crawler track strength detection device, including: A detection frame; A torsion and tension component and an immersion tank are fixedly arranged on the detection frame; The output end of the torsion and tension component is fixedly connected with a tension frame. The torsion and tension component can drive the tension frame to perform linear reciprocating motion or reciprocating rotational motion while performing linear reciprocating motion. A tension roller and a driving component are arranged on the tension frame. The tension roller is rotatably connected to the tension frame, and the output end of the driving component is connected to the input end of the tension roller through a transmission component; A positioning roller is rotatably arranged in the immersion tank, and the positioning roller and the tension roller are used to support the crawler track body; A hammering component is arranged in the immersion tank, and the hammering component is used to hammer the crawler track body.

[0008] Further, the torsion and tension component includes: A driving cylinder; The output end of the driving cylinder is fixedly connected with the tension frame through a connecting rod. The output end of the driving cylinder is rotatably connected with the connecting rod, and a spiral guide groove is formed on the connecting rod; An auxiliary plate is arranged on the detection frame. A support ring is fixedly arranged on the auxiliary plate. A sliding ring is coaxially arranged inside the support ring. A plurality of support seats are fixedly arranged on the sliding ring. The support seats are placed on the support ring. A ball is arranged on the support seat, and the ball is located in the guide groove. A plurality of limiting holes are formed on the sliding ring, and an electric ejector rod is arranged on the support ring. The output end of the electric ejector rod can penetrate into the limiting hole; When the electric ejector rod penetrates into the limiting hole, the ball is fixed through the support seat and the support ring. When the output end of the driving cylinder drives the connecting rod and the tension frame to move up and down, due to the action of the ball and the spiral guide groove, the connecting rod rotates while moving up and down, and further twists and supports the crawler track body while stretching the crawler track body through the tension frame; When the electric push rod moves out of the limiting hole, the support seat and the support ring are separated, and the output end of the driving cylinder drives the connecting rod and the stretching frame to move up and down.

[0009] Furthermore, the immersion box is provided with a water trough and a silt trough, and the water trough and the silt trough are both provided with drains, and the water trough and the silt trough are both connected with the immersion box through the drains, and a sealing strip is provided on the drain, and when the sealing strip is placed on the drain, the drain is blocked, and when the sealing strip is removed from the drain, the drain is opened.

[0010] Furthermore, two positioning frames are provided in the immersion box, and sliding limit grooves are opened on the positioning frames. Positioning slides are embedded in the sliding limit grooves. Each end of the positioning roller is rotatably connected to a positioning slide, and the sliding direction of the positioning slide is consistent with the direction of the linear reciprocating motion of the stretching frame.

[0011] Furthermore, the sliding limit groove is a strip-shaped groove, the positioning slide is a rectangular slide block, and the rectangular slide block is embedded in the strip-shaped groove.

[0012] Furthermore, the hammer assembly comprises: Two hinged seats, each of which is fixedly connected to a positioning slide seat, and each of which is provided with two hinged shafts; Two hammer units, each of which is movably connected to two hinged seats, and the two hammer units are symmetrically arranged about the two hinged seats; The hammer unit comprises two cranks, one end of each crank is provided with a strip-shaped slot, and each strip-shaped slot is provided with a hinge shaft of a hinge seat; The other end of the crank is fixedly connected to the same hammer plate through a hammer handle, the crank is fixedly connected to the hammer handle, the connection between the crank and the hammer handle is movably connected to a connecting rod, and the connecting rod is connected to the soaking box; When the positioning slide is located at the bottom of the sliding limit groove, the hammer plate contacts the crawler body to be tested; When the positioning slide slides upward along the sliding limit groove, the positioning slide drives the articulated seat and the articulated shaft to move upward, and the articulated shaft drives the crank and the hammer handle to rotate around the connecting rod while sliding in the strip slot, and the hammer plate is away from the crawler body to be detected.

[0013] Furthermore, the articulated seat is connected to the positioning slide seat via a slide rod, the slide rod is movably arranged on the positioning frame, a spring is sleeved on the slide rod, the spring is located between the articulated seat and the positioning frame, and the spring is always in a compressed state.

[0014] Furthermore, the connecting rod is rotatably connected to the soaking box, a torsion spring is sleeved on the connecting rod, one end of the torsion spring is fixedly connected to the connecting rod, and the other end of the torsion spring is fixedly connected to the soaking box, a rotating disk is fixedly arranged on the connecting rod, the rotating disk is coaxially arranged with the connecting rod, the rotating disk is connected to the sealing strip through a sealing strip connecting rod, a plurality of convex leaves are arranged on the rotating disk, a plurality of striking pieces are arranged on the positioning roller, when the positioning roller drives the striking piece to rotate, the end of the striking piece contacts the convex leaves at intervals, and then drives the connecting rod and the sealing strip connecting rod to rotate through the rotating disk; When the end of the striking piece contacts the convex leaf at intervals, the striking piece drives the rotating disk to rotate, and the rotating disk pushes the sealing strip to be placed on the drain port through the sealing strip connecting rod, and the drain port is blocked; When the striking piece is separated from the convex leaf, the connecting rod is reset under the action of the torsion spring, and the connecting rod drives the sealing strip to move away from the discharge port through the rotating disk and the sealing strip connecting rod in turn, and the discharge port is opened.

[0015] Furthermore, the two hammer handles of each of the hammer units are symmetrically arranged about the hammer plate, and the hammer handles include a connecting handle and a movable handle, the connecting handle and the movable handle are connected via a damping shaft, the connecting handle is fixedly connected to a crank, the movable handle is movably connected to the hammer plate, two side hammer plates are arranged on the hammer plate, the spacing between the two side hammer plates is greater than the width of the supporting crawler body to be detected, a connecting seat is arranged on one of the movable handles of each of the hammer units, an inclined groove is provided on the connecting seat, a slider is slidably embedded in the inclined groove, an auxiliary rod is also fixedly arranged on the connecting rod, the end of the auxiliary rod is connected to the slider, and an angle is formed between the rotating surface of the movable handle and the sliding direction of the slider; When the end of the striking piece contacts the convex leaf at intervals, the striking piece drives the rotating disk, the connecting rod and the auxiliary rod to rotate in sequence through the convex leaf. The auxiliary rod pushes the movable handle to rotate sideways around the damping shaft through the action of the slider and the inclined groove. The movable handle drives the hammer plate to swing, thereby realizing the side hammer plate and the hammer plate alignment.

