Crawler steering structure and cart

Abstract

The invention relates to the technical field of crawler-type trolleys, in particular to a crawler steering structure and a trolley. The crawler steering structure comprises crawler units, guide wheels, a supporting frame, shaft holes and elastic jacking parts, and the supporting frame is used for supporting the guide wheels; the shaft hole penetrates through the supporting frame and extends in the walking direction. The guide wheel shaft is movably assembled in the shaft hole and can horizontally deflect in the shaft hole. And the elastic jacking piece acts on the guide wheel through the guide wheel shaft to enable the guide wheel hub to abut against the track unit. The shaft holes capable of horizontally deflecting are provided for the wheel shafts of the guide wheels, and meanwhile, the elastic jacking pieces are arranged to provide force for jacking the crawler units for the guide wheels, so that when the crawler units deviate due to external force borne by the crawler units, the guide wheels can horizontally deflect in a self-adaptive mode, then the crawler units are driven to steer, and the steering resistance of the crawler units is reduced; and a user can realize steering of the crawler belt by providing smaller steering force, so that the use convenience and comfort of the cart are improved, and the overall experience feeling is better.

Description

Technical Field

[0001] The present invention relates to the technical field of crawler carts, and particularly to a crawler steering structure and a cart. Background Art

[0002] Crawler carts, with their unique crawler walking mechanisms, exhibit excellent traction and stability under various terrain conditions.

[0003] The utility model with the patent number "CN201822181090.5" and the name "Crawler Handcart" discloses a crawler handcart, which includes a vehicle body and a wheel assembly arranged at the bottom of the vehicle body. The wheel assembly includes a bottom wheel, a first inclined wheel and a second inclined wheel higher than the bottom wheel, and a crawler is simultaneously wound around the bottom wheel, the first inclined wheel and the second inclined wheel. The extensive contact between the crawler and the ground ensures the stable forward movement of the cart in various complex environments, and it can handle various terrains, whether it is rough mountain roads or soft sandy land.

[0004] However, this walking method has significant defects in steering flexibility. Its crawler drive system adopts a closed-loop structure of the first inclined wheel - bottom wheel - second inclined wheel. When carrying a high load and the road surface conditions are complex, the steering resistance will increase significantly. Specifically, there are three mechanical constraints during the steering process: the frictional loss between the crawler and the inclined wheel and the bottom wheel, the inertial resistance moment brought by the load, and the fluctuation of the adhesion force caused by the ground undulation. The combined effect of these factors makes it necessary to apply a large steering force during the steering operation, resulting in that the user can only forcibly push the cart to turn to overcome the steering resistance when turning this cart, which undoubtedly reduces the convenience and comfort of using the cart and makes the overall experience poor. Summary of the Invention

[0005] The present invention solves the problems in the related technologies, and proposes a crawler steering structure and a cart, which can reduce the steering resistance of the crawler unit, enable the crawler to turn with a smaller steering force provided by the user, improve the convenience and comfort of using the cart, and have a better overall experience.

[0006] In order to solve the above technical problems, the present invention is realized through the following technical solutions: A crawler steering structure includes a crawler unit, a guide wheel, a support frame, a shaft hole and an elastic tightening member. The crawler unit is matched with a gear train. The gear train includes a guide wheel. The guide wheel includes a guide wheel hub and a guide wheel axle connected to the guide wheel hub. The support frame is used to support the guide wheel. The shaft hole penetrates through the support frame and extends along the walking direction. The guide wheel axle is movably assembled in the shaft hole and can horizontally deflect in the shaft hole. The elastic tightening member is connected to the guide wheel axle, and the elastic tightening member acts on the guide wheel through the guide wheel axle to make the guide wheel hub abut against the crawler unit.

[0007] According to an embodiment of the present invention, a chute extending along the traveling direction is further provided on the support frame, and the elastic pressing member is disposed in the chute. The elastic pressing member includes a fixing member and a reset member. The fixing member is fixed on the inner wall of the chute, and the reset member is located between the guide wheel axle and the fixing member.

