Liftable four-side crawler belt carrying chassis system

Abstract

The invention relates to the technical field of concrete leveling equipment, in particular to a lifting type four-side crawler belt carrying chassis system. The chassis is used for reinforcing mesh concrete leveling operation and comprises a chassis frame, a main track unit and an auxiliary track unit. The main tracks are symmetrically arranged in the X direction, and the auxiliary tracks are symmetrically arranged in the Y direction. When the auxiliary crawler belt ascends, the main crawler belt supports and drives X-direction walking; when the auxiliary track touches the ground, the whole machine is lifted, the main track is separated from the ground, and the auxiliary track supports and drives Y-direction walking. The track layout increases the contact area, disperses the load, avoids falling into the grid, keeps the machine body stable, and is matched with a laser elevation system to realize high-precision leveling. Through switching of the main crawler belt and the auxiliary crawler belt, steering-free transverse movement is achieved, steel bar structures are prevented from being damaged, the device adapts to narrow space, and construction efficiency, safety and automation level are improved.

Description

Technical Field

[0001] This invention relates to the field of concrete leveling equipment technology, and in particular to a liftable four-sided tracked transport chassis system. Background Technology

[0002] In the construction of cast-in-place concrete slabs, concrete leveling is a crucial process to ensure the flatness and structural quality of the floor. In recent years, with the development of industrialized construction and intelligent construction, concrete leveling robots have gradually replaced traditional manual leveling methods and become the mainstream construction equipment. Currently, most concrete leveling robots on the market adopt a wheeled chassis structure. Typical implementation methods include: equipping the four corners of the chassis with independently servo-driven rubber tires, achieving on-the-spot turning and straight-line movement through differential speed control; simultaneously, combining a laser positioning system to collect elevation data in real time, and dynamically adjusting the height of the front vibratory screed plate accordingly to achieve automatic leveling.

[0003] However, in actual reinforced concrete floor slab construction scenarios, the aforementioned wheeled chassis has revealed a series of insurmountable technical defects, severely restricting leveling accuracy, construction efficiency, and structural safety: Poor walking stability and insufficient elevation control accuracy: Cast-in-place floor slabs are typically reinforced with steel mesh, with common mesh spacing of 100mm×100mm, 150mm×150mm, or 200mm×200mm, and steel bar diameters ranging from 5 to 14mm. Wheeled chassis have a small ground contact area, making it easy for the tires to get stuck in the gaps of the steel mesh, resulting in high-frequency bumps during movement. Although laser positioning systems can collect elevation data, the unstable vehicle posture prevents the control system from providing effective dynamic compensation, often allowing only a single adjustment while stationary, leading to final leveling results exceeding the allowable deviation threshold.

[0004] Movement methods that damage reinforced steel structures: To achieve steering, the wheeled robot relies on the differential rotation of its two tires to turn in place. During this process, the tires exert significant lateral shear forces on the steel mesh below, which can easily cause the upper reinforcing bars to bend, shift, or even detach, affecting the overall structural performance of the floor slab and posing a safety hazard.

[0005] Complex terrain with poor maneuverability and poor construction continuity: Building floor slabs often have structural changes such as lowered bathroom slabs (height difference 110–210mm) and upturned beams in kitchens (height difference 80–300mm). Wheeled chassis have limited obstacle-crossing capabilities and cannot autonomously traverse such height differences. They must rely on tower cranes or manual labor to move work positions, leading to construction interruptions, increased joints, and affecting the overall integrity of the floor and construction efficiency.

[0006] The path planning is complex and has blind spots in the operation: In complex buildings such as residential buildings, there are many narrow spaces such as columns, doorways, and corners. Due to the limited turning radius, wheeled robots have difficulty sticking close to walls or going around obstacles. They need to retreat and turn around multiple times to complete the coverage. Not only are the path planning algorithms complex, but they are also prone to leaving blind spots in the construction, which still require manual secondary repairs.

