Rubber track chassis and adjusting method

Abstract

The invention provides a rubber track chassis and an adjusting method, and belongs to the technical field of track chassis, the rubber track chassis comprises a beam frame, two longitudinal beams and tracks, the tracks are installed on the longitudinal beams, the longitudinal beams are connected through the beam frame, the beam frame comprises a supporting beam, a first telescopic beam and a second telescopic beam, and the supporting beam is connected with the first telescopic beam. The first telescopic beams and the second telescopic beams are installed at the two ends of the supporting beam respectively, the two first telescopic beams and the two second telescopic beams are symmetrically arranged on the two sides of the supporting beam and can be adjusted in a sliding mode in the width direction of the supporting beam, the second telescopic beams are hinged to the longitudinal beams, and the first telescopic beams are connected with the longitudinal beams through angle adjusting mechanisms; by means of the adjusting mode, the device can adjust the distance between the tracks without additional equipment, and meanwhile the phenomenon that in the prior art, track adjustment rubs the ground, and consequently the tracks derail is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of crawler chassis, and particularly relates to a rubber crawler chassis and an adjustment method. Background Art

[0002] Rubber crawlers are mainly used for special occasions, such as during military parades, for tanks, armored vehicles, etc., to protect the ground. The rubber crawler walking system has low noise, small vibration, and comfortable riding, and is especially suitable for occasions with frequent high-speed transfers, achieving all-road passing performance. An advanced and reliable electrical instrument and whole-machine status monitoring system provides a reliable guarantee for the driver to operate correctly. In addition to military applications, it is also widely used in large machinery, such as crawler vehicles like excavators, and their functions and roles are the same.

[0003] Agriculture, as a basic industry, obtains products by artificially cultivating animals and plants and is an important support for the national economy. Before planting, it is necessary to use agricultural machinery (mostly crawler-type) for soil loosening operations, and the crawler design can adapt to complex terrains. However, existing crawler-type agricultural machinery has limitations: the distance between its crawler wheels is fixed, making it difficult to flexibly adapt to the planting gap requirements of different crops and restricting the operation efficiency in multiple scenarios.

[0004] In a Chinese patent with the authorization announcement number CN113830194B, a crawler chassis with adjustable gauge and a control method are disclosed. When the two crawler frames are in the first working position in this patent, the crawler gauge is only limited by the length of the cylinder body of the first telescopic oil cylinder. When it changes to the third working position, the first telescopic oil cylinder extends twice. Compared with the prior art, the range of change in the crawler gauge is expanded, ensuring that the crawler chassis can pass through narrower roads and obtaining greater operation stability.

[0005] In a Chinese patent with the authorization announcement number CN217074566U, an adjustable agricultural machinery transmission device is disclosed. This patent has a simple structure and a compact layout. The side plate for installing the crawler is connected with an oil cylinder and a guide tube installed on the lower seat plate. Through the telescopic displacement of the oil cylinder, the gap between the two crawler mechanisms is adjusted through the guide tube to adapt to different crop fields, and it has a wide range of applications.

[0006] However, when adjusting the distance between the crawlers in the above technical solutions, the two crawlers will move horizontally in parallel along the width direction of the equipment. Since the crawlers are made of rubber and have a certain flexibility, during the friction with the ground, they are extremely likely to derail from the guide wheels and drive wheels under the action of friction. Of course, it is also possible to lift the crawler chassis first and then make the adjustment, but the vehicle body is usually carried above the crawler chassis, which will greatly increase the overall weight. Therefore, it is necessary to use special hydraulic equipment to lift or support the chassis. However, this method has a low safety factor and is prone to causing personal injury accidents. In addition, in the agricultural operation site environment, it is almost impossible to find available hydraulic equipment to lift or support the chassis. Summary of the Invention

[0007] The object of the present invention is to provide a rubber crawler chassis and an adjustment method, aiming to solve the problem that the crawler is prone to derailment from the guide wheel and the drive wheel when adjusting the crawler spacing in the prior art.