[0016] Based on the above structure, the present invention also discloses a track strength detection method, comprising the following steps: Sleeve the crawler body on the positioning roller and the stretching roller; Static stretching test, the torsion stretching component drives the stretching roller to statically stretch the crawler body through the stretching frame to detect the maximum static stretching load and elongation of the crawler body; Dynamic stretching test: the torsion stretching component drives the stretching roller to move linearly back and forth through the stretching frame, and the track body is reciprocated by the positioning roller and the stretching roller to test the dynamic stretching maximum load and elongation of the track body; Torsion and tension detection: The torsion and tension component drives the tension roller to perform linear reciprocating motion and reciprocating rotational motion at the same time through the tension frame. While reciprocatingly stretching the crawler body by the positioning roller and the tension roller, the crawler body is reciprocatingly twisted to detect the ability of the crawler body to resist fatigue failure under the action of reciprocating tensile load and torsional cyclic load; Impact condition detection: Use the hammering component to hammer the surface of the crawler body to detect the load of the crawler body under impact conditions; Rotational load detection: Drive the tension roller to rotate through the driving component, and the tension roller drives the crawler body to rotate to detect the load when the crawler body rotates; Mud and water immersion load detection: Add water and sediment into the immersion tank to detect the load of the crawler body when simulating running in muddy water; Multi-condition detection: On the basis of static tension detection or dynamic tension detection, combine one to four of the four detection methods of torsion and tension detection, impact condition detection, rotational load detection, and mud and water immersion load detection for combined detection.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The detection frame of the present invention serves as the main frame of the device, providing rigid support for each test module. The torsion and tension component is used to apply tensile power and torsional power. The torsion and tension component can drive the tension frame to perform linear reciprocating motion or reciprocating rotational motion while performing linear reciprocating motion. By slowly pulling the tension frame and the tension roller by the torsion and tension component, static tension detection of the crawler body can be carried out. By periodically pulling the tension frame and the tension roller at a faster speed by the torsion and tension component, dynamic tension detection of the crawler body is realized. Static tension detection and dynamic tension detection are used to obtain the maximum load and elongation rate of the detected crawler body. The torsion and tension component drives the tension roller to perform linear reciprocating motion and reciprocating rotational motion at the same time through the tension frame, thereby detecting the ability of the crawler body to resist fatigue failure under the action of reciprocating tensile load and torsional cyclic load. Drive the tension roller to rotate through the driving component, and the tension roller drives the crawler body to rotate to detect the load when the crawler body rotates. The hammering component is used to hammer the crawler body. By using the hammering component to hammer the surface of the crawler body, the load detection of the support crawler body under impact conditions can be carried out. By adding water and sediment into the immersion tank, the load detection of the crawler body when simulating running in muddy water can be carried out. On the basis of static tension detection or dynamic tension detection, the present invention can also combine one to four of the four detection methods of torsion and tension detection, impact condition detection, rotational load detection, and mud and water immersion load detection for combined detection. The present invention can realize multi-scene crawler detection, can simulate the torsion situation of the crawler under different working scenarios, comprehensively detect the fatigue performance of the crawler under various complex stress angles, and ensure the reliability of the crawler in actual use.

[0018] The method of the present invention can realize static tensile testing, dynamic tensile testing, torsional tensile testing, impact condition testing, rotational load testing, and muddy water immersion load testing of the crawler body. Moreover, based on static tensile testing or dynamic tensile testing, it can combine one to four of the four testing methods of torsional tensile testing, impact condition testing, rotational load testing, and muddy water immersion load testing for combined testing, which can simulate the working conditions of the crawler under different working scenarios, comprehensively detect the fatigue performance of the crawler under various complex stress conditions, and ensure the reliability of the crawler in actual use. Brief Description of the Drawings

[0019] Figure 1 is a three-dimensional structural schematic diagram of an embodiment of the present invention; Figure 2 is a structural schematic diagram of the embodiment of the present invention with the detection frame removed; Figure 3 is a structural schematic diagram of the embodiment of the present invention with the casing removed; Figure 4 is Figure 3 a partial enlarged schematic diagram at A in Figure 5 is an exploded structural schematic diagram of the slip ring and the support ring in the embodiment of the present invention; Figure 6 is a structural schematic diagram of the casing in the embodiment of the present invention; Figure 7 is a structural schematic diagram of the casing and the hammering assembly in the embodiment of the present invention; Figure 8 is a structural schematic diagram of the hammering assembly in the embodiment of the present invention; Figure 9 is a partial structural schematic diagram of the hammering assembly in the embodiment of the present invention; Figure 10 is Figure 9 a partial enlarged view of area B in Figure 11 is a structural schematic diagram of the hammering unit in the embodiment of the present invention; Figure 12 is a schematic diagram of the connection relationship between the crank and the hinge shaft in the embodiment of the present invention; Figure 13 is a cross-sectional view of the inclined groove and the slider in the embodiment of the present invention; Figure 14 is a schematic diagram of the connection relationship between the auxiliary rod and the hammer handle in the embodiment of the present invention; Figure 15 is a flowchart of the method in the embodiment of the present invention.

[0020] Wherein: 100, detection rack; 101, crawler body; 102, stretching rack; 103, positioning roller; 104, positioning frame; 105, stretching roller; 106, driving component; 107, positioning sliding seat; 108, sliding rod; 109, spring; 110, torsional stretching component; 111, sliding limiting groove; 200, driving cylinder; 201, auxiliary plate; 202, connecting rod; 203, support ring; 204, guide groove; 205, electric ejector rod; 206, sliding ring; 207, support seat; 208, ball; 209, limiting hole; 300, hammer plate; 301, hinge seat; 302, crank; 303, side hammer plate; 304, connecting handle; 305, movable handle; 306, damping rotating shaft; 307, hammering component; 308, hinge shaft; 309, strip-shaped slot hole; 310, hammer handle; 311, hammering unit; 400, casing; 401, water tank; 402, sediment tank; 403, sealing strip; 404, drain opening; 405, rotating disk; 406, convex lobe; 407, connecting rod; 408, auxiliary rod; 409, connecting seat; 410, inclined slot; 411, sealing strip connecting rod; 412, striking piece; 413, soaking tank; 414, slider. Detailed implementation manners

[0021] In order to enable those skilled in the art of this technology to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the description of the present invention and the above accompanying drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0023] The present invention will be further described in detail below in conjunction with the accompanying drawings: See Figure 1, the present invention discloses a crawler strength detection device, including a detection frame 100. The detection frame 100 serves as the main frame of the device and provides rigid support for each test module. A torsion and tension component 110 and an immersion tank 413 are fixedly arranged on the detection frame 100. The torsion and tension component 110 is used to apply tensile power and torsional power.

[0024] The output end of the torsion and tension component 110 is fixedly connected to a tension frame 102. The torsion and tension component 110 can drive the tension frame 102 to perform linear reciprocating motion or reciprocating rotational motion while performing linear reciprocating motion. A tension roller 105 and a driving component 106 are arranged on the tension frame 102. The tension roller 105 is rotatably connected to the tension frame 102. The output end of the driving component 106 is connected to the input end of the tension roller 105 through a transmission component.