[0007] In summary, there is an urgent need for a new type of chassis structure that can not only adapt to stable movement on steel mesh surfaces but also has high passability and non-destructive construction capabilities, in order to overcome the aforementioned technical bottlenecks. Summary of the Invention

[0008] To address the aforementioned technical problems, the technical solution adopted by this invention is as follows: According to one aspect of the present invention, a liftable four-sided tracked transport chassis system is provided for concrete leveling operations on a reinforced mesh surface, comprising: Chassis frame; Two sets of main track units are symmetrically arranged along the X direction of the chassis frame to provide walking drive and support in the X direction; Two sets of auxiliary track units are symmetrically arranged along the Y direction of the chassis frame to provide walking drive and support in the Y direction; the X direction and the Y direction are two different directions in the horizontal plane; The lifting drive mechanism is connected between the sub-track unit and the chassis frame, and is used to drive the sub-track unit to lift and lower in the vertical direction relative to the chassis frame; When the secondary track unit is in the raised state, the main track unit is in contact with the working surface and undertakes the support of the whole machine and the X-direction travel drive; when the secondary track unit is lowered to the ground state, the secondary track unit lifts the whole machine, so that the main track unit is removed from the working surface, and the secondary track unit undertakes the support of the whole machine and the Y-direction travel drive.

[0009] Furthermore, the secondary track unit is slidably connected to the chassis frame via a slide rail assembly, and one end of the lifting drive mechanism is fixed to the chassis frame, while the other end is connected to the secondary track unit.

[0010] Furthermore, the effective grounding length of the main track unit is greater than twice the maximum grid spacing in the current working steel mesh, so that the main track unit can simultaneously cross at least three steel mesh nodes in the steel mesh.

[0011] Furthermore, both the main track unit and the secondary track unit include: Drive wheel, guide wheel, multiple support rollers, protective cover; And an integral flexible track fitted around the drive wheel, guide wheel and support wheel; the integral flexible track is a continuous flexible structure without hollows or gaps, and the surface is provided with anti-slip patterns; The protective cover is installed on both sides of the integrated flexible track to form a relatively enclosed internal installation space; the gap between the protective cover and the integrated flexible track is smaller than the particle size of the aggregate in the concrete being worked on.

[0012] Furthermore, both the main track unit and the auxiliary track unit include a rigid load-bearing body; The drive wheel, guide wheel, and multiple support wheels are all mounted on a rigid load-bearing body and located within the internal installation space; The drive wheel and guide wheel are rotatably connected to both ends of the rigid load-bearing body, and are rotatably installed at the front and rear ends of the integral flexible track; Multiple track rollers are rotatably mounted on the lower part of the rigid load-bearing body and rigidly abut against the inner surface of the part of the integral flexible track that is in effective contact with the working surface, so as to avoid deformation of the integral flexible track.

[0013] Furthermore, both the drive wheel and the guide wheel are designed as wheel structures with an H-shaped cross-section; Multiple track rollers are divided into two groups, and the two groups of track rollers are spaced apart along the width of the integral flexible track. On the inner side of the integral flexible track, a limiting protrusion is provided along the circumference of the track. The drive wheel, guide wheel and two sets of spaced support wheels are mounted on the limiting protrusion to form a wheel-clamp track anti-detachment limiting structure.

[0014] Furthermore, the secondary track unit also includes a built-in drive motor and a motor protective housing, both located within the internal installation space; The protective housing is installed on a rigid load-bearing body; The built-in drive motor is encased inside a protective housing and is connected to the drive wheel via a gear transmission mechanism; The lifting drive mechanism is fixedly connected to the rigid load-bearing body in the secondary track unit.

[0015] Furthermore, the main track unit also includes an external drive motor; An external drive motor is installed inside the chassis frame and is connected to the drive wheel via a gear transmission mechanism; The chassis frame is fixedly connected to the rigid load-bearing body in the main track unit.

[0016] Furthermore, the protective cover is connected to the rigid load-bearing body via quick-release clips or threaded connectors to facilitate disassembly and cleaning.

[0017] Furthermore, the guide wheel is connected to the end of the rigid load-bearing body via a tensioning mechanism.