[0008] To achieve the above object, the present invention provides the following technical solutions: a rubber crawler chassis and an adjustment method, including: a beam frame, longitudinal beams, and crawlers. The crawlers are installed on the longitudinal beams. There are two longitudinal beams and they are connected by the beam frame. The beam frame includes a support beam, a first telescopic beam, and a second telescopic beam. The first telescopic beam and the second telescopic beam are respectively installed at both ends of the support beam. Among them, there are two first telescopic beams and two second telescopic beams, which are symmetrically arranged on both sides of the support beam and can be slidably adjusted along the width direction of the support beam. The second telescopic beam is hinged to the longitudinal beam, and the first telescopic beam is connected to the longitudinal beam through an angle adjustment mechanism. The angle adjustment mechanism can be used to drive the longitudinal beam to rotate around the hinge axis of the second telescopic beam and the longitudinal beam.

[0009] A further technical solution of the present invention is that the angle adjustment mechanism includes a sliding beam installed on the first telescopic beam. One side of the sliding beam is provided with worm wheel teeth, and a worm is engaged with the worm wheel teeth. A first driving device for driving the rotation of the worm is provided on the longitudinal beam.

[0010] A further technical solution of the present invention is that the sliding beam is arc-shaped, and the center of its arc is located at the hinge axis position between the second telescopic beam and the longitudinal beam.

[0011] A further technical solution of the present invention is that locking mechanisms are respectively arranged inside both ends of the beam frame, and the locking mechanisms can respectively fix the positions of the first telescopic beam and the second telescopic beam during telescoping.

[0012] A further technical solution of the present invention is that the locking mechanism includes a second driving device and a plurality of lead screws arranged inside the beam frame. The second driving device is fixedly installed on the beam frame. The lead screws are connected to the output end of the second driving device and are respectively threadedly connected to the first telescopic beam and the second telescopic beam.

[0013] A further technical solution of the present invention is that installation openings are provided at the middle positions of both ends of the support beam, fixing plates are arranged inside the installation openings, and the second driving device is installed on the fixing plates.

[0014] A further technical solution of the present invention is that a limiting cavity is provided on the longitudinal beam, the sliding beam can slide inside it, a limiting plate is arranged at one end of the sliding beam, and when the sliding beam slides to the limit inside the limiting cavity, the limiting plate will abut against one end of the limiting cavity to limit the sliding of the sliding beam.

[0015] The adjustment method of the rubber crawler chassis is characterized in that it includes the following steps: S1. Initial position adjustment: Move the crawler chassis to a flat and open road surface; S2. Preliminary angle adjustment: Start the first driving device to drive the sliding beam to move relative to the longitudinal beam. Since the longitudinal beam and the second telescopic beam are connected by a rotating hinge, the longitudinal beam will swing outwards, forming a certain angle between the two longitudinal beams; S3. Preparation steps after angle adjustment: After the angle adjustment is completed, turn off the first driving device, and the crawler chassis continues to slowly travel on the ground. At this time, start the second driving device to drive the lead screw to rotate, thereby canceling the locked and fixed state of the first telescopic beam and the second telescopic beam; S4. Adjustment of the distance between the longitudinal beams: When the two longitudinal beams form a certain angle and it is necessary to increase the distance between the two longitudinal beams, guide the crawler chassis to move towards the end with a larger distance between the two longitudinal beams, so that the two longitudinal beams move away from each other and cooperate with the rotation of the lead screw to cancel the locked and fixed state of the first telescopic beam and the second telescopic beam; when it is necessary to decrease the distance, guide the crawler chassis to move towards the end with a smaller distance between the two longitudinal beams, thereby realizing the increase and decrease of the distance between the two longitudinal beams; S5. Restoration of the parallel state after distance adjustment: Turn off the second driving device, repeat S2, and make the first driving device rotate in the reverse direction to restore the two longitudinal beams to parallel.