[0025] A positioning roller 103 is rotatably arranged in the immersion tank 413. The positioning roller 103 and the tension roller 105 are used to support the crawler body 101, facilitating the simulation of the actual working conditions of the crawler body 101. By pulling the tension frame 102 and the tension roller 105 at a slower speed through the torsion and tension component 110, static tensile detection of the crawler body 101 can be carried out. By pulling the tension frame 102 and the tension roller 105 periodically at a faster speed through the torsion and tension component 110, dynamic tensile detection of the crawler body 101 is realized. Static tensile detection and dynamic tensile detection are used to obtain the maximum load and elongation rate of the detected crawler body 101. The torsion and tension component 110 drives the tension roller 105 to perform linear reciprocating motion and reciprocating rotational motion through the tension frame 102, thereby detecting the ability of the crawler body 101 to resist fatigue failure under the action of reciprocating tensile load and torsional cyclic load. By driving the tension roller 105 to rotate through the driving component 106, the tension roller 105 drives the crawler body 101 to rotate, and the load detection during the rotation of the crawler body 101 is carried out.

[0026] See Figure 2 , a hammering component 307 is arranged in the immersion tank 413. The hammering component 307 is used to hammer the crawler body 101. By hammering the surface of the crawler body 101 with the hammering component 307, the load detection under impact working conditions of the supported crawler body 101 can be carried out. Adding water and sediment into the immersion tank 413 can carry out the load detection when simulating the operation of the crawler body 101 in muddy water.

[0027] On the basis of static tensile detection or dynamic tensile detection, it is also possible to combine one to four of the four detection methods of torsion tensile detection, impact working condition detection, rotational load detection, and muddy water immersion load detection for combined detection.

[0028] The present invention can achieve the detection of crawlers in multiple scenarios, simulate the torsional conditions of crawlers in different working scenarios, comprehensively detect the fatigue performance of crawlers under various complex stress angles, and ensure the reliability of crawlers in actual use.

[0029] Embodiment 1: Referring to Figure 1 , this embodiment discloses a crawler strength detection device, including a detection frame 100, on which a torsional stretching component 110 and an immersion tank 413 are fixedly arranged; The output end of the torsional stretching component 110 is fixedly connected to a stretching frame 102. The torsional stretching component 110 can drive the stretching frame 102 to perform linear reciprocating motion or reciprocating rotational motion while performing linear reciprocating motion. The stretching frame 102 is provided with a stretching roller 105 and a driving component 106. The stretching roller 105 is rotatably connected to the stretching frame 102, and the output end of the driving component 106 is connected to the input end of the stretching roller 105 through a transmission component; Referring to Figure 2 , a positioning roller 103 is rotatably arranged in the immersion tank 413. The positioning roller 103 and the stretching roller 105 are used to support the crawler body 101. Referring to Figure 3 ; Referring to Figure 2 , a hammering component 307 is arranged in the immersion tank 413, and the hammering component 307 is used to hammer the crawler body 101.

[0030] Preferably, referring to Figure 5 , the torsional stretching component 110 includes a driving cylinder 200. The output end of the driving cylinder 200 is fixedly connected to the stretching frame 102 through a connecting rod 202. The output end of the driving cylinder 200 is rotatably connected to the connecting rod 202, and a spiral guide groove 204 is formed in the connecting rod 202; Referring to Figure 4 and 5 , an auxiliary plate 201 is arranged on the detection frame 100. A support ring 203 is fixedly arranged on the auxiliary plate 201. A sliding ring 206 is coaxially arranged inside the support ring 203. A plurality of support seats 207 are fixedly arranged on the sliding ring 206. The support seats 207 are placed on the support ring 203. A ball 208 is arranged on the support seat 207, and the ball 208 is located in the guide groove 204. A plurality of limiting holes 209 are formed in the sliding ring 206, and an electric ejector rod 205 is arranged on the support ring 203. The output end of the electric ejector rod 205 can penetrate into the limiting holes 209; When the electric ejector rod 205 is inserted into the limiting hole 209, the ball 208 is fixed by the support seat 207 and the support ring 203. When the output end of the driving cylinder 200 drives the connecting rod 202 and the stretching frame 102 to move up and down, due to the action of the ball 208 and the spiral guide groove 204, the connecting rod 202 rotates while moving up and down, and then twists the support crawler body 101 while stretching the support crawler body 101 through the stretching frame 102; When the electric ejector rod 205 is removed from the limiting hole 209, the support seat 207 and the support ring 203 are separated, and the output end of the driving cylinder 200 drives the connecting rod 202 and the stretching frame 102 to move up and down.

[0031] Preferably, referring to Figure 6 and Figure 7 , a water tank 401 and a sediment tank 402 are further provided on the soaking tank 413. Drain ports 404 are provided on both the water tank 401 and the sediment tank 402. The water tank 401 and the sediment tank 402 are both communicated with the soaking tank 413 through the drain ports 404. A sealing strip 403 is provided on the drain port 404. When the sealing strip 403 is placed on the drain port 404, the drain port 404 is blocked. When the sealing strip 403 is removed from the drain port 404, the drain port 404 is opened.

[0032] Preferably, referring to Figure 7 , two positioning frames 104 are provided in the soaking tank 413. Sliding limiting grooves 111 are provided on the positioning frames 104. Positioning sliding seats 107 are embedded in the sliding limiting grooves 111. Each end of the positioning roller 103 is respectively rotatably connected to a positioning sliding seat 107. The sliding direction of the positioning sliding seat 107 is the same as the direction of the linear reciprocating motion of the stretching frame 102.

[0033] Preferably, referring to Figure 8 , the sliding limiting groove 111 is a strip-shaped groove, and the positioning sliding seat 107 is a rectangular slider, and the rectangular slider is embedded in the strip-shaped groove.

[0034] Preferably, referring to Figure 8 and Figure 9 , the hammering assembly 307 includes: two hinge seats 301 and two hammering units 311; Each hinge seat 301 is respectively fixedly connected to a positioning sliding seat 107, and two hinge shafts 308 are provided on each hinge seat 301; Each hammering unit 311 is movably connected to the two hinge seats 301, and the two hammering units 311 are symmetrically arranged with respect to the two hinge seats 301; Referring to Figure 11, the hammering unit 311 includes two cranks 302. One end of each crank 302 is provided with a strip-shaped slot 309, and a hinge shaft 308 of a hinge seat 301 is inserted into each strip-shaped slot 309. See Figure 12 ; The other ends of the cranks 302 are respectively fixedly connected to the same hammer plate 300 through a hammer handle 310. The crank 302 is fixedly connected to the hammer handle 310. A connecting rod 407 is movably connected to the connection part of the crank 302 and the hammer handle 310, and the connecting rod 407 is connected to the soaking tank 413; When the positioning slide block 107 is located at the bottom of the sliding limit slot 111, the hammer plate 300 contacts the crawler body 101 to be detected; When the positioning slide block 107 slides upward along the sliding limit slot 111, the positioning slide block 107 drives the hinge seat 301 and the hinge shaft 308 to move upward. While the hinge shaft 308 slides in the strip-shaped slot 309, it drives the crank 302 and the hammer handle 310 to rotate around the connecting rod 407, and the hammer plate 300 moves away from the crawler body 101 to be detected.

[0035] Preferably, see Figure 7 and Figure 8 , the hinge seat 301 is connected to the positioning slide block 107 through a slide rod 108. The slide rod 108 is movably inserted into the positioning frame 104. A spring 109 is sleeved on the slide rod 108. The spring 109 is located between the hinge seat 301 and the positioning frame 104, and the spring 109 is always in a compressed state.

