Crawler Strength Detection Device and Method

Abstract

The present invention belongs to the technical field of strength detection, and relates to a crawler strength detection device and method. The present invention includes a detection frame, a torsional stretching component, an immersion tank, stretching rollers, positioning rollers, a hammering component, a driving component, etc. provided on the detection frame. It can realize static stretching detection, dynamic stretching detection, torsional stretching detection, impact condition detection, rotational load detection and muddy water immersion load detection of the crawler body. Moreover, on the basis of static stretching detection or dynamic stretching detection, it can combine one to four of the four detection methods of torsional stretching detection, impact condition detection, rotational load detection and muddy water immersion load detection for combined detection, 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.

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. As a robot that can walk freely on water and land, the design and application of an 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 an 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 swamps, rugged mountains 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 of 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, and 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. 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. In 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 a 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 involves much 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 anti-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] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0008] The present invention discloses a crawler track strength detection device, including:

[0009] A detection frame;

[0010] A torsion and tension component and an immersion tank are fixedly arranged on the detection frame;

[0011] 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 with the tension frame, and the output end of the driving component is connected with the input end of the tension roller through a transmission component;

[0012] 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;

[0013] A hammering component is arranged in the immersion tank, and the hammering component is used to hammer the crawler track body.

[0014] Further, the torsion and tension component includes:

[0015] A driving cylinder;

[0016] 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;

[0017] 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 holes;

[0018] When the electric push rod is inserted into the limit hole, the ball is fixed by the support seat and the support ring. When the output end of the driving cylinder drives the connecting rod and the stretching 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 then twists the supporting crawler body while stretching the supporting crawler body through the stretching frame;

[0019] When the electric push rod is removed from the limit 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.

[0020] Further, a water tank and a sediment tank are also provided on the soaking tank. Drain ports are opened on both the water tank and the sediment tank. The water tank and the sediment tank are both communicated with the soaking tank through the drain ports. A sealing strip is provided on the drain port. When the sealing strip is placed on the drain port, the drain port is blocked. When the sealing strip is removed from the drain port, the drain port is opened.

[0021] Further, two positioning frames are provided in the soaking tank. Sliding limit grooves are opened on the positioning frames. Positioning sliding seats are embedded in the sliding limit grooves. Each end of the positioning roller is respectively rotatably connected to a positioning sliding seat. The sliding direction of the positioning sliding seat is the same as the direction of the linear reciprocating motion of the stretching frame.

[0022] Further, the sliding limit groove is a strip-shaped groove, and the positioning sliding seat is a rectangular slider, and the rectangular slider is embedded in the strip-shaped groove.

[0023] Further, the hammering assembly includes:

[0024] Two hinge seats, each hinge seat is respectively fixedly connected to a positioning sliding seat, and two hinge shafts are provided on each hinge seat;

[0025] Two hammering units, each hammering unit is movably connected to the two hinge seats, and the two hammering units are symmetrically arranged with respect to the two hinge seats;

[0026] The hammering unit includes two cranks. A strip-shaped slot hole is opened at one end of the crank, and a hinge shaft of a hinge seat is inserted through each strip-shaped slot hole;

[0027] The other ends of the cranks are respectively fixedly connected to the same hammer plate through a hammer handle. The crank is fixedly connected to the hammer handle. A connecting rod is movably connected to the connection between the crank and the hammer handle. The connecting rod is connected to the soaking tank;

[0028] When the positioning sliding seat is located at the bottom of the sliding limit groove, the hammer plate contacts the crawler body to be detected;

[0029] When the positioning slide seat slides upward along the sliding limiting groove, the positioning slide seat drives the hinge seat and the hinge shaft to move upward. While the hinge shaft slides in the strip-shaped slot hole, it drives the crank and the hammer handle to rotate around the connecting rod, and the hammer plate moves away from the crawler body to be detected.

[0030] Further, the hinge seat is connected to the positioning slide seat through 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 hinge seat and the positioning frame, and the spring is always in a compressed state.