[0016] A further technical solution of the present invention includes the following steps: S1. Anti-derailment angle adjustment: During the angle adjustment process, the crawler chassis continues to slowly travel, and at the same time, the first driving device remains in an operating state. Since the driving wheel and the guide wheel will continuously engage with new positions of the track during the travel of the crawler chassis, the phenomenon of the track derailing when the longitudinal beam is adjusted in angle is avoided; S2. Anti-derailment adjustment when restoring parallel: Guide the crawler chassis to slowly move towards the end with a smaller distance between the two longitudinal beams, and at the same time start the first driving device to rotate in the reverse direction to drive the sliding beam to move relative to the longitudinal beam. Through the principle in step S1, the two longitudinal beams are gradually restored to a parallel state, and the phenomenon of the track derailing is also effectively avoided.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. When adjusting the track spacing, first adjust the two tracks to a certain angle, then drive the track chassis to move forward or backward, so that the track moves toward the extended track, thereby gradually increasing the distance between the two tracks. After the distance between the tracks is determined, the two tracks are restored to parallelism, and the distance between the two tracks is fixed, so that the track spacing can be adjusted. Through this adjustment method, the device can adjust the track spacing without additional equipment, and also reduces the phenomenon of track derailment caused by the friction of the track adjustment on the ground in the prior art.

[0018] 2. When adjusting the angle of the crawler track, the crawler chassis moves slowly so that the drive wheel and the guide wheel can be continuously disengaged from the chain rail and engaged at a new position, thereby avoiding the crawler track from derailing when the longitudinal beam is adjusting its angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a structural schematic diagram of a specific embodiment of the present invention; Figure 2 A top view of a specific embodiment of the present invention; Figure 3 It is a schematic diagram of the installation structure of the sliding beam in a specific embodiment of the present invention; Figure 4 for Figure 3 A schematic diagram of the structure enlargement at the center A; Figure 5 It is a structural schematic diagram of a beam frame in a specific embodiment of the present invention; Figure 6 It is a schematic diagram of the installation structure of the support beam and the first telescopic beam in a specific embodiment of the present invention.

[0020] In the figure: 1. beam frame; 11. supporting beam; 111. mounting port; 112. fixing plate; 12. first telescopic beam; 121. sliding beam; 122. worm gear; 123. limiting plate; 13. second telescopic beam; 2. longitudinal beam; 21. limiting cavity; 3. crawler track; 4. angle adjustment mechanism; 41. worm; 42. first driving device; 5. locking mechanism; 51. second driving device; 52. lead screw. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0022] Please refer to Figures 1-6 , the present invention provides the following technical solutions: a rubber crawler chassis, including a beam frame 1, longitudinal beams 2, and crawlers 3; In this structure, the number of both the crawlers 3 and the longitudinal beams 2 is two. Each crawler 3 is correspondingly installed on the longitudinal beam 2 to achieve the fixation of the crawler 3. The beam frame 1 is arranged between the two longitudinal beams 2, and its function is to connect these two longitudinal beams 2. It is worth mentioning that both ends of the beam frame 1 have an independent telescopic function. With the help of this function, the beam frame 1 can adjust the angle between the two longitudinal beams 2.

[0023] During actual use, when the angle between the two longitudinal beams 2 is adjusted, the two longitudinal beams 2 will no longer be parallel, that is, their extended trajectories will intersect. Subsequently, the crawler 3 slowly drives the beam frame 1 forward or backward. During this process, as the position changes, the distance between the two crawlers 3 will also change accordingly: the closer to the intersection point of the two longitudinal beams 2, the smaller the distance between the two crawlers 3; the farther away from the intersection point, the larger the distance. Through this change in distance, an indirect adjustment effect on the angle of the crawler 3 is achieved. Finally, adjust the two longitudinal beams 2 back to a parallel state.

[0024] Among them, a drive wheel, a trailing wheel, a guide wheel, a tensioning mechanism, and a hydraulic travel reducer are installed on the longitudinal beam 2. The drive wheel is located at the rear of the crawler chassis and is driven by an electric motor or a hydraulic motor to rotate the crawler 3, thereby pushing the chassis forward or backward. The trailing wheel is located at the bottom of the crawler 3 and is used to support the crawler 3 to prevent the crawler 3 from sagging, and at the same time reduce the vibration and noise during the operation of the crawler 3. The guide wheel is located at the front of the crawler 3 and is used to guide the crawler 3 to move in the correct direction to prevent the crawler 3 from derailing. The tensioning mechanism is used to adjust the tension of the crawler 3 to ensure that the crawler 3 maintains an appropriate tightness during operation to prevent the crawler 3 from loosening or falling off. The hydraulic travel reducer provides power for the drive wheel, and through the function of reducing speed and increasing torque, the drive wheel can drive the crawler 3 to rotate to achieve the walking function of the chassis.