[0008] According to an embodiment of the present invention, a slider adapted to move along the traveling direction in the chute is sleeved on the guide wheel axle, and the reset member is located between the slider and the fixing member.

[0009] According to an embodiment of the present invention, there is a rotational clearance between the slider and the chute.

[0010] According to an embodiment of the present invention, the guide wheel hub is in a tight fit with the track unit.

[0011] According to an embodiment of the present invention, the number of the guide wheel hubs is one, the guide wheel hub meshes with the track unit, support frames are provided on both sides of the guide wheel hub, and the guide wheel axles on both sides of the guide wheel hub are respectively movably assembled in the shaft holes of the corresponding support frames.

[0012] According to another embodiment of the present invention, the number of the guide wheel hubs is two, the guide wheel hubs are movably connected to the track unit, and the guide wheel axles are connected between the two guide wheel hubs.

[0013] According to an embodiment of the present invention, the wheel system further includes a plurality of load wheels located on one side of the guide wheel. The track unit includes a plurality of track blocks. A track block protrusion is provided on the upper end surface of the track block, and the top surface of the track block protrusion is configured as a load-bearing surface, and the load-bearing surface is in a tight fit with the load-bearing wheel hub of the load wheel.

[0014] According to an embodiment of the present invention, an offset clearance is left between the side surface of the track block protrusion and the load-bearing wheel hub, and the side surface of the track block protrusion is in a tight fit with the guide wheel hub.

[0015] Preferably, the load-bearing surface is an arc surface.

[0016] According to an embodiment of the present invention, the highest point of the load wheel is lower than the highest point of the guide wheel.

[0017] In addition, to achieve the above object, the present invention further provides a trolley.

[0018] A trolley includes the track steering structure as described above.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: By making the shaft hole penetrate through the support frame and extend along the traveling direction, the guide wheel axle is movably assembled in the shaft hole and can horizontally deflect in the shaft hole. At the same time, an elastic pressing member is provided to apply a pressing force to the guide wheel against the crawler unit. When the external force borne by the crawler unit shifts, the guide wheel can adaptively horizontally deflect, thereby driving the crawler unit to turn, reducing the turning resistance of the crawler unit. The user can achieve the turning of the crawler with a smaller turning force, improving the usability and comfort of the trolley, and providing a better overall experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 FIG. is a schematic structural view of a crawler steering structure according to an embodiment of the present invention, in which a guide wheel hub and part of the crawler blocks are not shown; Figure 2 FIG. is a front view of the crawler steering structure, in which the crawler unit and the load-bearing wheels are not shown; Figure 3 and 4 FIG. is a schematic view of the cooperation relationship between the gear train and the crawler unit; Figure 5 FIG. is a schematic view of the cooperation relationship between the load-bearing wheel and the protrusion of the crawler block; Figure 6 FIG. is a schematic view of the cooperation relationship between the guide wheel and the protrusion of the crawler block; Figure 7 FIG. is a schematic structural view of a trolley according to an embodiment of the present invention; Figure 8 FIG. is a schematic structural view of a trolley according to another embodiment of the present invention.

[0021] In the figures: 10, crawler steering structure; 1, crawler unit; 11, crawler block; 111, lower end face; 112, upper end face; 113, crawler block protrusion; 113a, load-bearing surface; 113b, side surface; 114, edge protrusion; 2, guide wheel; 21, guide wheel hub; 22, guide wheel axle; 23, slider; 3, support frame; 31, chute; 4, shaft hole; 5, elastic pressing member; 51, fixing member; 52, resetting member; 6, load-bearing wheel; A, rotation clearance; B, offset clearance; 20, frame; 30, loading platform; 40, handle. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] In order to reduce the steering resistance, some crawler carts also set the lower end surface of the crawler block in the crawler unit as an arc surface to reduce the contact area between the crawler unit and the flat ground, so as to reduce the friction between the ground and the crawler unit. For example, in the Japanese invention patent with patent number "特开2019-142485" and invention name "Rough road transport trolley using crawler unit and rough road transport trolley using it" Figure 5 and Figure 8 A track unit including a track block with an arc-shaped lower end surface is disclosed in the literature. Although the friction between the track unit and the ground is reduced, the carrying capacity of the cart is also reduced. In order to increase the carrying capacity of the cart, the track block can only be matched with a larger load-bearing wheel to meet the use requirements, resulting in a higher cost for the cart.