[0036] Preferably, see Figure 9 , Figure 10 and Figure 14 , the connecting rod 407 is rotatably connected to the soaking tank 413. A torsion spring is sleeved on the connecting rod 407. One end of the torsion spring is fixedly connected to the connecting rod 407, and the other end of the torsion spring is fixedly connected to the soaking tank 413. A rotating disk 405 is fixedly arranged on the connecting rod 407. The rotating disk 405 is coaxially arranged with the connecting rod 407. The rotating disk 405 is connected to a sealing strip 403 through a sealing strip connecting rod 411. A plurality of convex leaves 406 are arranged on the rotating disk 405. A plurality of striking pieces 412 are arranged on the positioning roller 103. When the positioning roller 103 drives the striking pieces 412 to rotate, the ends of the striking pieces 412 are intermittently in contact with the convex leaves 406, and then drive the connecting rod 407 and the sealing strip connecting rod 411 to rotate through the rotating disk 405; When the ends of the striking pieces 412 are intermittently in contact with the convex leaves 406, the striking pieces 412 drive the rotating disk 405 to rotate. The rotating disk 405 pushes the sealing strip 403 onto the drain opening 404 through the sealing strip connecting rod 411, and the drain opening 404 is blocked; After the striking piece 412 is separated from the convex lobe 406, the connecting rod 407 is reset under the action of the torsion spring. The connecting rod 407 drives the sealing strip 403 to move away from the discharge port 404 through the rotating disk 405 and the sealing strip connecting rod 411 in sequence, and the discharge port 404 is opened.

[0037] Preferably, referring to Figure 11 , the two hammer handles 310 of each hammering unit 311 are symmetrically arranged with respect to the hammer plate 300. The hammer handle 310 includes a connecting handle 304 and a movable handle 305. The connecting handle 304 and the movable handle 305 are connected by a damping rotating shaft 306. The connecting handle 304 is fixedly connected to the crank 302, and the movable handle 305 is movably connected to the hammer plate 300. Two side hammer plates 303 are provided on the hammer plate 300, and the distance between the two side hammer plates 303 is greater than the width of the support crawler body 101 to be detected. A connecting seat 409 is provided on one of the movable handles 305 of each hammering unit 311. An inclined slot 410 is formed in the connecting seat 409, and a slider 414 is slidably embedded in the inclined slot 410 of the connecting seat 409. The slider 414 can freely slide in the inclined slot 410 of the connecting seat 409 but will not slip off. A secondary rod 408 is also fixedly provided on the connecting rod 407, and the end of the secondary rod 408 is connected to the slider 414. There is an included angle between the rotation plane of the movable handle 305 and the sliding direction of the slider 414; When the end of the striking piece 412 abuts against the convex lobe 406 at intervals, the striking piece 412 drives the rotating disk 405, the connecting rod 407 and the secondary rod 408 to rotate in sequence through the convex lobe 406. The secondary rod 408 pushes the movable handle 305 to rotate laterally around the damping rotating shaft 306 through the action of the slider 414 and the inclined slot 410, and the movable handle 305 drives the hammer plate 300 to swing, realizing the pair of the side hammer plate 303 and the hammer plate 300.

[0038] Preferably, each crank 302 is fixedly connected to two hammer handles 310, that is, each crank 302 connects the hammer plate 300 through two hammer handles 310, which is beneficial to improving the stability of the hammering unit 311.

[0039] Preferably, each crank 302 is fixedly connected to two hammer handles 310, which is beneficial to improving the stability of the hammering unit 311.

[0040] Based on the above device, the present invention also discloses a method for detecting the strength of a crawler, referring to Figure 15 , including the following steps: S1, sleeving the crawler body 101 on the positioning roller 103 and the stretching roller 105; S2. Static tensile test: The torsional tensile component 110 drives the stretching roller 105 through the stretching frame 102 to statically stretch the crawler body 101, and detect the maximum static tensile load and elongation rate of the crawler body 101. S3. Dynamic tensile test: The torsional tensile component 110 drives the stretching roller 105 through the stretching frame 102 to perform linear reciprocating motion, and reciprocally stretch the crawler body 101 through the positioning roller 103 and the stretching roller 105, and detect the maximum dynamic tensile load and elongation rate of the crawler body 101. S4. Torsional tensile test: The torsional tensile component 110 drives the stretching roller 105 to perform linear reciprocating motion and reciprocating rotational motion through the stretching frame 102, and reciprocally stretch the crawler body 101 through the positioning roller 103 and the stretching roller 105 while reciprocally twisting the crawler body 101, and detect the ability of the crawler body 101 to resist fatigue failure under the action of reciprocating tensile load and torsional cyclic load. S5. Impact condition test: Use the hammering component 307 to hammer the surface of the crawler body 101 to detect the load of the crawler body 101 under the impact condition. S6. Rotational load test: Drive the stretching roller 105 to rotate through the driving component 106, and the stretching roller 105 drives the crawler body 101 to rotate to detect the load when the crawler body 101 rotates. S7. Mud and water immersion load test: Add water and sediment into the immersion tank 413 to simulate the load test of the crawler body 101 when running in muddy water. S8. Multi-condition test: On the basis of the static tensile test or the dynamic tensile test, combine one to four of the four test methods of torsional tensile test, impact condition test, rotational load test, and mud and water immersion load test for combined testing, which can simulate the working conditions of the crawler under different working scenarios, comprehensively detect the fatigue performance of the crawler under various complex stress conditions, and ensure the reliability of the crawler in actual use.

[0041] Embodiment 2: Please refer to Figure 1 、 Figure 2 and Figure 3 This embodiment of the present invention provides a crawler strength detection device, including a detection frame 100. A positioning roller 103 and a stretching roller 105 for supporting the crawler body 101 are arranged inside the detection frame 100. By setting the mutual cooperation of the positioning roller 103 and the stretching roller 105, the tensile performance of the crawler body 101 can be preferentially detected.

[0042] Please refer to Figure 1 、 Figure 3 、 Figure 4 and Figure 5, further comprising a driving cylinder 200, the driving cylinder 200 is fixedly connected to the top of the detection frame 100, the output end of the driving cylinder 200 is rotatably connected with a connecting rod 202, the bottom of the connecting rod 202 is fixedly connected with a stretching roller 105, the connecting rod 202 is used to pull the stretching roller 105 to move, an auxiliary plate 201 is fixedly connected inside the detection frame 100, a torsion assembly is arranged on the top of the auxiliary plate 201, the torsion assembly includes a support ring 203 fixedly connected to the top of the auxiliary plate 201, a sliding ring 206 is arranged on the top of the support ring 203, a support seat 207 is fixedly connected to the top of the sliding ring 206, and a ball 208 is rotatably connected to the top of the support seat 207. A guide groove 204 adapted to the ball 208 is formed on the outer surface of the connecting rod 202, and the guide groove 204 is spirally arranged on the outer surface of the connecting rod 202. By setting the driving cylinder 200, the stretching roller 105 can be pulled to move, so that the crawler body 101 is stressed and stretched. At the same time, the telescopic speed of the driving cylinder 200 can be operated, so that the crawler body 101 is subjected to a static stretching test to detect the tensile value when the crawler breaks, so as to evaluate the static stretching strength of the crawler. The driving cylinder 200 can also be operated to quickly expand and contract for a dynamic stretching test. The dynamic stretching test can simulate the instantaneous tensile force applied to the crawler body 101. For example, it can simulate the scenario where a robot is washed away in fast flowing water and suddenly pulled by an object on the shore. Through long-term operation, the fatigue resistance of the crawler body 101 can be detected to observe whether it is deformed.