[0031] Further, the connecting rod is rotatably connected to the soaking tank. 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 tank. 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 circumference of the rotating disk. A plurality of striking pieces are arranged on the circumference of the positioning roller. When the positioning roller drives the striking pieces to rotate, the ends of the striking pieces are spaced apart from and in contact with the convex leaves at intervals, and then the rotating disk drives the connecting rod and the sealing strip connecting rod to rotate through the rotating disk.

[0032] When the ends of the striking pieces are spaced apart from and in contact with the convex leaves at intervals, the striking pieces drive the rotating disk to rotate. The rotating disk pushes the sealing strip onto the drain opening through the sealing strip connecting rod, and the drain opening is blocked.

[0033] When the striking pieces are separated from the convex leaves, the connecting rod resets under the action of the torsion spring. The connecting rod drives the sealing strip to move away from the drain opening through the rotating disk and the sealing strip connecting rod in sequence, and the drain opening is opened.

[0034] Further, the two hammer handles of each hammering unit are symmetrically arranged with respect to the hammer plate. The hammer handle includes a connecting handle and a movable handle. The connecting handle and the movable handle are connected through a damping rotating shaft. The connecting handle is fixedly connected to the crank, and the movable handle is movably connected to the hammer plate. Two side hammer plates are arranged on the hammer plate. The distance between the two side hammer plates is greater than the width of the support crawler body to be detected. A connecting seat is arranged on one of the movable handles of each hammering unit. An inclined groove is formed in the connecting seat. A slider is slidably embedded in the inclined groove. A secondary rod is also fixedly arranged on the connecting rod. The end of the secondary rod is connected to the slider. An included angle exists between the rotating surface of the movable handle and the sliding direction of the slider.

[0035] When the ends of the striking pieces are spaced apart from and in contact with the convex leaves at intervals, the striking pieces drive the rotating disk, the connecting rod and the secondary rod to rotate through the convex leaves in sequence. The secondary rod pushes the movable handle to rotate laterally around the damping rotating shaft through the action of the slider and the inclined groove, and the movable handle drives the hammer plate to swing, realizing the hammering of the crawler body by the side hammer plates and the hammer plate.

[0036] Based on the above structure, the present invention also discloses a method for detecting the strength of a crawler track, comprising the following steps:

[0037] Set the crawler track body on the positioning roller and the stretching roller;

[0038] Static stretching detection: The torsion stretching component drives the stretching roller to statically stretch the crawler track body through the stretching frame, and detects the maximum static stretching load and elongation rate of the crawler track body;

[0039] Dynamic stretching detection: The torsion stretching component drives the stretching roller to perform linear reciprocating motion through the stretching frame, and reciprocally stretches the crawler track body through the positioning roller and the stretching roller, and detects the maximum dynamic stretching load and elongation rate of the crawler track body;

[0040] Torsion stretching detection: The torsion stretching component drives the stretching roller to perform linear reciprocating motion and reciprocating rotational motion at the same time through the stretching frame, and reciprocally stretches the crawler track body through the positioning roller and the stretching roller and reciprocally twists the crawler track body at the same time, and detects the ability of the crawler track body to resist fatigue failure under the action of reciprocating stretching load and torsional cyclic load;

[0041] Impact condition detection: Use the hammering component to hammer the surface of the crawler track body to detect the load of the crawler track body under the impact condition;

[0042] Rotational load detection: Drive the stretching roller to rotate through the driving component, and the stretching roller drives the crawler track body to rotate to detect the load when the crawler track body rotates;

[0043] Mud and water immersion load detection: Add water and sediment into the immersion tank to detect the load of the crawler track body when simulating running in muddy water;