[0025] The crawler 3 is installed on the longitudinal beam 2 and works in coordination with the drive wheel, the trailing wheel, the tensioning mechanism, and the hydraulic travel reducer. In the material composition of the crawler 3, its external part is jointly composed of rubber, steel wire, and iron teeth. Specifically, the rubber layer wraps the iron teeth and the steel wire as a whole.

[0026] Please refer toFigure 3 , Figure 5 and Figure 6 , the beam frame 1 includes an I-shaped support beam 11, two first telescopic beams 12 and two second telescopic beams 13. The support beam 11 has an I-shaped structure, that is, both ends in its length direction extend horizontally. The first telescopic beams 12 and the second telescopic beams 13 are respectively installed at both ends of the support beam 11, and the two first telescopic beams 12 and the second telescopic beams 13 are symmetrically arranged on both sides of the support beam 11 and can be slidably adjusted along the width direction of the support beam 11. Each of the first telescopic beam 12 and the second telescopic beam 13 is correspondingly connected to the longitudinal beam 2, wherein the second telescopic beam 13 is connected to the longitudinal beam 2 by a hinge connection, while the first telescopic beam 12 is connected to the longitudinal beam 2 through an angle adjustment mechanism 4. The angle adjustment mechanism 4 can drive the longitudinal beam 2 to rotate around the hinge axis of the second telescopic beam 13 and the longitudinal beam 2.

[0027] In use, the operator first adjusts the inclination angle of the longitudinal beam 2 through the angle adjustment mechanism 4. After the longitudinal beam 2 is adjusted to the required angle, it needs to be fixed in this position to ensure the stability of the angle. Subsequently, by translating the beam frame 1 forward or backward, the distance between the crawlers 3 can be adjusted to meet different working requirements. During this process, the first telescopic beam 12 and the second telescopic beam 13 can achieve the purpose of corresponding telescopic movement inside the support beam 11.

[0028] Please refer to Figure 3 and Figure 4 , the angle adjustment mechanism 4 includes a sliding beam 121 installed on the first telescopic beam 12. The sliding beam 121 penetrates from one side of the longitudinal beam 2 to the other side. To achieve this function, a sliding cavity matching the sliding beam 121 is opened inside the longitudinal beam 2 to ensure that the sliding beam 121 can slide smoothly inside the longitudinal beam 2 along a predetermined path.

[0029] It should be noted that the shape of the sliding beam 121 is designed to be arc-shaped, and the center of the arc is located at the hinge axis position between the second telescopic beam 13 and the longitudinal beam 2. When the longitudinal beam 2 swings due to work requirements, mechanical interference between the longitudinal beam 2 and the sliding beam 121 can be avoided, thus ensuring the stability and reliability of the operation of the entire angle adjustment mechanism 4.

[0030] To drive the movement of the sliding beam 121 relative to the longitudinal beam 2, a set of worm gears 122 arranged in an arc shape are provided on one side of the sliding beam 121. These worm gears 122 are tightly engaged with a worm 41 located inside the longitudinal beam 2, forming an efficient transmission system. The worm 41 is installed inside the longitudinal beam 2, and a connecting shaft integrally extends from the axis position of the worm 41, and the connecting shaft penetrates the longitudinal beam 2 and extends to the outside thereof.

[0031] A first driving device 42 connected to the connecting shaft is provided on the longitudinal beam 2. The first driving device 42 is a motor. When the motor starts, it can drive the connecting shaft and the worm 41 connected thereto to rotate. As the worm 41 rotates, the worm gear teeth 122 engaged therewith move accordingly, thereby driving the entire sliding beam 121 to move smoothly along a preset arc path relative to the longitudinal beam 2.