[0043] Among them, the sliding ring 206 is rotatably connected to the top of the support ring 203, and a plurality of limiting holes 209 are formed at the bottom of the sliding ring 206. An electric ejector rod 205 is fixedly connected to one side of the support ring 203, and the output end of the electric ejector rod 205 is adapted to the plurality of limiting holes 209. By setting the torsion assembly, it can simulate the torsion of the crawler body 101 when it is stretched, and the stretching and rotation are carried out simultaneously, simulating the complex stress state of the crawler body 101 in actual work. It can detect the ability of the crawler body 101 to resist fatigue failure under cyclic loads such as repeated stretching and torsion, and understand whether problems such as fatigue cracks and degumming will occur after a certain number of cycles, and estimate the service life of the crawler body 101. At the same time, by setting the electric ejector rod 205 and the limiting holes 209, the adjustment of different torsion angles can be realized for multi-faceted tests. When the output end of the electric ejector rod 205 is inserted into the limiting hole 209, the sliding ring 206 will be fixed and unable to rotate. At this time, the ball 208 will drive the connecting rod 202 to rotate in the guide groove 204. When the output end of the electric ejector rod 205 is far away from the limiting hole 209, the movement of the connecting rod 202 will drive the ball 208 to move in the guide groove 204 and drive the sliding ring 206 to rotate, so that the connecting rod 202 can only move axially and cannot rotate by itself.

[0044] Specifically, during use, first, both ends of the crawler body 101 are sleeved on the outer surfaces of the stretching roller 105 and the positioning roller 103 respectively. Subsequently, the driving cylinder 200 is started to pull the connecting rod 202 to move, so that the stretching roller 105 and the positioning roller 103 move away from each other, causing the crawler body 101 to be stretched, and then the maximum load and elongation rate are detected. Then, the electric ejector rod 205 can be activated so that its output end inserts into the limiting hole 209 to limit the slip ring 206, making the ball 208 fixed and unable to rotate, thus guiding the connecting rod 202 to rotate in the guide groove 204. Furthermore, while the crawler body 101 is being stretched, it also rotates, simulating the complex stress state of the crawler body 101 during actual work. The ability of the crawler body 101 to resist fatigue failure under cyclic loads such as repeated stretching and torsion can be detected. At the same time, the torsion angle of the crawler body 101 can be adjusted. Moving the output end of the electric ejector rod 205 away from the limiting hole 209 can make the ball 208 move along with the guide groove 204.

[0045] In summary, by driving the driving cylinder 200 to pull the connecting rod 202, the stretching roller 105 is further driven to move, so that the crawler body 101 is stressed and stretched. The operator can control the telescopic speed of the driving cylinder 200 to perform a static stretching test at a slower speed, accurately detect the tensile force value when the crawler breaks, and thus accurately evaluate the static stretching strength of the crawler body 101. This is crucial for judging the bearing capacity of the crawler when it bears stable tensile forces such as the weight of the robot itself and dragging heavy objects, ensuring that it will not break easily due to static tensile forces during actual use. Operate the driving cylinder 200 to quickly expand and contract to simulate the situation where the crawler body 101 encounters instantaneous tensile forces during actual work, such as when the robot is suddenly pulled by an object on the shore in fast-flowing water. By performing such dynamic stretching tests for a long time, the fatigue resistance of the crawler body 101 can be detected to observe whether it is deformed. This helps to evaluate the ability of the crawler to cope with sudden tensile forces under complex and changeable actual working conditions, avoid premature damage of the crawler due to instantaneous tensile forces, and ensure the normal operation of the robot in emergency situations. The set torsion assembly, including components such as the support ring 203, slip ring 206, support seat 207, ball 208, and guide groove 204, work together to simulate the complex stress state where the crawler body 101 is stretched and twisted simultaneously during actual work. This composite test can detect the ability of the crawler body 101 to resist fatigue damage under cyclic loads such as repeated stretching and torsion. By observing whether the crawler shows problems such as fatigue cracks and degumming after a certain number of cycles, the service life of the crawler body 101 can be estimated. In actual rescue and exploration work, robots often travel on rough terrains or in complex waters, and the crawlers will bear various complex forces. This kind of test is closer to the actual working conditions and can effectively detect potential fatigue problems. The cooperative design of the electric push rod 205 and the limit hole 209 enables adjustment of different torsion angles for multi-faceted testing. When the output end of the electric push rod 205 is inserted into the limit hole 209, the slip ring 206 is fixed, and the ball 208 drives the connecting rod 202 to rotate in the guide groove 204, thereby driving the crawler body 101 to twist during stretching; when the output end of the electric push rod 205 is far from the limit hole 209, the connecting rod 202 moves axially and cannot rotate by itself, and the crawler is only subjected to tensile force. This flexible adjustment method can simulate the torsion situation of the crawler in different working scenarios and comprehensively detect the fatigue performance of the crawler at various complex stress angles to ensure the reliability of the crawler during actual use.

[0046] Please refer to Figure 6 、 Figure 7 and Figure 8The crawler strength detection device of the embodiment of the present invention further includes a hammer plate 300, which can contact the outer surface of the crawler body 101. The top of the positioning roller 103 is provided with a power storage component for pushing the hammer plate 300 to store power to hammer the crawler body 101. The power storage component includes an articulated seat 301 arranged above the positioning roller 103. Both sides of the articulated seat 301 are rotatably connected with a crank 302. One end of the crank 302 is provided with a strip slot 309. Each strip slot 309 is penetrated by an articulated shaft 308 of the articulated seat 301. That is, the crank 302 is connected to the articulated seat 301 through the articulated shaft 308. 2 is rotatably connected to the casing 400, the crank 302 is fixedly connected to a hammer handle 310, and the hammer handle 310 is connected to a hammer plate 300, and one end of the hammer plate 300 is fixedly connected to a plurality of side hammer plates 303. By providing a hammer plate 300 that can hammer the crawler body 101, it is possible to simulate various impacts that the crawler body 101 may encounter in actual work, such as being hit by stones when traveling on rugged land and water terrain, and the power storage component is provided to cooperate with the operation of the driving cylinder 200, so that the driving cylinder 200 impacts the crawler body 101 when simulating fatigue stretching, thereby further improving its detection accuracy.