[0024] like Figure 1 As shown, the crawler steering structure of the embodiment of the present invention includes: a crawler unit 1, a guide wheel 2, a support frame 3, an axle hole 4 and an elastic tensioning member 5, wherein the crawler unit 1 cooperates with a wheel train, the wheel train includes a guide wheel 2, the guide wheel 2 includes a guide wheel hub 21 and a guide wheel axle 22 connected to the guide wheel hub 21; the support frame 3 is used to support the guide wheel 2; the axle hole 4 passes through the support frame 3 and extends along the walking direction, the guide wheel axle 22 is movably assembled in the axle hole 4 and can be horizontally deflected in the axle hole 4; the elastic tensioning member 5 is connected to the guide wheel axle 22, and the elastic tensioning member 5 acts on the guide wheel 2 through the guide wheel axle 22 to make the guide wheel hub 21 and the crawler unit 1 abut against each other.

[0025] It should be noted that in traditional crawler-type carts, most of the guide wheels of the crawler running mechanism are directly installed on the frame of the crawler-type cart to ensure that the crawler can maintain a stable running track. When the crawler running mechanism turns, since the guide wheel provides a holding force for the crawler to maintain its original traveling direction, the turning resistance of the cart is relatively large. Only when the turning force applied to the crawler running mechanism overcomes the turning resistance can the crawler-type cart turn smoothly. The crawler turning structure of the embodiment of the present invention includes a shaft hole 4 that penetrates the support frame 3 and extends along the traveling direction, enabling the guide wheel axle 22 to horizontally deflect within the shaft hole 4. At the same time, the elastic pressing member 5 provides a force for pressing the crawler unit 1 against the guide wheel 2. When an external force acting on the crawler unit 1 causes a speed difference between the left and right sides of the crawler unit 1, resulting in a lateral component of the ground reaction force on the turning side of the crawler unit 1, forming a lateral thrust and conducting it to the guide wheel 2, the guide wheel 2 can adaptively horizontally deflect, thereby driving the crawler unit 1 to turn, reducing the turning resistance of the crawler unit 1. A smaller turning force from the user can achieve the turning of the crawler, improving the usability and comfort of the cart, and providing a better overall experience.

[0026] As Figure 1 shown, in an embodiment of the present invention, the crawler unit 1 includes multiple crawler blocks 11. The lower end surface 111 of the crawler block 11 is a plane. The wheel system further includes a plurality of load wheels 6 located on one side of the guide wheel 2, and the load wheels 6 are movably connected to the crawler blocks 11.

[0027] It should be noted that in the existing design of crawler units, designing the lower end surface of the crawler block as a plane has a larger contact area with the ground compared to an arc surface, which can enhance the friction between the crawler unit and the ground and has a stronger load-bearing capacity when the size of the crawler block is the same. Therefore, under the same load requirements, the sizes of the crawler block and the load wheel can be reduced to lower costs. However, the increase in the friction between the crawler unit and the ground will also lead to an increase in the turning resistance. In the present invention, the design of a guide wheel that can adaptively deflect can effectively reduce the turning resistance, thus achieving the advantage of retaining the flat crawler block while avoiding the increase in turning resistance, reducing costs, improving the usability and comfort of the cart, and providing a better overall experience.