[0032] To effectively restrict the sliding stroke of the sliding beam 121, a limiting cavity 21 is provided on the longitudinal beam 2. The limiting cavity 21 is a hollow cavity space, and the sliding beam 121 slides inside it. A limiting plate 123 is provided at one end of the sliding beam 121, and the limiting plate 123 is firmly connected to the overall structure of the sliding beam 121. When the sliding beam 121 slides under the action of an external force, the limiting plate 123 will slide synchronously inside the limiting cavity 21 as the sliding beam 121 moves. As the sliding beam 121 slides to a specific angular position, the limiting plate 123 will come into contact with and abut against one end of the limiting cavity 21. At this time, the limiting plate 123 is blocked by the end of the limiting cavity 21 and cannot continue to slide forward, thereby effectively restricting the sliding distance of the sliding beam 121. Through this design, the risk that the sliding beam 121 disengages from the longitudinal beam 2 during the sliding process due to exceeding the normal stroke range is successfully avoided, ensuring the stability and safety of the entire structure.

[0033] Please refer to Figure 6 , locking mechanisms 5 are provided inside both ends of the beam frame 1. The locking mechanisms 5 can respectively fix the telescopic positions of the first telescopic beam 12 and the second telescopic beam 13, thereby being able to fix the distance between the two longitudinal beams 2, ensuring the operation stability and reliability of the overall equipment.

[0034] The locking mechanism 5 includes a second driving device 51 and a lead screw 52 provided inside the beam frame 1. The second driving device 51 is a bidirectional motor, fixedly installed at the middle position of the beam frame 1. The lead screw 52 is installed at the two output shaft ends of the second driving device 51 through a coupling or a direct connection method, so that when the second driving device 51 operates, it can synchronously drive the two lead screws 52 to rotate. The two lead screws 52 of one set of locking mechanisms 5 are respectively in threaded driving connection with the two first telescopic beams 12, and the two lead screws 52 of the other set of locking mechanisms 5 are respectively in threaded driving connection with the two second telescopic beams 13.

[0035] When the equipment is operating normally, the second driving device 51 remains powered off and stopped. At this time, the lead screw 52 is stationary due to lack of power. Through the self-locking characteristic of the lead screw 52 thread pair, the axial displacement sliding of the first telescopic beam 12 and the second telescopic beam 13 is locked, thereby ensuring a constant distance between the two longitudinal beams 2 and improving the operating stability of the equipment. When the first telescopic beam 12 and the second telescopic beam 13 need to be telescopically adjusted, first adjust the longitudinal beam 2 to a certain angle. After that, the forward and backward movement of the beam frame 1 can make the longitudinal beam 2 drive the first telescopic beam 12 and the second telescopic beam 13 to telescopically move independently inside the support beam 11. During this process, synchronously start the second driving device 51 to drive the lead screw 52 to rotate, which can cancel the self-locking function of the first telescopic beam 12 and the second telescopic beam 13. By rotating the lead screw 52 and cooperating with the independent telescopic movement of the first telescopic beam 12 and the second telescopic beam 13 (it should be noted that the rotation speed of the lead screw 52 needs to be adapted to the telescopic speed of the first telescopic beam 12 and the second telescopic beam 13), the telescopic adjustment function of the first telescopic beam 12 and the second telescopic beam 13 can be achieved. It should be noted that the lead screw 52 only undertakes the function of releasing self-locking and does not directly participate in the telescopic drive. During the entire adjustment process, the rotation of the lead screw 52 and the continuous meshing of the threaded hole need to be maintained to avoid the risk of tripping.

[0036] Please refer to Figures 2-3 , installation openings 111 are provided in the middle positions at both ends of the support beam 11. The upper part of the installation opening 111 is designed to be open, which provides convenience for subsequent operations. The second driving device 51 is installed inside the installation opening 111. Specifically, a fixing plate 112 is fixedly connected inside the installation opening 111, and the second driving device 51 is firmly fixed on this fixing plate 112. During the installation process of the second driving device 51, the operator can first insert the lead screw 52 into the support beam 11 through the installation opening 111 and make it threadedly connected with the first telescopic beam 12 and the second telescopic beam 13. Subsequently, firmly fix the second driving device 51 on the fixing plate 112. Finally, fixedly connect the lead screw 52 with the output end of the second driving device 51. The design of the installation opening 111 greatly simplifies the installation and subsequent maintenance work of the second driving device 51 and the lead screw 52.