[0047] Among them, the interior of the casing 400 is fixedly connected with a positioning frame 104, and both sides of the positioning frame 104 are slidably connected with a positioning slide 107 for supporting the positioning roller 103, and the top of the positioning slide 107 is fixedly connected with a slide rod 108, the slide rod 108 is slidably connected to the positioning frame 104, and the top of the slide rod 108 is fixedly connected to the hinge seat 301, and the slide rod 108 is provided with a spring 109 for returning the positioning slide 107. By setting the positioning slide 107, the positioning roller 103 can drive the power storage assembly to operate when it moves under force, thereby realizing the hammering of the crawler body 101.

[0048] See also Figure 9 , Figure 10 as well as Figure 11 The embodiment of the present invention further includes a casing 400, which is fixedly connected to the interior of the detection frame 100, and a water tank 401 for storing water and a sediment tank 402 for storing sediment are provided on the top of the casing 400, a sealing strip 403 is provided inside the casing 400, and a transmission assembly and a drainage assembly are provided inside the casing 400, the drainage assembly is used to push the sealing strip 403 to move, and the transmission assembly is used to drive the hammer plate 300 to swing, and by providing the drainage assembly, water and sediment can be discharged when the driving component 106 is running, thereby simulating the crawler body 101 running underwater.

[0049] The drainage assembly includes a rotating disk 405 disposed inside the casing 400. The bottom of the connecting rod 202 is fixedly connected to a stretching frame 102 for supporting the stretching roller 105. One side of the stretching frame 102 is fixedly connected to a driving component 106 for driving the stretching roller 105 to rotate. In this embodiment, the driving component 106 is a driving motor. A plurality of striking pieces 412 are uniformly fixedly connected to the outer surface of the positioning roller 103, and a plurality of convex lobes 406 that can abut against the striking pieces 412 are uniformly fixedly connected to the circumferential outer surface of the rotating disk 405. One side of the rotating disk 405 is fixedly connected to a sealing strip connecting rod 411 connected to the sealing strip 403. By setting the cooperation of the striking pieces 412 and the convex lobes 406, the sealing strip 403 can be intermittently opened to enable the drain port 404 to discharge fluid. The opening and closing of the drain port 404 cooperate with the operation of the positioning slide 107 to realize releasing the sediment covering the crawler body 101 while driving the crawler body 101 to move, improving the accuracy of detection.

[0050] Further, the transmission assembly includes a connecting rod 407 fixedly connected to one end of the rotating disk 405. One end of the connecting rod 407 is rotatably connected to the connecting handle 304, and a torsion spring for resetting the convex lobe 406 is sleeved on the outer surface of the connecting rod 407. A secondary rod 408 is fixedly connected to the outer surface of the connecting rod 407. An active handle 305 is provided at the top of the connecting handle 304, and the connecting handle 304 and the active handle 305 are connected by a damping rotating shaft 306. One side of the active handle 305 is fixedly connected to a connecting seat 409, and an inclined groove 410 is formed inside the connecting seat 409. A slider 414 is slidably embedded in the inclined groove 410. See Figure 13 , the end of the secondary rod 408 is connected to the slider 414. By setting the transmission assembly, the active handle 305 can be driven to swing left and right while discharging fluid, thereby driving the hammer plate 300 to swing left and right. This can further improve the impact resistance detection of the crawler body 101. At this time, when the hammer plate 300 abuts against one side of the crawler body 101 and swings, it will drive the side hammer plate 303 to strike the side of the crawler body 101.

[0051] Wherein, drain ports 404 are formed on one side of both the water tank 401 and the sediment tank 402 and are communicated with the soaking tank 413. The sealing strip 403 is adapted to the drain ports 404, and the drain ports 404 allow the fluid to flow out smoothly.

[0052] Specifically, when the crawler body 101 is stretched, it will pull the positioning roller 103 upward, driving the positioning slide seat 107 upward. As a result, the slide rod 108 moves upward, driving the hinge seat 301 upward. Since the crank 302 is connected to the hinge seat 301 through the strip-shaped slot hole 309 and the hinge shaft 308, when the hinge seat 301 moves upward, it drives the crank 302 to rotate around the connecting rod 407, thereby driving the crank 302 to tilt, causing the connecting handle 304 to pull the movable handle 305 to move, and then driving the hammer plate 300 away from the crawler body 101 for energy storage. When the crawler body 101 is not stretched, the positioning roller 103 resets under the action of the spring 109, and then drives the crank 302 to reset, causing the hammer plate 300 to hammer the surface of the crawler body 101, simulating the impact working condition. Then, the driving motor is started to drive the stretching roller 105 to rotate, driving the crawler body 101 to rotate. At the same time, under the action of the stretching force, its anti-fatigue ability can be detected. At the same time, when the stretching roller 105 rotates, it will drive the positioning roller 103 to rotate together, and then drive a plurality of striking pieces 412 to rotate. The striking pieces 412 abut against the convex lobes 406, driving the rotating disc 405 to rotate, causing the sealing strip connecting rod 411 to drive the sealing strip 403 to be misaligned with the drain port 404, so that the liquid in the water tank 401 and the sediment tank 402 flows out and submerges the crawler body 101, thus simulating the running state of the crawler body 101 in muddy water. At the same time, a plurality of striking pieces 412 will continuously abut against the convex lobes 406, which causes the connecting rod 407 to drive the auxiliary rod 408 to slide in the inclined slot 410 when rotating, and then push the movable handle 305 and the connecting handle 304 to rotate around the damping rotating shaft 306, thereby pulling the hammer plate 300 to swing, so as to use the side hammer plate 303 to hammer both sides of the crawler body 101.

[0053] In summary, by setting the hammer plate 300 and the force storage component, various impact conditions that the track body 101 may encounter in actual work can be simulated. For example, when the robot is operating in an amphibious environment, it may be hit by stones, collisions with debris, etc. The hammering of the hammer plate 300 on the track body 101 can accurately simulate these impact conditions. This is very important for evaluating the impact resistance of the track in a complex environment. The device cleverly combines the fatigue tensile simulation of the drive cylinder 200 with the impact simulation of the hammer plate 300, so that the track body 101 is impacted while bearing tensile force, which more realistically simulates the stress conditions of the robot in actual work. During the rescue and exploration process, the robot may be impacted under tensile stress. This composite test is conducive to understanding the performance of the track under complex stress conditions, and avoiding the problem of inaccurate track performance evaluation due to only considering a single stress factor. The side hammer plate 303 can hammer the side of the track body 101, which expands the scope of the impact test. It is not limited to the upper surface of the track, but can perform impact tests on the track from multiple angles, more comprehensively test the impact resistance of the track, and ensure that the track can maintain good performance when impacted at different angles. The setting of the water trough 401, the mud trough 402, the drain port 404 and the sealing strip 403, together with the drainage component, can simulate the operating state of the track body 101 underwater or in a muddy environment. When the driving motor drives the stretching roller 105 to rotate, the striking piece 412 is driven to collide with the convex leaf 406, so that the sealing strip 403 and the drain port 404 are misaligned, and the silt and water in the water tank 401 and the silt tank 402 are released, and the track body 101 is immersed therein, so as to test the performance of the track in such a complex environment, including its performance under wear, corrosion and stress of silt and water, which is crucial for the track detection of amphibious robots. While the track body 101 rotates, the silt and water are released, and the track will be impacted by the water flow and silt. At the same time, because the stretching roller 105 drives the positioning roller 103 to rotate together, the striking piece 412 continuously conflicts with the convex leaf 406, so that the impact of silt and water is dynamic, which can more realistically simulate the water flow and silt impact in the actual environment, and test the impact resistance, wear resistance and fatigue resistance of the track in such an environment. Comprehensive test of anti-fatigue ability: While the crawler body 101 is stretched and rotated, the hammering of the hammer plate 300 and the impact of mud, sand and water can be used to test the anti-fatigue ability of the crawler in a dynamic and complex simulated environment. Compared with a single stretching or rotation test, this comprehensive test can better reflect the performance of the crawler in a long-term and complex environment.