[0028] In an embodiment of the present invention, a chute 31 extending in the traveling direction may further be provided on the support frame 3. An elastic pressing member 5 is arranged in the chute 31. The elastic pressing member 5 includes a fixing member 51 and a restoring member 52. The fixing member 51 is fixed to the inner wall of the chute 31. The restoring member 52 is located between the guide wheel axle 22 and the fixing member 51 and is used to provide a force for the guide wheel 2 to move away from the fixing member 51, so that the guide wheel hub 21 presses against the crawler unit 1. Wherein, the fixing member 51 may be a protrusion on the inner wall of the chute 31 or a fixing block fixed on the inner wall of the chute 31. The restoring member 52 may be a spring, a torsion spring, a gas spring, etc. The two ends of the restoring member 52 may be respectively fixedly connected to the guide wheel axle 22 and the fixing member 51, or only one end may be fixedly connected to the guide wheel axle 22 or the fixing member 51, or both ends may be movably connected to the guide wheel axle 22 and the fixing member 51. The present invention does not impose any limitations in this regard.

[0029] As Figure 1 and 2 shown, in an embodiment of the present invention, a slider 23 adapted to move in the chute 31 in the traveling direction may be sleeved on the guide wheel axle 22. The restoring member 52 is located between the slider 23 and the fixing member 51. The two ends of the restoring member 52 may be respectively fixedly connected to the slider 23 and the fixing member 51, or only one end may be fixedly connected to the slider 23 or the fixing member 51, or both ends may be movably connected to the slider 23 and the fixing member 51. The present invention does not impose any limitations in this regard.

[0030] Since the slider 23 is sleeved outside the guide wheel axle 22, the offset angle of the guide wheel axle 22 can be further restricted by adjusting the size and dimensions of the slider 23, avoiding excessive offset angle of the guide wheel 2, which may cause the crawler unit 1 to disengage from the guide wheel 2. Moreover, the arrangement of the slider 23 restricts the offset angle of the guide wheel axle 22. Therefore, the length of the shaft hole 4 can be increased, so that the moving range of the guide wheel 2 in the traveling direction is increased, enabling the guide wheel 2 to adjust the tension of the crawler unit 1 through the elastic pressing member 5, alleviating the impact force transmitted from the ground, improving the maneuverability of the trolley, and ensuring the stability of the trolley during traveling.

[0031] Specifically, a rotational clearance A may be left between the slider 23 and the chute 31, so that the slider 23 can have a certain rotational space in the chute 31, thereby restricting the offset angle of the guide wheel axle 22.

[0032] In an embodiment of the present invention, the guide wheel hub 21 is tightly fitted with the crawler unit 1, which can reduce the sliding and frictional losses between the guide wheel hub 21 and the crawler unit 1 during the steering process, thereby reducing the required steering force. Specifically, protrusions can be provided on the side surface of the guide wheel hub 21, and mating grooves can be correspondingly provided on the crawler unit 1 to achieve the tight fit between the guide wheel hub 21 and the crawler unit 1; alternatively, the tight fit between the guide wheel hub 21 and the crawler unit 1 can be achieved by setting the shape of the rim of the guide wheel hub 21 and the crawler unit 1, and this embodiment is not limited thereto.

[0033] In an embodiment not shown in the present invention, the number of guide wheel hubs 21 can be one, the guide wheel hub 21 meshes with the crawler unit 1, support frames 3 are provided on both sides of the guide wheel hub 21, and the guide wheel axles 22 on both sides of the guide wheel hub 21 are respectively movably assembled in the shaft holes 4 of the corresponding support frames 3. When the crawler unit 1 is offset by an external force, the guide wheel axles 22 can adaptively deflect horizontally in the support frames 3, and the elastic abutting members 5 can be provided in two groups, respectively arranged on both sides of the guide wheel hub 21, and act on the guide wheel axles 22 on both sides of the guide wheel hub 21 to make the guide wheel hub 21 abut against the crawler unit 1.

[0034] As Figure 1 and 2 shown, in an embodiment of the present invention, the number of guide wheel hubs 21 can also be two, the guide wheel hubs 21 are movably connected to the crawler unit 1, such as meshing connection, sliding connection, etc., the guide wheel axles 22 are connected between the two guide wheel hubs 21, and the elastic abutting members 5 act on the two guide wheel hubs 21 through the guide wheel axles 22 to make the two guide wheel hubs 21 abut against the crawler unit 1.