[0018] This invention has at least one of the following beneficial effects: This invention employs a four-sided track layout with the main track units symmetrically arranged along the X-direction and the auxiliary track units symmetrically arranged along the Y-direction, significantly increasing the contact area with the reinforcing mesh. Compared to traditional wheeled structures that rely on only four points of contact, the tracked design can simultaneously traverse multiple reinforcing mesh nodes (especially when the effective ground contact length of the main track is ≥450mm), effectively distributing the overall load and preventing the machine from getting stuck in mesh gaps. Simultaneously, the tracks flexibly conform to the ground, suppressing high-frequency bumps and maintaining a stable machine posture. Furthermore, the laser elevation system can continuously collect reliable data, allowing the controller to drive the vibratory compaction unit in real time for dynamic height compensation, thereby achieving high-precision continuous leveling. This design not only solves the problem of instability in traditional wheeled robots on complex reinforcing mesh surfaces but also ensures a high standard of flatness even during dynamic operations, significantly outperforming the limitation of wheeled robots that can only make single adjustments while stationary.

[0019] Secondly, this invention controls the vertical lifting and lowering of the secondary track unit through a lifting drive mechanism, realizing the switching of the main and secondary track support roles: when movement along the Y direction is required, the secondary track descends to the ground and lifts the entire machine, causing the main track to leave the ground, and then the secondary track directly drives lateral movement. This "translational" movement mode completely abandons the traditional wheeled chassis's on-the-spot steering method that relies on differential speed, fundamentally eliminating the lateral shear force exerted by the tires on the reinforcing steel. Therefore, when working on densely reinforced steel mesh surfaces, it will not cause the upper layer of reinforcing steel to bend, shift, or detach, effectively protecting the integrity of the floor slab structure and meeting the building structure safety requirements. In addition, this non-steering lateral movement mechanism allows the equipment to more flexibly adapt to various obstacles and narrow spaces within the construction site, solving the industry pain point of "construction equals damage" in existing technologies, and improving construction efficiency and safety.

[0020] Meanwhile, this locomotion method allows the robot to complete translational movements in the X / Y directions without needing to turn in place, completely avoiding the turning radius limitations imposed by traditional wheeled chassis that rely on differential turning. This structural feature enables the robot to move laterally or make minute adjustments in narrow spaces (such as doorways, pillar edges, and corners), and the path planning algorithm does not need to consider complex turning trajectories, turning space, and accumulated positioning errors, greatly simplifying the motion control logic. Furthermore, because the robot body always maintains a consistent orientation, the coordinate systems of sensing devices such as LiDAR and IMU remain stable, improving positioning accuracy and the reliability of environmental modeling. This enhances the robustness of autonomous navigation and construction adaptability in complex building layouts.

[0021] Furthermore, thanks to the orthogonal arrangement of the main and auxiliary tracks and the lifting and switching mechanism, the robot can perform "crab-like" lateral movement in confined spaces, easily navigating around pillars, close to walls, or entering doorways, eliminating blind spots caused by the turning radius limitations of traditional wheeled equipment. This results in simpler and more efficient leveling path planning, achieving near 100% coverage, significantly reducing the need for manual secondary repairs, and substantially improving the overall construction efficiency and automation. This not only reduces construction interruptions and increases work efficiency but also ensures the consistency and aesthetics of the floor surface, further enhancing the project's economic benefits and technical feasibility. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 The present invention provides a three-dimensional schematic diagram of the overall structure of the liftable four-sided tracked transport chassis system. The track structure in the main track unit is not fully shown, but the track structure in the auxiliary track unit can be referred to. Figure 2 A cross-sectional view of the internal structure of the subtrack unit in an embodiment of the present invention (the protective cover is partially hidden). Figure 3 A schematic diagram of the internal structure of the subtrack unit in an embodiment of the present invention; Figure 4 A schematic diagram showing the connection between the auxiliary track unit and the lifting drive mechanism in an embodiment of the present invention.