[0037] The adjustment method of the rubber crawler chassis includes the following steps: S1. Initial position adjustment: Move the crawler chassis to a flat and open road surface to ensure that the ground conditions will not interfere with the subsequent adjustment process.

[0038] S2. Initial Angle Adjustment: Start the crawler chassis and let it move slowly on the ground. Then, guide the chassis to move towards the end closer to the first driving device 42. Subsequently, power on the first driving device 42 and start it. The first driving device 42 drives the sliding beam 121 to move relative to the longitudinal beam 2 through the cooperation mechanism of the worm 41 and the worm gear 122. Since the other end of the longitudinal beam 2 is rotatably hinged to the second telescopic beam 13, the longitudinal beam 2 will swing outwards, forming a certain angle between the two side longitudinal beams 2.

[0039] S3. Anti-derailment Measures during Angle Adjustment: During the angle adjustment process, the crawler chassis continues to move slowly, and at the same time, the first driving device 42 remains in operation. Since during the movement of the crawler chassis, the driving wheel and the guide wheel continuously engage with new positions of the track chain, it effectively avoids the phenomenon of the track 3 derailing when the longitudinal beam 2 is adjusted in angle.

[0040] S4. Preparation Steps after Angle Adjustment: After the angle adjustment is completed, turn off the first driving device 42, and the crawler chassis continues to move slowly on the ground. At this time, start the second driving device 51 to drive the lead screw 52 to rotate, thereby canceling the locked and fixed state of the first telescopic beam 12 and the second telescopic beam 13.

[0041] S5. Adjustment of the Distance between the Longitudinal Beams 2: At this time, the two longitudinal beams 2 are already at a certain angle. When it is necessary to increase the distance between the two longitudinal beams 2, guide the crawler chassis to move towards the end where the distance between the two longitudinal beams 2 is farther. Since the two longitudinal beams 2 move away from each other and cooperate with the rotation of the lead screw 52 to cancel the locked and fixed state of the first telescopic beam 12 and the second telescopic beam 13, the distance between the two longitudinal beams 2 can be increased. On the contrary, when it is necessary to decrease the distance between the longitudinal beams 2, guide the crawler chassis to move towards the end where the distance between the two longitudinal beams 2 is closer. Through the above principle, the distance between the two longitudinal beams 2 can be decreased.

[0042] S6. Restoration to the Parallel State after Distance Adjustment: Turn off the second driving device 51 and lock and fix the first telescopic beam 12 and the second telescopic beam 13 again. Then, guide the crawler chassis to move slowly towards the direction of the end where the distance between the two longitudinal beams 2 is closer, and at the same time, start the first driving device 42 to rotate it in the reverse direction. This will drive the sliding beam 121 to move relative to the longitudinal beam 2. Through the principle described in step S3, the two longitudinal beams 2 will gradually return to the parallel state, and effectively avoid the phenomenon of the track 3 derailing.

Claims

1. Rubber crawler chassis, comprising: Beam frame (1), longitudinal beam (2) and crawler belt (3), the crawler belt (3) is installed on the longitudinal beam (2), there are two longitudinal beams (2) and they are connected by the beam frame (1), and it is characterized in that the beam frame (1) includes a support beam (11), a first telescopic beam (12) and a second telescopic beam (13), the first telescopic beam (12) and the second telescopic beam (13) are respectively installed at both ends of the support beam (11), wherein there are two of the first telescopic beam (12) and the second telescopic beam (13), symmetrically arranged on both sides of the support beam (11), and can be slidably adjusted along the width direction of the support beam (11), the second telescopic beam (13) is hinged to the longitudinal beam (2), and the first telescopic beam (12) is connected to the longitudinal beam (2) through an angle adjustment mechanism (4), and the angle adjustment mechanism (4) can be used to drive the longitudinal beam (2) to rotate around the hinge axis of the second telescopic beam (13) and the longitudinal beam (2).

2. The rubber crawler chassis according to claim 1, wherein: The angle adjustment mechanism (4) includes a sliding beam (121) installed on the first telescopic beam (12), a worm gear tooth (122) is arranged on one side of the sliding beam (121), a worm (41) is engaged with the worm gear tooth (122), and a first driving device (42) for driving the worm (41) to rotate is arranged on the longitudinal beam (2).