[0035] As Figure 1 、 3 to 5 shown, in an embodiment of the present invention, the upper end surface 112 of the crawler block 11 can be provided with a crawler block protrusion 113, the top surface of the crawler block protrusion 113 is configured as a load-bearing surface 113a, and the load-bearing surface 113a is tightly fitted with the load-bearing wheel hub 61 of the load-bearing wheel 6 to improve the load-bearing capacity and anti-disengagement ability. Due to the above setting, the load-bearing capacity can be improved, and on the premise of meeting the load-bearing requirements, the size of the load-bearing wheel 6 can be appropriately reduced, thereby saving costs.

[0036] Specifically, the load-bearing wheel 6 can include two load-bearing wheel hubs 61 and a load-bearing wheel axle 62 connected between the two load-bearing wheel hubs 61. The load-bearing surface 113a can be an arc surface, a plane, composed of multiple inclined surfaces, etc., and the load-bearing wheel hub 61 can be designed according to the shape of the load-bearing surface 113a, and this embodiment is not limited thereto.

[0037] Preferably, the load-bearing surface 113a is an arc surface. Adaptively, an arc-shaped groove matching the load-bearing surface 113a is also provided on the rim of the load-bearing wheel hub 61 to achieve a tight fit between the load-bearing surface 113a and the load-bearing wheel hub 61 of the load-bearing wheel 6. Since the load-bearing surface 113a is an arc surface, a relatively natural transition can be achieved at the connection between the top surface and the side surface of the crawler block projection 113, so as to reduce the wear between the load-bearing wheel 6 and the crawler block projection 113 when the crawler block 11 moves.

[0038] As Figure 5 and 6 shown, in an embodiment of the present invention, an offset gap B is left between the side surface 113b of the crawler block projection 113 and the load-bearing wheel hub 61, and the side surface 113b of the crawler block projection 113 is in tight fit with the guide wheel hub 21.

[0039] Based on the above structure, when the user applies a steering force to the crawler steering mechanism, a part of the crawler block 11 in contact with the load-bearing wheel 6 can horizontally shift a certain distance by virtue of the offset gap B between the crawler block projection 113 and the load-bearing wheel 6, driving a part of the crawler block 11 in contact with the guide wheel 2 to shift, so that the guide wheel 2 adaptively horizontally deflects, and then drives the crawler unit 1 to turn, further reducing the steering resistance of the crawler unit 1, improving the usability and comfort of the cart, and enhancing the overall experience.

[0040] In an embodiment of the present invention, an edge projection 114 may also be provided at the edge of the crawler block 11 to prevent the guide wheel 2 and the load-bearing wheel 6 from slipping out of the crawler unit 1 and affecting the normal progress of the cart.

[0041] In an embodiment of the present invention, the highest point of the load-bearing wheel 6 is lower than the highest point of the guide wheel 2, so that a part of the crawler block 11 in contact with the guide wheel 2 can be away from the ground, not affected by the ground friction, and reducing the resistance of the horizontal offset of the guide wheel 2; and because there is a height difference between the guide wheel 2 and the part of the crawler block 11 in contact with it and the part of the crawler block 11 in contact with the load-bearing wheel 6, it is convenient for the crawler unit 1 to cross ground obstacles during walking, enhancing the obstacle-crossing ability of the cart, and thus enhancing the experience of the user.

[0042] In addition, to achieve the above object, the present invention also proposes a cart.

[0043] The cart according to the embodiment of the present invention includes the crawler steering structure 10 as described above, and thus also has the above-mentioned beneficial effects.

[0044] As Figure 7 and 8As shown, in an embodiment of the present invention, the trolley may include a frame 20, a loading platform 30 may be installed on the chassis 20, load-bearing wheels 6 may be installed on the main beam, the support frame 3 and the main beam may be respectively installed under the chassis 20, the support frame 3 may also be fixed to the main beam, or integrally formed with the main beam, and fixed to the bottom of the chassis through the main beam. This embodiment is not limited.

[0045] In an embodiment of the present invention, the load-bearing wheels 6 can be divided into multiple groups, and a preset distance is provided between each group of load-bearing wheel groups, so that dirt can be discharged from the gaps between the load-bearing wheel groups. At the same time, by dispersing the load-bearing wheel groups, a uniform supporting force can be provided for the loading platform 30, enhancing the supporting ability.