[0044] Multi-condition detection: On the basis of static stretching detection or dynamic stretching detection, combine one to four of the four detection methods of torsion stretching detection, impact condition detection, rotational load detection, and mud and water immersion load detection for combined detection.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The detection rack 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 stretching rack to perform linear reciprocating motion or reciprocating rotational motion while performing linear reciprocating motion. By pulling the stretching rack and the stretching roller at a slower speed with the torsion and tension component, static tensile detection of the crawler body can be carried out. By pulling the stretching rack and the stretching roller at a faster speed periodically with the torsion and tension component, dynamic tensile detection of the crawler body is realized. Static tensile detection and dynamic tensile detection are used to obtain the maximum load and elongation rate of the detected crawler body. The torsion and tension component drives the stretching roller to perform linear reciprocating motion and reciprocating rotational motion through the stretching rack, thereby detecting the ability of the crawler body to resist fatigue damage under reciprocating tensile load and torsional cyclic load. By driving the component to drive the stretching roller to rotate, the stretching roller drives the crawler body to rotate, and load detection is carried out 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, load detection under impact conditions can be carried out for the supported crawler body. By adding water and sediment into the soaking tank, load detection when the crawler body operates in muddy water can be carried out. Based on static tensile detection or dynamic tensile detection, the present invention can also combine one to four of the four detection methods of torsion tensile detection, impact condition detection, rotational load detection, and muddy water soaking load detection for combined detection. The present invention can realize multi-scenario 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.

[0047] The method of the present invention can realize static tensile detection, dynamic tensile detection, torsion tensile detection, impact condition detection, rotational load detection, and muddy water soaking load detection of the crawler body. It can also, based on static tensile detection or dynamic tensile detection, combine one to four of the four detection methods of torsion tensile detection, impact condition detection, rotational load detection, and muddy water soaking load detection for combined detection. It 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. Description of the Drawings

[0048] Figure 1 is a three-dimensional structural schematic diagram of an embodiment of the present invention;

[0049] Figure 2 is a structural schematic diagram of the embodiment of the present invention with the detection rack removed;

[0050] Figure 3 is a structural schematic diagram of the embodiment of the present invention with the casing removed;

[0051] Figure 4 isFigure 3 Partial enlarged schematic view at location A;

[0052] Figure 5 Explosion structure schematic diagram of the slip ring and the support ring in the embodiment of the present invention;

[0053] Figure 6 Structure schematic diagram of the nested box in the embodiment of the present invention;

[0054] Figure 7 Structure schematic diagram of the nested box and the hammering component in the embodiment of the present invention;

[0055] Figure 8 Structure schematic diagram of the hammering component in the embodiment of the present invention;

[0056] Figure 9 Partial structure schematic diagram of the hammering component in the embodiment of the present invention;

[0057] Figure 10 is Figure 9 Partial enlarged view of area B;

[0058] Figure 11 Structure schematic diagram of the hammering unit in the embodiment of the present invention;

[0059] Figure 12 Schematic diagram of the connection relationship between the crank and the hinge shaft in the embodiment of the present invention;

[0060] Figure 13 Cross-sectional view of the inclined groove and the slider in the embodiment of the present invention;

[0061] Figure 14 Schematic diagram of the connection relationship between the auxiliary rod and the hammer handle in the embodiment of the present invention;

[0062] Figure 15 Method flowchart in the embodiment of the present invention.

[0063] Wherein: 100, detection frame; 101, crawler body; 102, stretching frame; 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 limit groove; 200, driving cylinder; 201, auxiliary plate; 202, connecting rod; 203, supporting ring; 204, guiding groove; 205, electric ejector rod; 206, sliding ring; 207, supporting 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 port; 405, rotating disk; 406, convex lobe; 407, connecting rod; 408, auxiliary rod; 409, connecting seat; 410, inclined slot; 411, sealing strip connecting rod; 412, hitting piece; 413, soaking box; 414, slider. Detailed implementation manners

[0064] 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 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.

[0065] It should be noted that the terms "first", "second", etc. in the specification of the present invention and the above-mentioned accompanying drawings are used to distinguish similar objects, and are not necessarily 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 "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products or devices.

[0066] The present invention will be further described in detail below in conjunction with the accompanying drawings:

[0067] 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 a soaking 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.