[0054] See also Figures 1 to 11 This embodiment discloses a method for detecting track strength, comprising the following steps: S10. During use, first, both ends of the crawler body 101 are respectively sleeved on the outer surfaces of the stretching roller 105 and the positioning roller 103 to support the crawler body 101. Subsequently, the driving cylinder 200 is started to pull the connecting rod 202 to move, so that the stretching roller 105 and the positioning roller 103 move away from each other, causing the crawler body 101 to be stretched, and the maximum load and elongation rate of the crawler body 101 are detected. S20. The electric ejector rod 205 is turned on so that its output end inserts into the internal of the limiting hole 209 to limit the slip ring 206. The ball 208 is fixed and cannot rotate. The ball 208 guides the connecting rod 202 to rotate in the guide groove 204. Furthermore, while the crawler body 101 is being stretched, it rotates, simulating the complex stress state of the crawler body 101 during actual work. The ability of the crawler body 101 to resist fatigue failure under cyclic loads of repeated stretching and torsion can be detected. Moving the output end of the electric ejector rod 205 away from the limiting hole 209 can cause the ball 208 to move along with the guide groove 204. S30. As the crawler body 101 is stretched, it will pull the positioning roller 103 to move upward, driving the positioning slide base 107 to move upward, causing the slide rod 108 to move upward and driving the hinge seat 301 to move, thereby driving the crank 302 to tilt. The crank 302 drives the hammer plate 300 away from the crawler body 101 through the connecting handle 304 and the movable handle 305 for energy storage. When the crawler body 101 is not stretched, the positioning roller 103 resets, and then drives the crank 302 to reset, causing the hammer plate 300 to hammer the surface of the crawler body 101, simulating the impact working condition. S40. The driving motor is turned on to drive the stretching roller 105 to rotate, driving the crawler body 101 to rotate. Under the action of the stretching force, the anti-fatigue ability of the crawler body 101 is detected. At the same time, when the stretching roller 105 rotates, it will drive the positioning roller 103 to rotate together, driving the striking piece 412 to rotate. The striking piece 412 abuts against the convex lobe 406, driving the rotating disk 405 to rotate, causing the sealing strip connecting rod 411 to drive the sealing strip 403 to be misaligned with the drain port 404, so that the liquid in the water tank 401 and the sediment tank 402 flows out to immerse the crawler body 101, simulating the operating state of the crawler body 101 in muddy water. At the same time, multiple striking pieces 412 will continuously abut against the convex lobe 406, causing the connecting rod 407 to drive the auxiliary rod 408 to slide in the inclined groove 410 when rotating, further pushing the movable handle 305 and the connecting handle 304 to rotate around the damping rotating shaft 306, thereby pulling the hammer plate 300 to swing, using the side hammer plate 303 to hammer both sides of the crawler body 101.

[0055] The above content is only to illustrate the technical idea of the present invention and cannot be used to limit the protection scope of the present invention. Any modification made on the basis of the technical solution according to the technical idea proposed by the present invention falls within the protection scope of the present invention.

Claims

1. Track strength detection device, characterized in that: include: Detection rack (100); The detection frame (100) is fixedly provided with a torsion and stretching component (110) and a soaking box (413); The output end of the torsion stretching component (110) is fixedly connected to the stretching frame (102); the torsion stretching component (110) can drive the stretching frame (102) to perform linear reciprocating motion or reciprocating rotational motion while performing linear reciprocating motion; a stretching roller (105) and a driving component (106) are provided on the stretching frame (102); the stretching roller (105) is rotationally connected to the stretching frame (102); and the output end of the driving component (106) is connected to the input end of the stretching roller (105) via a transmission component; A positioning roller (103) is rotatably arranged in the soaking box (413), and the positioning roller (103) and the stretching roller (105) are used to support the crawler body (101); A hammer assembly (307) is arranged in the soaking box (413), and the hammer assembly (307) is used to hammer the crawler body (101).

2. The track strength detection device according to claim 1, characterized in that: The torsion stretching component (110) comprises: Driving cylinder (200); The output end of the driving cylinder (200) is fixedly connected to the stretching frame (102) via a connecting rod (202), the output end of the driving cylinder (200) is rotatably connected to the connecting rod (202), and a spiral guide groove (204) is provided on the connecting rod (202); The detection frame (100) is provided with an auxiliary plate (201), a support ring (203) is fixedly provided on the auxiliary plate (201), a slip ring (206) is coaxially arranged on the inner side of the support ring (203), a plurality of support seats (207) are fixedly provided on the slip ring (206), the support seats (207) are mounted on the support ring (203), a ball (208) is provided on the support seat (207), the ball (208) is located in the guide groove (204), a plurality of limiting holes (209) are opened on the slip ring (206), an electric push rod (205) is provided on the support ring (203), and the output end of the electric push rod (205) can be inserted into the limiting hole (209); When the electric push rod (205) is inserted into the limiting hole (209), the ball (208) is fixed by the support seat (207) and the support ring (203), and when the output end of the driving cylinder (200) drives the connecting rod (202) and the stretching frame (102) to move up and down, due to the action of the ball (208) and the spiral guide groove (204), the connecting rod (202) moves up and down and rotates at the same time, thereby stretching the support crawler body (101) through the stretching frame (102) and twisting the support crawler body (101); When the electric push rod (205) moves out of the limiting hole (209), the support seat (207) and the support ring (203) are separated, and the output end of the driving cylinder (200) drives the connecting rod (202) and the stretching frame (102) to move up and down.

3. The track strength detection device according to claim 1, characterized in that: The soaking box (413) is also provided with a water trough (401) and a sediment trough (402). The water trough (401) and the sediment trough (402) are both provided with a drain port (404). The water trough (401) and the sediment trough (402) are both connected to the soaking box (413) through the drain port (404). A sealing strip (403) is provided on the drain port (404). When the sealing strip (403) is placed on the drain port (404), the drain port (404) is blocked. When the sealing strip (403) is removed from the drain port (404), the drain port (404) is opened.