[0046] In an embodiment of the present invention, a handle 40 may be installed on the trolley, so that the user can apply a forward force and a steering force to the trolley through the handle 40.

[0047] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0048] In the present invention, unless otherwise clearly defined and limited, the terms such as "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0049] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0050] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0051] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A crawler steering structure, comprising a crawler unit (1), the crawler unit (1) being cooperated with a gear train, the gear train including a guide wheel (2), the guide wheel (2) including a guide wheel hub (21) and a guide wheel axle (22) connected to the guide wheel hub (21), characterized in that, The crawler steering structure includes: A support frame (3) for supporting the guide wheel (2); A shaft hole (4) that penetrates the support frame (3) and extends along the traveling direction, and the guide wheel axle (22) is movably assembled in the shaft hole (4) and can horizontally deflect within the shaft hole (4); An elastic pressing member (5) that is connected to the guide wheel axle (22), and the elastic pressing member (5) acts on the guide wheel (2) through the guide wheel axle (22) to make the guide wheel hub (21) abut against the crawler unit (1).

2. The crawler steering structure according to claim 1, characterized in that, A chute (31) extending along the traveling direction is further provided on the support frame (3), and the elastic pressing member (5) is arranged in the chute (31). The elastic pressing member (5) includes a fixing member (51) and a reset member (52). The fixing member (51) is fixed to the inner wall of the chute (31), and the reset member (52) is located between the guide wheel axle (22) and the fixing member (51).

3. The crawler steering structure according to claim 2, characterized in that, A slider (23) suitable for moving along the traveling direction within the chute (31) is sleeved on the guide wheel axle (22), and the reset member (52) is located between the slider (23) and the fixing member (51).

4. The crawler steering structure according to claim 3, characterized in that, There is a rotational gap between the slider (23) and the chute (31).

5. The crawler steering structure according to claim 1, wherein The crawler unit (1) includes multiple crawler blocks (11). The lower end surface (111) of the crawler block (11) is a plane. The wheel system further includes multiple load wheels (6) located on one side of the guide wheel (2), and the load wheels (6) are movably connected to the crawler blocks (11).

6. The crawler steering structure according to claim 1, wherein The guide wheel hub (21) is in a tight fit with the crawler unit (1).

7. The crawler steering structure according to claim 1, characterized in that, The number of the guide wheel hubs (21) is one. The guide wheel hub (21) meshes with the crawler unit (1). Support frames (3) are provided on both sides of the guide wheel hub (21), and the guide wheel axles (22) on both sides of the guide wheel hub (21) are respectively movably assembled in the shaft holes (4) of the corresponding support frames (3).

8. The crawler steering structure according to claim 1, wherein, The number of the guide wheel hubs (21) is two. The guide wheel hubs (21) are movably connected to the crawler unit (1), and the guide wheel axles (22) are connected between the two guide wheel hubs (21).

9. The crawler steering structure according to claim 8, wherein, The wheel system further includes multiple load wheels (6) located on one side of the guide wheel (2). The crawler unit (1) includes multiple crawler blocks (11). A crawler block protrusion (113) is provided on the upper end surface (112) of the crawler block (11). The top surface of the crawler block protrusion (113) is configured as a load-bearing surface (113a), and the load-bearing surface (113a) is in a tight fit with the load wheel hub of the load wheel (6).

10. The crawler steering structure according to claim 9, characterized in that, There is an offset gap between the side surface (113b) of the crawler block protrusion (113) and the load wheel hub of the load wheel (6), and the side surface (113b) of the crawler block protrusion (113) is in a tight fit with the guide wheel hub (21).

11. The crawler steering structure according to claim 9, wherein, The load-bearing surface (113a) is an arc surface.

12. The crawler steering structure according to claim 9, wherein, The highest point of the load wheel (6) is lower than the highest point of the guide wheel (2).

13. A trolley, characterized in that, Comprising: The crawler steering structure (10) according to any one of claims 1-12.

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