[0068] The output end of the torsion and tension component 110 is fixedly connected with a stretching frame 102. The torsion and tension 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 arranged on the stretching frame 102. The stretching roller 105 is rotatably connected with the stretching frame 102. The output end of the driving component 106 is connected to the input end of the stretching roller 105 through a transmission component.

[0069] A positioning roller 103 is rotatably arranged in the soaking tank 413. The positioning roller 103 and the stretching roller 105 are used to support the crawler body 101, facilitating the simulation of the actual working conditions of the crawler body 101.

[0070] By pulling the stretching frame 102 and the stretching 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 stretching frame 102 and the stretching roller 105 at a faster speed periodically 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 stretching roller 105 to perform linear reciprocating motion and reciprocating rotational motion through the stretching 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 stretching roller 105 to rotate through the driving component 106, the stretching roller 105 drives the crawler body 101 to rotate, and the load detection during the rotation of the crawler body 101 is carried out.

[0071] See Figure 2 , a hammering component 307 is arranged in the soaking 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 supporting crawler body 101 can be carried out. By adding water and sediment into the soaking tank 413, the load detection when the crawler body 101 operates in muddy water can be carried out.

[0072] 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.

[0073] The present invention can realize the detection of crawlers in multiple scenarios, can 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.

[0074] Embodiment 1:

[0075] 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;

[0076] 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 stretching rollers 105 and a driving component 106. The stretching rollers 105 are 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 rollers 105 through a transmission component;

[0077] Referring to Figure 2 , a positioning roller 103 is rotatably arranged in the immersion tank 413. The positioning roller 103 and the stretching rollers 105 are used to support the crawler body 101. Referring to Figure 3 ;

[0078] Referring to 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.

[0079] 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;

[0080] 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. The ball 208 is located in the guide groove 204. A plurality of limiting holes 209 are formed in the sliding ring 206. 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;

[0081] 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 supporting crawler body 101 while stretching the supporting crawler body 101 through the stretching frame 102;

[0082] 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.

[0083] 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.

[0084] Preferably, referring to Figure 7 , two positioning frames 104 are provided in the soaking tank 413. A sliding limiting groove 111 is provided on the positioning frame 104. A positioning sliding seat 107 is embedded in the sliding limiting groove 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.

[0085] 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.

[0086] Preferably, referring to Figure 8 and Figure 9 , the hammering assembly 307 includes: two hinge seats 301 and two hammering units 311;

[0087] Each of the hinge seats 301 is respectively fixedly connected to a positioning sliding seat 107, and two hinge shafts 308 are provided on each of the hinge seats 301;

[0088] Each of the hammering units 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;

[0089] See also Figure 11 The hammer unit 311 includes two cranks 302, one end of each crank 302 is provided with a strip slot 309, each strip slot 309 is provided with a hinge shaft 308 of a hinge seat 301, see Figure 12 ;

[0090] The other end of the crank 302 is fixedly connected to the same hammer plate 300 through a hammer handle 310, the crank 302 is fixedly connected to the hammer handle 310, 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;

[0091] 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 detected;

[0092] 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 while driving 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.

[0093] Preferably, see Figure 7 and Figure 8 The articulated seat 301 is connected to the positioning slide 107 through a slide rod 108, and the slide rod 108 is movably arranged on the positioning frame 104. A spring 109 is sleeved on the slide rod 108, and the spring 109 is located between the articulated seat 301 and the positioning frame 104. The spring 109 is always in a compressed state.

[0094] Preferably, see Figure 9 , Figure 10 and Figure 14 The connecting rod 407 is rotatably connected with the soaking box 413, and 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 box 413. A rotating disk 405 is fixedly arranged on the connecting rod 407, and the rotating disk 405 is coaxially arranged with the connecting rod 407. The rotating disk 405 is connected to the sealing strip 403 through the sealing strip connecting rod 411. A plurality of convex leaves 406 are arranged on the rotating disk 405, and 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, and then drives the connecting rod 407 and the sealing strip connecting rod 411 to rotate through the rotating disk 405;

[0095] 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 to rotate. The rotating disk 405 pushes the sealing strip 403 through the sealing strip connecting rod 411 to be placed on the drain opening 404, and the drain opening 404 is blocked.