[0024] Figure Labels 1. Main track unit; 11. External drive motor; 2. Secondary track unit; 21. Protective housing; 22. Internal drive motor; 3. Chassis frame; 41. Lifting drive mechanism; 42. Slide rail assembly; 51. Drive wheel; 52. Guide wheel; 53. Track roller; 54. Rigid load-bearing body; 55. Integral flexible track; 56. Track drive teeth; 57. Protective cover; 58. Tensioning mechanism; Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] As a preferred embodiment of the present invention, such as Figures 1 to 4 As shown, a liftable four-sided tracked transport chassis system is provided, specifically designed for performing flow concrete leveling operations on the reinforcing mesh surface of cast-in-place reinforced concrete slabs. This system features a compact overall structure, good sealing, and flexible movement, effectively overcoming the technical shortcomings of traditional wheeled or conventional tracked leveling equipment in wet concrete environments, such as poor stability, damage to reinforcing steel, weak obstacle-crossing ability, and susceptibility to contamination.

[0027] The tracked transport chassis system mainly includes: chassis frame 3, two sets of main track units 1, two sets of auxiliary track units 2, and lifting drive mechanism 41.

[0028] The chassis frame 3 is the main load-bearing structure of the whole machine. It is made of high-strength aluminum alloy or lightweight steel structure. The upper part is used to install the laser elevation system, vibratory scraper and control system, while the lower part is used to integrate the walking drive module.

[0029] Two sets of main track units 1 are symmetrically arranged on both sides of the chassis frame 3 along the X direction (i.e., the robot's forward / backward direction) to provide walking drive and overall support in the X direction; two sets of auxiliary track units 2 are symmetrically arranged at the front and rear ends of the chassis along the Y direction (i.e., laterally) to provide walking drive and support in the Y direction. The X and Y directions are two mutually perpendicular orthogonal directions in the horizontal plane, forming a "quadrilateral track" layout.

[0030] like Figure 1 , 2 and Figure 4 As shown, the lifting drive mechanism 41 is connected between the sub-track unit 2 and the chassis frame 3, and is used to drive the sub-track unit 2 to rise and fall vertically relative to the chassis frame 3. Specifically, the sub-track unit 2 is slidably connected to the chassis frame 3 through a slide rail assembly 42 (e.g., a linear guide rail or guide column), ensuring a smooth and sway-free lifting process. The lifting drive mechanism 41 is preferably an electric push rod or a small hydraulic cylinder, one end of which is fixed to the inside of the chassis frame 3, and the other end is fixedly connected to the rigid load-bearing body 54 of the sub-track unit 2. This structure allows the sub-track unit 2 to reliably switch between the "raised" and "grounded" states.

[0031] During operation, when the secondary track unit 2 is in the raised state, the main track unit 1 is in direct contact with the steel mesh surface, bearing the entire weight of the machine and providing the driving force in the X direction, allowing the robot to perform leveling operations longitudinally. When it needs to move laterally to an adjacent work column, the control system triggers the lifting drive mechanism 41, causing the secondary track unit 2 to descend to the ground. At this time, the secondary track unit 2 raises the entire machine by approximately 15-25 cm. The specific lifting height of the secondary track unit 2 can be determined based on the height of obstacles formed by ground protrusions in the working environment (such as pre-installed drainage pipes). The purpose is to effectively avoid collisions with obstacles in the working environment after the entire machine is raised to a certain height. The main track unit 1 is completely lifted off the ground, and then the secondary track unit 2 drives the entire machine to translate in the Y direction. This "translation and reversal" mechanism does not require the machine body to rotate, completely avoiding the lateral shear force exerted on the steel mesh by traditional differential steering, thereby protecting the integrity of the steel structure.

[0032] Furthermore, such as Figures 2 to 3 As shown, both the main track unit 1 and the auxiliary track unit 2 include: a drive wheel 51, a guide wheel 52, multiple support rollers 53, a protective cover 57, a rigid load-bearing body 54, and an integral flexible track 55 fitted around the outer periphery of the aforementioned wheel system.

[0033] The integral flexible track 55 is made of high-wear-resistant rubber through a single vulcanization process, with no perforations, gaps, or joints, and features anti-slip patterns on its surface to enhance traction. This design fundamentally eliminates the problem of concrete slurry seepage caused by module gaps in traditional articulated tracks.