4. The crawler track strength detection device according to claim 3, characterized in that: Two positioning frames (104) are arranged in the soaking box (413), and a sliding limit groove (111) is formed on the positioning frame (104). A positioning slide seat (107) is embedded in the sliding limit groove (111). Each end of the positioning roller (103) is rotatably connected to a positioning slide seat (107), and the sliding direction of the positioning slide seat (107) is consistent with the direction of the linear reciprocating motion of the stretching frame (102).

5. The track strength detection device according to claim 4, characterized in that: The sliding limit groove (111) is a strip-shaped groove, and the positioning slide seat (107) is a rectangular sliding block, which is embedded in the strip-shaped groove.

6. The crawler track strength detection device according to claim 4, characterized in that: The hammer assembly (307) comprises: Two hinged seats (301), each of the hinged seats (301) being fixedly connected to a positioning slide seat (107), and each of the hinged seats (301) being provided with two hinged shafts (308); Two hammer units (311), each of the hammer units (311) is movably connected to the two hinge seats (301), and the two hammer units (311) are symmetrically arranged with respect to the two hinge seats (301); The hammer unit (311) comprises two cranks (302), one end of each crank (302) is provided with a strip-shaped slot (309), and each strip-shaped slot (309) is provided with a hinge shaft (308) of a hinge seat (301). The other end of the crank (302) is fixedly connected to the same hammer plate (300) via a hammer handle (310), the crank (302) and the hammer handle (310) are fixedly connected, the connection between the crank (302) and the hammer handle (310) is movably connected to a connecting rod (407), and the connecting rod (407) is connected to a soaking box (413); When the positioning slide (107) is located at the bottom of the sliding limit groove (111), the hammer plate (300) contacts the crawler body (101) to be tested; When the positioning slide (107) slides upward along the sliding limit groove (111), the positioning slide (107) drives the articulated seat (301) and the articulated shaft (308) to move upward, and the articulated shaft (308) slides in the strip slot (309) and drives the crank (302) and the hammer handle (310) to rotate around the connecting rod (407), and the hammer plate (300) moves away from the crawler body (101) to be detected.

7. The crawler track strength detection device according to claim 6, characterized in that: The hinge seat (301) is connected to the positioning slide seat (107) via a slide rod (108). The slide rod (108) is movably mounted on the positioning frame (104). A spring (109) is sleeved on the slide rod (108). The spring (109) is located between the hinge seat (301) and the positioning frame (104). The spring (109) is always in a compressed state.

8. The track strength detection device according to claim 6, characterized in that: The connecting rod (407) is rotatably connected to the soaking box (413); a torsion spring is sleeved on the connecting rod (407); one end of the torsion spring is fixedly connected to the connecting rod (407); the other end of the torsion spring is fixedly connected to the soaking box (413); a rotating disk (405) is fixedly arranged on the connecting rod (407); the rotating disk (405) is coaxially arranged with the connecting rod (407); the rotating disk (405) is connected to the sealing strip (403) via a sealing strip connecting rod (411); a plurality of convex leaves (406) are arranged on the rotating disk (405); a plurality of striking pieces (412) are arranged on the positioning roller (103); when the positioning roller (103) drives the striking piece (412) to rotate, the end of the striking piece (412) contacts the convex leaves (406) at intervals, thereby driving the connecting rod (407) and the sealing strip connecting rod (411) to rotate via the rotating disk (405); When the end of the striking piece (412) contacts the convex leaf (406) at intervals, the striking piece (412) drives the rotating disk (405) to rotate, and the rotating disk (405) pushes the sealing strip (403) to be placed on the drain port (404) through the sealing strip connecting rod (411), and the drain port (404) is blocked; When the striking piece (412) is separated from the convex leaf (406), the connecting rod (407) is reset under the action of the torsion spring, and the connecting rod (407) drives the sealing strip (403) to move away from the discharge port (404) through the rotating disk (405) and the sealing strip connecting rod (411) in sequence, so that the discharge port (404) is opened.

9. The crawler track strength detection device according to claim 8, characterized in that: The two hammer handles (310) of each hammer unit (311) are symmetrically arranged about the hammer plate (300), the hammer handles (310) comprising a connecting handle (304) and a movable handle (305), the connecting handle (304) and the movable handle (305) being connected via a damping shaft (306), the connecting handle (304) being fixedly connected to the crank (302), the movable handle (305) being movably connected to the hammer plate (300), and the hammer plate (300) being provided with two side hammer plates (303), the distance between the two side hammer plates (303) being greater than The width of the supporting crawler body (101) to be detected, a connecting seat (409) is provided on one of the movable handles (305) of each of the hammer units (311), an inclined groove (410) is provided on the connecting seat (409), a sliding block (414) is slidably embedded in the inclined groove (410), an auxiliary rod (408) is fixedly provided on the connecting rod (407), an end of the auxiliary rod (408) is connected to the sliding block (414), and an angle is formed between the rotating surface of the movable handle (305) and the sliding direction of the sliding block (414); When the end of the striking piece (412) contacts the convex leaf (406) at intervals, the striking piece (412) drives the rotating disk (405), the connecting rod (407) and the auxiliary rod (408) to rotate in sequence through the convex leaf (406); the auxiliary rod (408) pushes the movable handle (305) to rotate sideways around the damping shaft (306) through the action of the slider (414) and the inclined groove (410); the movable handle (305) drives the hammer plate (300) to swing, thereby realizing the alignment of the side hammer plate (303) and the hammer plate (300).

10. A method for detecting track strength, based on the track strength detection device according to any one of claims 1 to 9, characterized in that: The following steps are involved: The crawler body (101) is sleeved on the positioning roller (103) and the stretching roller (105); Static stretching test, the torsion stretching component (110) drives the stretching roller (105) to statically stretch the crawler body (101) through the stretching frame (102), and detects the static stretching maximum load and elongation of the crawler body (101); Dynamic stretching detection, the torsion stretching component (110) drives the stretching roller (105) to perform linear reciprocating motion via the stretching frame (102), and reciprocates the positioning roller (103) and the stretching roller (105) to stretch the crawler body (101), thereby detecting the dynamic stretching maximum load and elongation of the crawler body (101); Torsion stretching test, the torsion stretching component (110) drives the stretching roller (105) to perform linear reciprocating motion and reciprocating rotational motion through the stretching frame (102), and reciprocatingly stretches the track body (101) through the positioning roller (103) and the stretching roller (105) while reciprocatingly twisting the track body (101), to test the ability of the track body (101) to resist fatigue damage under the action of reciprocating tensile load and torsional cyclic load; Impact working condition detection, using a hammering assembly (307) to hammer the surface of the crawler body (101) to perform load detection of the crawler body (101) under the impact working condition; Rotation load detection, wherein the driving component (106) drives the stretching roller (105) to rotate, and the stretching roller (105) drives the crawler body (101) to rotate, so as to perform load detection when the crawler body (101) rotates; Muddy water immersion load test, adding water and muddy sand into the immersion box (413) to perform a load test simulating the crawler body (101) running in muddy water; Multi-condition testing: Based on static tensile testing or dynamic tensile testing, combined testing is performed by combining one to four of the four testing methods: torsional tensile testing, impact condition testing, rotational load testing, and mud and water immersion load testing.

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