[0096] 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 drain opening 404 through the rotating disk 405 and the sealing strip connecting rod 411 in sequence, and the drain opening 404 is opened.

[0097] 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, the movable handle 305 is movably connected to the hammer plate 300, and two side hammer plates 303 are provided on the hammer plate 300. The distance between the two side hammer plates 303 is greater than the width of the support track 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. 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. 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.

[0098] 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. The movable handle 305 drives the hammer plate 300 to swing, realizing the hammering of the side hammer plate 303 and the hammer plate 300 on the track body 101.

[0099] 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.

[0100] Preferably, each crank 302 is fixedly connected to two hammer handles 310, which is beneficial to improving the stability of the hammering unit 311.

[0101] Based on the above device, the present invention also discloses a method for detecting the strength of a track. Referring toFigure 15 , including the following steps:

[0102] S1. Set the crawler body 101 on the positioning roller 103 and the stretching roller 105.

[0103] S2. Static stretching detection: The torsion stretching component 110 drives the stretching roller 105 through the stretching frame 102 to statically stretch the crawler body 101, and detect the maximum static stretching load and elongation rate of the crawler body 101.

[0104] S3. Dynamic stretching detection: The torsion stretching 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 stretching load and elongation rate of the crawler body 101.

[0105] S4. Torsion stretching detection: The torsion stretching component 110 drives the stretching roller 105 through the stretching frame 102 to perform linear reciprocating motion while performing reciprocating rotational motion, 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 stretching load and torsional cyclic load.

[0106] S5. Impact condition detection: Use the hammering component 307 to hammer the surface of the crawler body 101 to detect the load of the crawler body 101 under impact conditions.

[0107] S6. Rotational load detection: 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.

[0108] S7. Mud and water immersion load detection: Add water and sediment into the immersion tank 413 to simulate the load detection of the crawler body 101 when running in muddy water.

[0109] S8. Multi-condition detection: On the basis of static stretching detection or dynamic stretching detection, combine one to four of the four detection methods of torsion stretching detection, impact condition detection, rotational load detection, and mud and water immersion load detection for combined detection, 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.

[0110] Embodiment 2:

[0111] Please refer to Figure 1 、 Figure 2 and Figure 3, an embodiment of the present invention provides a crawler strength detection device, including a detection frame 100. Inside the detection frame 100, there are positioning rollers 103 and stretching rollers 105 for supporting the crawler body 101. By setting the cooperation between the positioning rollers 103 and the stretching rollers 105, the tensile performance of the crawler body 101 can be preferentially detected.

[0112] Please refer to Figure 1 , Figure 3 , Figure 4 and Figure 5 , it further includes 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 to a connecting rod 202. The bottom of the connecting rod 202 is fixedly connected to the stretching roller 105. The connecting rod 202 is used to pull the stretching roller 105 to move. Inside the detection frame 100, there is a fixed connecting auxiliary plate 201. On the top of the auxiliary plate 201, there is a torsion assembly. The torsion assembly includes a support ring 203 fixedly connected to the top of the auxiliary plate 201. On the top of the support ring 203, there is a sliding ring 206. The top of the sliding ring 206 is fixedly connected to a support seat 207. And the top of the support seat 207 is rotatably connected to a ball 208. On the outer surface of the connecting rod 202, there is a guide groove 204 adapted to the ball 208. 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 force 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 a 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.