[0034] The protective cover 57 is installed at the openings on both sides of the integral flexible track 55. The protective cover 57 is connected to the rigid load-bearing body 54, forming a relatively enclosed internal installation space together with the integral flexible track 55. Crucially, the gap between the protective cover 57 and the track is strictly controlled to ≤3mm, smaller than the maximum particle size of common aggregates in current construction concrete (typically 5–20mm), effectively preventing aggregates from entering the drive cavity. Furthermore, the protective cover 57 is connected to the rigid load-bearing body 54 via quick-release clips or threaded connections, facilitating rapid disassembly after operation for high-pressure water washing of the interior, significantly improving maintenance efficiency.

[0035] Existing tracks mostly employ a modular structure consisting of multiple track plates hinged together by pins. Significant gaps exist between the plates, and open or semi-closed cavities are formed between the wheel system (drive wheel 51, support roller 53, etc.) and the track. A common problem with existing tracked walking mechanisms operating in flowing concrete is that concrete slurry and aggregate easily seep into the cavities between the drive wheel 51, support roller 53, and the track. Once solidified, this causes the transmission system to jam, severely impacting the reliability of the equipment.

[0036] This invention employs an integral flexible track 55, which is a continuous rubber structure without joints, perforations, or gaps, and has an integrally molded anti-slip pattern on its surface. Simultaneously, a protective cover 57 is installed on the outer side of the track, with a static gap of ≤3mm (smaller than the particle size of aggregate in concrete) reserved between it and the track, forming a physical barrier. This eliminates leakage channels at the source, effectively preventing slurry and aggregate from entering the drive area, ensuring long-term stable operation of the transmission system in wet material environments.

[0037] like Figures 2 to 3 As shown, the drive wheel 51, guide wheel 52, and multiple support rollers 53 are all mounted on the rigid load-bearing body 54 and located within the internal installation space. The drive wheel 51 and guide wheel 52 are rotatably connected to both ends of the rigid load-bearing body 54 and rotatably pass through the front and rear ends of the integral flexible track 55, respectively. The guide wheel 52 is connected to the end of the rigid load-bearing body 54 via a tensioning mechanism 58.

[0038] Multiple track rollers 53 are rotatably mounted on the lower part of the rigid load-bearing body 54 and rigidly abut against the inner surface of the part of the integral flexible track 55 that is in effective contact with the working surface, so as to avoid deformation of the integral flexible track 55.

[0039] To improve obstacle-crossing performance, traditional tracks are often equipped with spring or hydraulic shock-absorbing suspension, allowing the track rollers 53 to float up and down. However, in wet concrete operations, this floating can cause dynamic changes in the gap between the track and the protective shell 21. Especially when running over stones or protruding steel bars, the gap increases instantaneously, providing a channel for slurry intrusion and reducing the reliability of the seal.

[0040] In this invention, all support rollers 53, drive wheels 51, and guide wheels 52 are rigidly fixed to the rigid load-bearing body 54, without any elastic damping mechanism. The gap between the track and the protective cover 57 is a fixed value (≤3mm), unaffected by ground undulations. This ensures a constant and controllable sealing gap, fundamentally eliminating the risk of dynamic leakage caused by wheel floating. Although some cushioning performance is sacrificed, the flexibility of the integral track itself is sufficient to absorb local impacts under conditions of relatively regular undulations on the reinforced mesh surface, achieving an optimal balance between reliability and adaptability.

[0041] In addition, such as Figure 3As shown, since the secondary track unit 2 is driven vertically by the lifting drive mechanism 41, it needs to be made as an independent unit. Therefore, its drive motor (i.e., the built-in drive motor 22) needs to be placed in the internal installation space. Regardless of the current position of the secondary track unit 2, its movement can be independently driven by the built-in drive motor 22. At the same time, in order to meet the needs of the entire transport chassis to operate on flowing concrete, two improvements have been made in this embodiment: on the one hand, by setting a protective cover 57 and a seamless flexible integral track, more stones or slurry are prevented from entering the interior of the track unit; on the other hand, by setting a limiting structure with a wheel cover, the existence of dead corners is reduced, so that when using high-pressure water to wash out the concrete slurry inside the track unit, these slurries can be washed out more easily. Because the interior of the track unit needs to be washed with high-pressure water during later use, the built-in drive motor needs to be protected, and a corresponding motor protective housing 21 is set. This not only prevents concrete slurry from intruding into the drive motor, but also prevents water from entering the motor during high-pressure washing and damaging it. In summary, it is all used to improve the lifespan of the internal components of the track unit.