3. The rubber crawler chassis according to claim 2, characterized in that: The sliding beam (121) is arc-shaped, and the center of its arc is located at the hinge axis position between the second telescopic beam (13) and the longitudinal beam (2).

4. The rubber crawler chassis according to claim 3, characterized in that: Locking mechanisms (5) are arranged inside both ends of the beam frame (1), and the locking mechanisms (5) can respectively fix the telescopic positions of the first telescopic beam (12) and the second telescopic beam (13).

5. The rubber crawler chassis according to claim 4, characterized in that: The locking mechanism (5) includes a second driving device (51) arranged inside the beam frame (1) and a plurality of lead screws (52), the second driving device (51) is fixedly installed on the beam frame (1), the lead screws (52) are connected to the output end of the second driving device (51), and the lead screws (52) are respectively threadedly connected to the first telescopic beam (12) and the second telescopic beam (13).

6. The rubber crawler chassis according to claim 5, wherein: Installation openings (111) are opened at the middle positions of both ends of the support beam (11), fixing plates (112) are arranged inside the installation openings (111), and the second driving device (51) is installed on the fixing plates (112).

7. The rubber crawler chassis according to claim 2, characterized in that: A limiting cavity (21) is arranged on the longitudinal beam (2), the sliding beam (121) can slide inside it, a limiting plate (123) is arranged at one end of the sliding beam (121), and when the sliding beam (121) slides to the limit inside the limiting cavity (21), the limiting plate (123) will abut against one end of the limiting cavity (21) to limit the sliding of the sliding beam (121).

8. Adjusting method for rubber crawler chassis, characterized in that: Using the rubber crawler chassis according to any one of claims 1-5, comprising the following steps: S1. Initial position adjustment: Move the crawler chassis to a flat and open road surface; S2. Preliminary Angle Adjustment: Start the first driving device (42) to drive the sliding beam (121) to move relative to the longitudinal beam (2). Since the longitudinal beam (2) and the second telescopic beam (13) are connected by a rotating hinge, the longitudinal beam (2) will swing outwards, forming a certain angle between the two longitudinal beams (2). S3. Preparation Steps after Angle Adjustment: After the angle adjustment is completed, turn off the first driving device (42). The crawler chassis continues to slowly travel on the ground. At this time, start the second driving device (51) to drive the lead screw (52) to rotate, thereby canceling the locked and fixed state of the first telescopic beam (12) and the second telescopic beam (13). S4. Adjustment of the Distance between the Longitudinal Beams (2): When the two longitudinal beams (2) form a certain angle and it is necessary to increase the distance between the two longitudinal beams (2), guide the crawler chassis to move towards the end with a larger distance between the two longitudinal beams (2), so that the two longitudinal beams (2) move away from each other and cooperate with the rotation of the lead screw (52) to cancel the locked and fixed state of the first telescopic beam (12) and the second telescopic beam (13). When it is necessary to decrease the distance, guide the crawler chassis to move towards the end with a smaller distance between the two longitudinal beams (2), so as to increase or decrease the distance between the two longitudinal beams (2). S5. Restoration of the Parallel State after Distance Adjustment: Turn off the second driving device (51), repeat S2, and make the first driving device (42) rotate in the reverse direction to restore the two longitudinal beams (2) to parallel.

9. The adjusting method of the rubber crawler chassis according to claim 8, characterized in that: It includes the following steps: S1. Anti-derailment Angle Adjustment: During the angle adjustment process, the crawler chassis continues to slowly travel, and at the same time, the first driving device (42) remains in operation. Since the driving wheel and the guide wheel will continuously engage with new positions of the track during the travel of the crawler chassis, it is avoided that the track (3) derails when the longitudinal beam (2) is adjusted in angle. S2. Anti-derailment Adjustment during Restoration of Parallel: Guide the crawler chassis to slowly move towards the end with a smaller distance between the two longitudinal beams (2), and at the same time start the first driving device (42) to rotate it in the reverse direction to drive the sliding beam (121) to move relative to the longitudinal beam (2). Through the principle in S1 step, the two longitudinal beams (2) are gradually restored to the parallel state, and it also effectively avoids the phenomenon of the track (3) derailing.

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