[0113] Among them, the slip ring 206 is rotatably connected to the top of the support ring 203. A plurality of limiting holes 209 are provided at the bottom of the slip ring 206. One side of the support ring 203 is fixedly connected with an electric ejector rod 205. The output end of the electric ejector rod 205 is adapted to the plurality of limiting holes 209. By setting the torsion assembly, the torsion of the crawler body 101 when it is stretched can be simulated, and the stretching and rotation are carried out simultaneously, simulating the complex stress state of the crawler body 101 during actual operation. The ability of the crawler body 101 to resist fatigue failure under cyclic loads such as repeated stretching and torsion can be detected. After a certain number of cycles, it can be understood whether problems such as fatigue cracks and delamination will occur, and the service life of the crawler body 101 can be estimated. 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 testing. When the output end of the electric ejector rod 205 is inserted into the limiting hole 209, the slip ring 206 will be fixed, making the slip ring 206 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 moves away from the inside of 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 slip ring 206 to rotate, so that the connecting rod 202 can only move axially and cannot rotate by itself.

[0114] Specifically, 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. Then, 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, stretching the crawler body 101, and then the maximum load and elongation are detected. Then, the electric ejector rod 205 can be turned on so that its output end is inserted into the inside of the limiting hole 209 to limit the slip ring 206, so that the ball 208 is fixed and cannot rotate, and thus guides the connecting rod 202 to rotate in the guide groove 204. As a result, the crawler body 101 rotates while being stretched, simulating the complex stress state of the crawler body 101 during actual operation. 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. Operating the output end of the electric ejector rod 205 to move away from the limiting hole 209 can make the ball 208 move along with the guide groove 204.

[0115] In summary, by driving the cylinder 200 to pull the connecting rod 202, the stretching roller 105 is driven to move, so that the track body 101 is stretched. The operator can control the extension and retraction speed of the driving cylinder 200, perform a static stretching test at a slower speed, accurately detect the tension value when the track breaks, and accurately evaluate the static tensile strength of the track body 101. This is crucial for judging the carrying capacity of the track when it is subjected to stable tension such as the weight of the robot itself and dragging heavy objects, ensuring that it will not be easily broken due to static tension in actual use. The driving cylinder 200 is operated to retract quickly to simulate the situation where the track body 101 encounters instantaneous tension in actual work, such as when the robot is suddenly pulled by an object on the shore in a turbulent water flow. By performing this dynamic stretching test for a long time, the fatigue resistance of the track body 101 can be detected and whether it is deformed. This helps to evaluate the ability of the crawler to cope with sudden tension under complex and changeable actual working conditions, avoid premature damage to the crawler due to instantaneous tension, and ensure the normal operation of the robot in an emergency. The torsion assembly, including the support ring 203, the slip ring 206, the support seat 207, the ball 208 and the guide groove 204, works together to simulate the complex stress state of the crawler body 101 being stretched and twisted in 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 has fatigue cracks, debonding and other problems 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 in rugged terrain or complex waters, and the crawler will be subjected to a variety of complex forces. This test is closer to the actual working conditions and can effectively discover potential fatigue problems. The matching design of the electric push rod 205 and the limit hole 209 makes it possible to adjust different torsion angles and conduct multi-faceted tests. When the output end of the electric push rod 205 is inserted into the limiting 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 when stretched; when the output end of the electric push rod 205 is away from the limiting hole 209, the connecting rod 202 moves axially and cannot rotate, and the crawler is only subjected to tensile force. This flexible adjustment method can simulate the torsion of the crawler in different working scenarios, comprehensively test the fatigue performance of the crawler under various complex force angles, and ensure the reliability of the crawler in actual use.

[0116] See also Figure 6 , Figure 7 as well as 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.

[0117] 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.

[0118] 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.

[0119] 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 rotation of the stretching roller 105. 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 contact 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 between the striking pieces 412 and the convex lobes 406, the sealing strip 403 can be intermittently opened to allow the discharge port 404 to discharge fluid. The opening and closing of the discharge port 404 cooperate with the operation of the positioning slide 107 to achieve the release of the sediment covering the crawler body 101 while driving the crawler body 101 to move, improving the accuracy of detection.

[0120] 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 , and 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 swings while fitting to one side of the crawler body 101, it will drive the side hammer plate 303 to strike the side of the crawler body 101.