[0042] like Figure 2 As shown, for the main track unit 1, since it is the most commonly used drive unit of the entire chassis and does not undergo overall lifting or lowering during use, an external drive motor 11 can be used. This external drive motor 11 avoids the limitations of the internal installation space of the track unit, allowing for the selection of a larger motor with more stable operation, rather than choosing a lower-capacity drive motor due to space constraints. This is also an advantage of the main track unit 1 as the primary drive component.

[0043] Preferably, this embodiment employs a wheel-clamp track-type anti-derailment limiting structure, which not only prevents the track from derailing during high-speed operation or obstacle crossing, but also reduces the existence of dead zones, making it easier to wash out the concrete slurry inside the track unit when using high-pressure water to rinse it. This structure utilizes the H-shaped cross-section design of the drive wheel 51 and guide wheel 52, with limiting grooves formed on both side flanges. Multiple support rollers 53 are divided into left and right groups, spaced apart along the track width direction. Continuous limiting protrusions are provided circumferentially on the inner side of the integral flexible track 55. The drive wheel 51, guide wheel 52, and two groups of support rollers 53 all straddle these limiting protrusions, clamping and constraining the track from both inside and outside, ensuring its stable operation on the predetermined trajectory, and preventing it from easily detaching even when crossing overturning beams or lowering plates.

[0044] In conventional track designs, the track wraps around the outside of the wheel, forming a "track on the outside, wheel on the inside" covering structure. This can easily create hard-to-reach areas, such as depressions and angles, especially around the drive wheel 51 and track roller 53. Even after washing, high-pressure water cannot cover the entire area, and the hardened concrete residue can accumulate and lead to mechanism failure. Figures 3 to 4 As shown, this invention employs a "wheel-clamped track" anti-detachment limiting structure: the drive wheel 51 and guide wheel 52 are designed with an H-shaped cross-section, and the support wheels 53 are arranged in groups, all straddling the circumferentially set limiting protrusions from the inside of the track, forming a clamping layout with "wheels on both sides and track drive teeth 56 in the center". This significantly reduces internal enclosed cavities and structural dead angles, allowing high-pressure water to flow through the inner channel of the track for rinsing, greatly improving cleaning efficiency and thoroughness, preventing residue accumulation, and extending the service life of the equipment.

[0045] To ensure smoother operation of the tracked unit on the reinforced mesh surface, the effective ground contact length of the main track is set to ≥450mm. This length is based on the specific requirements of the reinforced mesh working environment: according to concrete structure construction specifications, the spacing of floor slab reinforcement bars is typically 150-200mm. A ground contact length of ≥450mm ensures that the track simultaneously covers at least 3 reinforcement nodes (calculated based on a maximum spacing of 200mm: 2×200mm=400mm, but 450mm is taken as the safety threshold). This multi-point contact disperses the overall machine load, preventing track teeth from getting stuck in the gaps of the reinforcement mesh, which could cause bumps or jamming. Simultaneously, this length design allows the track to flexibly conform to the ground, and combined with the overall elastic cushioning characteristics of the track, it effectively suppresses high-frequency vibrations, ensuring stable attitude control of the machine body on the reinforced mesh surface.