[0121] Wherein, discharge 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 discharge ports 404, and the discharge ports 404 allow the fluid to flow out smoothly.

[0122] Specifically, when the crawler body 101 is stretched, it will pull the positioning roller 103 upward, driving the positioning slide 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 further driving the hammer plate 300 to move 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 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 and immerses the crawler body 101, thereby simulating the operating 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.

[0123] 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 fatigue resistance: While the crawler body 101 is stretched and rotated, the crawler body 101 is hammered by the hammer plate 300 and impacted by mud, sand and water, so that the crawler fatigue resistance can be tested 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 complex environment.

[0124] See also Figures 1 to 11 This embodiment discloses a method for detecting track strength, comprising the following steps:

[0125] 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.

[0126] S20. The electric ejector rod 205 is turned on so that its output end is inserted 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 allows the ball 208 to move along with the guide groove 204.

[0127] 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 to move 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.

[0128] 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, thereby 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 immerses the crawler body 101, thus 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, which causes the connecting rod 407 to drive the auxiliary rod 408 to slide in the inclined groove 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.

[0129] The above content is only for explaining 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 in accordance with the technical idea proposed by the present invention falls within the protection scope of the present invention.

Claims

1. A crawler belt strength detection device, characterized in that, Comprising: A detection rack (100); A torsion and tension member (110) and an immersion tank (413) are fixedly arranged on the detection rack (100); The output end of the torsion and tension member (110) is fixedly connected to a stretching rack (102). The torsion and tension member (110) can drive the stretching rack (102) to perform linear reciprocating motion or reciprocating rotational motion while performing linear reciprocating motion. A stretching roller (105) and a driving member (106) are arranged on the stretching rack (102). The stretching roller (105) is rotatably connected to the stretching rack (102). The output end of the driving member (106) is connected to the input end of the stretching roller (105) through a transmission member; 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); A hammering assembly (307) is arranged in the immersion tank (413). The hammering assembly (307) is used to hammer the crawler body (101); Two positioning brackets (104) are arranged in the immersion tank (413). A sliding limit groove (111) is formed on the positioning bracket (104). A positioning sliding seat (107) is embedded in the sliding limit groove (111). Each end of the positioning roller (103) is rotatably connected to a positioning sliding seat (107). The sliding direction of the positioning sliding seat (107) is the same as the linear reciprocating motion direction of the stretching rack (102); The hammering assembly (307) includes: Two hinge seats (301). Each hinge seat (301) is fixedly connected to a positioning sliding seat (107). Two hinge shafts (308) are arranged on each hinge seat (301); Two hammering units (311). Each hammering unit (311) is movably connected to the two hinge seats (301). The two hammering units (311) are symmetrically arranged with respect to the two hinge seats (301); The hammering unit (311) includes two cranks (302). A strip-shaped slot hole (309) is formed at one end of the crank (302). A hinge shaft (308) of a hinge seat (301) is inserted through each strip-shaped slot hole (309); 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). The connecting rod (407) is connected to the immersion tank (413); When the positioning sliding seat (107) is located at the bottom of the sliding limit groove (111), the hammer plate (300) contacts the crawler body (101) to be detected; When the positioning slide base (107) slides upward along the sliding limit groove (111), the positioning slide base (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 hole (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.

2. The crawler belt strength detection device according to claim 1, characterized in that The torsion and tension member (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 provided on the connecting rod (202); An auxiliary plate (201) is provided on the detection frame (100). A support ring (203) is fixedly provided 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 provided on the sliding ring (206). The support seats (207) are placed 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 limit holes (209) are provided on the sliding ring (206). An electric ejector rod (205) is provided on the support ring (203). The output end of the electric ejector rod (205) can penetrate into the limit hole (209); When the electric ejector rod (205) penetrates into the limit hole (209), the ball (208) is fixed through 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 while stretching the crawler body (101) through the stretching frame (102), it twists the crawler body (101); When the electric ejector rod (205) moves out of the limit 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 crawler strength detection device according to claim 1, characterized in that 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 moved away from the drain port (404), the drain port (404) is opened.