[0046] In existing walking mechanism designs, it is generally believed that springs or elastic suspensions should be used to absorb ground impacts to improve stability. However, in the specific working condition of concrete leveling, the concrete is in a highly fluid, unset state, and its surface is not a hard road surface but a medium similar to viscous mud. The core challenge for the walking mechanism at this time is not dealing with severe obstacle-crossing impacts, but rather preventing sinking due to excessive local pressure, maintaining the stability of the machine body to ensure continuous and effective data acquisition by the laser elevation system, and avoiding vibration disturbances that could cause ripples or aggregate segregation in the leveled area. Under this special condition, high-frequency micro-vibrations (such as the wheeled chassis repeatedly bouncing up and down on a steel mesh) are more destructive than low-frequency large impacts because they directly interfere with the elevation feedback loop, causing accumulated leveling errors. To address this need, this invention abandons the industry-standard approach of elastic suspension and flexible buffering, instead employing a highly integrated rigid track unit—with all components such as the support rollers 53 and drive wheels 51 rigidly fixed to the load-bearing body. Combined with a seamless, integrated flexible track 55 and an effective ground contact length of at least 450mm, the load is evenly distributed across multiple steel reinforcement nodes, creating a stable "floating" effect. Simultaneously, the integrated flexible track 55 provides a certain degree of micro-impact absorption. This design does not actively absorb vibration, but rather suppresses high-frequency turbulence at its source. This seemingly "abnormal" rigid structure without vibration damping is perfectly suited to the specific conditions of the regularly undulating steel mesh surface and the low-impact characteristics of fluid concrete, achieving dynamic stability superior to traditional elastic suspension systems and providing a reliable foundation for high-precision continuous leveling.

[0047] Meanwhile, the traditional view holds that "flexibility equals adaptability," but this invention discovers that in wet concrete working environments, flexible structures are precisely the root cause of track system failure—elastic suspension causes the support rollers 53 to float up and down, resulting in a dynamic increase in the gap between the protective cover 57 and the track; when the rubber track is locally deformed under pressure, instantaneous gaps are generated around the wheel body, making it easy for highly fluid concrete slurry and stones to seep into the drive cavity. Once solidified, this causes jamming and is difficult to clean thoroughly. Addressing this persistent industry problem, this invention takes the opposite approach, employing a highly integrated design that combines a rigid load-bearing body 54, a fixed wheel system, and a seamless, integral flexible track 55, constructing the entire track unit as a geometrically stable, rigid module without relative motion. While sacrificing local deformation capability, this structure brings two unexpected advantages: First, the ≤3mm sealing gap between the protective cover 57 and the track remains constant under any working condition, truly achieving "static sealing" and preventing slurry intrusion caused by dynamic gap changes; second, with no floating parts or enclosed dead corners internally, the water flow path is clearly predictable during high-pressure water washing, ensuring 100% coverage of all critical areas for efficient and thorough cleaning. Therefore, this seemingly "insufficiently rigid" design actually precisely meets the core requirements of high sealing performance and ease of maintenance for fluid concrete leveling through structural determinism. It not only does not reduce adaptability but also solves the long-standing pain point of "tracks being easily contaminated and difficult to maintain" in the industry.

[0048] Furthermore, addressing the reasonable concern that rigid track structures may derail when traversing obstacles, this invention effectively mitigates this risk through an innovative "wheel-clamped track" limiting structure. This structure ensures the track is stably enveloped between the wheel system during operation, preventing derailment due to localized suspension or uneven stress, even when crossing obstacles with height differences as high as 10cm, such as toilet slabs or upturned beams. Simultaneously, by abandoning elastic suspension and fixing the positions of all wheels, the track tension remains constant, avoiding the track slack caused by the sinking of the support rollers 53 in traditional structures. Therefore, while actively abandoning the conventional design of elastic buffering, this invention achieves more reliable and predictable anti-derailment performance than flexible tracks through the synergistic effect of geometric limiting and tension stability. This provides a crucial guarantee for the safe and reliable operation of tracks in fluid concrete leveling scenarios.

[0049] In summary, this embodiment, through a multi-dimensional collaborative design of "orthogonal quadrilateral tracks + lifting switching + rigid, shock-absorbing wheel system + micro-gap sealing protection + wheel clamp track limiting," not only achieves highly stable walking and non-destructive lateral movement on the reinforced concrete surface, but also ensures long-term reliable operation under the extreme and harsh conditions of flowing concrete. Compared with existing technologies, this solution has greater advantages in terms of leveling accuracy, structural protection, obstacle-crossing ability, maintenance convenience, and autonomous navigation adaptability.