4. The crawler strength detection device according to claim 1, wherein The sliding limit groove (111) is a strip-shaped groove, and the positioning slide seat (107) is a rectangular slider, which is embedded in the strip-shaped groove.

5. The crawler strength detection device according to claim 1, characterized in that, The hinge seat (301) is connected to the positioning slide seat (107) through a slide rod (108). The slide rod (108) is movably arranged 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), and the spring (109) is always in a compressed state.

6. The crawler strength detection device according to claim 1, wherein 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 disc (405) is fixedly arranged on the connecting rod (407). The rotating disc (405) is coaxially arranged with the connecting rod (407). The rotating disc (405) is connected to the sealing strip (403) through a sealing strip connecting rod (411). A plurality of convex lobes (406) are arranged on the circumference of the rotating disc (405). A plurality of striking pieces (412) are arranged on the circumference of the positioning roller (103). When the positioning roller (103) drives the striking pieces (412) to rotate, the end of the striking piece (412) intermittently abuts against the convex lobe (406), and then drives the connecting rod (407) and the sealing strip connecting rod (411) to rotate through the rotating disc (405). When the end of the striking piece (412) intermittently abuts against the convex lobe (406), the striking piece (412) drives the rotating disc (405) to rotate. The rotating disc (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 drain opening (404) through the rotating disc (405) and the sealing strip connecting rod (411) in sequence, and the drain opening (404) is opened.

7. The crawler belt strength detection device according to claim 6, wherein The two hammer handles (310) of each of the hammering units (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). The movable handle (305) is movably connected to the hammer plate (300). Two side hammer plates (303) are provided on the hammer plate (300). 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 of the hammering units (311). An inclined slot (410) is formed in the connecting seat (409). A slider (414) is slidably embedded in the inclined slot (410). A secondary rod (408) is also fixedly provided on the connecting rod (407). 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) intermittently abuts against the convex lobe (406), 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). The movable handle (305) drives the hammer plate (300) to swing, realizing the hammering of the crawler body (101) by the side hammer plates (303) and the hammer plate (300).

8. A track strength detection method, based on the track strength detection device according to any one of claims 1 to 7, characterized in that, Including the following steps: The crawler body (101) is sleeved on the positioning roller (103) and the stretching roller (105). Static stretching detection: 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 maximum static stretching load and elongation rate of the crawler body (101). Dynamic stretching detection: The torsion stretching component (110) drives the stretching roller (105) to perform linear reciprocating motion through the stretching frame (102), and reciprocally stretches the crawler body (101) through the positioning roller (103) and the stretching roller (105), and detects the maximum dynamic stretching load and elongation rate of the crawler body (101). Torsion stretching detection: The torsion stretching component (110) drives the stretching roller (105) to perform linear reciprocating motion and reciprocating rotational motion at the same time through the stretching frame (102), and reciprocally stretches the crawler body (101) through the positioning roller (103) and the stretching roller (105) and reciprocally twists the crawler body (101) at the same time, and detects the ability of the crawler body (101) to resist fatigue failure under the action of reciprocating stretching load and torsional cyclic load. Impact condition detection: The hammering assembly (307) is used to hammer the surface of the crawler body (101) to detect the load of the crawler body (101) under the impact condition. Rotational load detection: The driving component (106) drives the stretching roller (105) to rotate, and the stretching roller (105) drives the crawler body (101) to rotate for load detection during the rotation of the crawler body (101). Load detection under muddy water immersion: Water and sediment are added into the immersion tank (413) for load detection of the crawler body (101) during simulated operation in muddy water. Multi-condition detection: Based on static stretching detection or dynamic stretching detection, one to four of the four detection methods, namely torsional stretching detection, impact condition detection, rotational load detection, and load detection under muddy water immersion, are combined for combined detection.

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