[0050] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0051] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0052] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A liftable four-sided tracked transport chassis system, characterized in that, Used for concrete leveling operations on reinforced mesh surfaces, including: Chassis frame; Two sets of main track units are symmetrically arranged along the X direction of the chassis frame to provide walking drive and support in the X direction; Two sets of auxiliary track units are symmetrically arranged along the Y direction of the chassis frame to provide walking drive and support in the Y direction; the X direction and the Y direction are two different directions in the horizontal plane; A lifting drive mechanism is connected between the sub-track unit and the chassis frame, and is used to drive the sub-track unit to lift and move vertically relative to the chassis frame; When the secondary track unit is in the raised state, the main track unit is in contact with the working surface and undertakes the support of the whole machine and the driving force for travel in the X direction; when the secondary track unit is lowered to the ground state, the secondary track unit raises the whole machine, so that the main track unit is removed from the working surface, and the secondary track unit undertakes the support of the whole machine and the driving force for travel in the Y direction.

2. The liftable four-sided tracked transport chassis system according to claim 1, characterized in that, The auxiliary track unit is slidably connected to the chassis frame via a slide rail assembly. One end of the lifting drive mechanism is fixed to the chassis frame, and the other end is connected to the auxiliary track unit.

3. The liftable four-sided tracked transport chassis system according to claim 1, characterized in that, The effective grounding length of the main track unit is greater than twice the maximum grid spacing in the current working steel mesh, so that the main track unit can simultaneously cross at least three steel bar nodes in the steel mesh.

4. The liftable four-sided tracked transport chassis system according to claim 1, characterized in that, Both the main track unit and the auxiliary track unit include: Drive wheel, guide wheel, multiple support rollers, protective cover; And an integral flexible track fitted around the drive wheel, guide wheel and support wheel; the integral flexible track is a continuous flexible structure without hollows or gaps, and the surface is provided with anti-slip patterns; The protective cover is installed on both sides of the integrated flexible track to form a relatively closed internal installation space; the gap between the protective cover and the integrated flexible track is smaller than the particle size of the aggregate in the concrete being worked on.

5. The liftable four-sided tracked transport chassis system according to claim 4, characterized in that, Both the main track unit and the auxiliary track unit also include a rigid load-bearing body; The drive wheel, guide wheel, and multiple support wheels are all mounted on the rigid load-bearing body and located within the internal installation space; The drive wheel and guide wheel are rotatably connected to both ends of the rigid load-bearing body, and are rotatably passed through the front and rear ends of the integral flexible track; Multiple support rollers are rotatably mounted on the lower part of the rigid load-bearing body and rigidly abut against the inner surface of the part of the integral flexible track that is in effective contact with the working surface, so as to avoid deformation of the integral flexible track.

6. The liftable four-sided tracked transport chassis system according to claim 5, characterized in that, Both the drive wheel and the guide wheel are configured as wheel structures with an H-shaped cross-section; Multiple track rollers are divided into two groups, and the two groups of track rollers are spaced apart along the width of the integral flexible track. On the inner side of the integral flexible track, a limiting protrusion is provided along the circumference of the track. The drive wheel, guide wheel and two sets of spaced support wheels are mounted on the limiting protrusion to form a wheel-clamp track anti-detachment limiting structure.

7. The liftable four-sided tracked transport chassis system according to claim 5, characterized in that, The auxiliary track unit also includes a built-in drive motor and a motor protective housing, both located within the internal installation space; The protective shell is installed on the rigid load-bearing body; The built-in drive motor is enclosed inside the protective housing and is connected to the drive wheel via a gear transmission mechanism; The lifting drive mechanism is fixedly connected to the rigid load-bearing body in the auxiliary track unit.

8. The liftable four-sided tracked transport chassis system according to claim 5, characterized in that, The main track unit also includes an external drive motor; The external drive motor is installed inside the chassis frame and is connected to the drive wheel through a gear transmission mechanism; The chassis frame is fixedly connected to the rigid load-bearing body in the main track unit.

9. A liftable four-sided tracked transport chassis system according to claim 5, characterized in that, The protective cover is connected to the rigid load-bearing body via quick-release buckles or threaded connectors for easy disassembly and cleaning.

10. A liftable four-sided tracked transport chassis system according to claim 5, characterized in that, The guide wheel is connected to the end of the rigid load-bearing body via a tensioning mechanism.

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