Crawler-type chassis assembly and pipe duct desilting robot

Abstract

The utility model discloses a crawler-type chassis assembly and a pipe duct desilting robot, and relates to the technical field of pipe duct cleaning, the crawler-type chassis assembly comprises a chassis, two crawler belts and a driving mechanism; the two crawler belts are rotationally arranged on the two sides of the chassis respectively; the driving mechanism is in driving connection with the crawler belts to drive the crawler belts to rotate and drive the chassis to move forwards, and the included angle between the axial direction of the crawler belts and the top face of the chassis is adjustable so that the circumferential side faces of the two crawler belts can be attached to the inner wall of the pipe duct. The crawler-type chassis assembly can be suitable for cleaning pipe channels of different shapes at the same time, the applicability of the crawler-type chassis is improved, and the dredging cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of pipe and canal cleaning, in particular to a crawler chassis component and a pipe and canal dredging robot. Background Art

[0002] Urban underground pipelines play a vital role in urban drainage and sewage disposal. With the long-term use of underground pipelines, dust, silt, leaves and other garbage will accumulate in the pipelines, causing blockages in the pipelines and affecting drainage and sewage disposal. Therefore, it is necessary to desilt the underground pipelines regularly.

[0003] Existing underground drainage canals are generally divided into circular canals and square canals. To improve the efficiency of dredging, dredging robots are generally used to dredge the canals. Due to the different shapes of circular canals and square canals, existing dredging robots with wheeled chassis or crawler chassis cannot adapt to the dredging of two different shapes of canals at the same time, resulting in the need to use dredging robots of different specifications to clean the two different canals, resulting in increased dredging costs. Utility Model Content

[0004] The main purpose of the utility model is to provide a crawler chassis assembly and a pipe and canal dredging robot, aiming to solve the problem that the crawler chassis of the existing pipe and canal dredging robot cannot adapt to two different pipes, round and square.

[0005] To achieve the above-mentioned purpose, the utility model proposes a crawler chassis assembly, wherein the crawler chassis includes a chassis, two crawlers and a driving mechanism; the two crawlers are rotatably arranged on both sides of the chassis; the driving mechanism is drivingly connected to the crawlers to drive the crawlers to rotate and drive the chassis forward, and the angle between the axial direction of the crawler and the top surface of the chassis can be adjusted so that the peripheral side surfaces of the two crawlers fit the inner wall of the pipeline.

[0006] In one embodiment of the utility model, the track is provided with a rotating part, mounting parts are provided on both sides of the chassis, the rotating part and the mounting part are both provided with rotating holes, the track-type chassis assembly also includes a rotating shaft, the rotating shaft passes through the rotating holes of the rotating part and the mounting part in sequence, and the track is rotatably connected to the chassis via the rotating shaft.

[0007] In one embodiment of the present utility model, the crawler chassis assembly further comprises a locking nut, one end of the rotating shaft passing through the rotating hole is threadedly connected to the locking nut, and the locking nut is used to lock the crawler and the chassis.

[0008] In one embodiment of the utility model, at least two mounting parts are provided on one side of the chassis, and at least two rotating parts are provided on the track, and each rotating part is rotatably connected to a mounting part via a rotating shaft.

[0009] In one embodiment of the present utility model, a rotation groove is formed on one side of the mounting portion facing the crawler track, the rotation holes are formed on two opposite groove walls of the rotation groove, and the rotation portion is rotatably disposed in the rotation groove.

[0010] In one embodiment of the present invention, a slot is provided on the side of the mounting portion away from the crawler, the slot is extended along the forward direction of the crawler, and one side of the chassis is embedded in the slot;

[0011] And / or, the side surface of the mounting portion facing the crawler track is an arc surface.

[0012] In one embodiment of the utility model, a scale is provided on the surface of the rotating portion, and a pointer mark is provided on the surface of the mounting portion, and the pointer mark cooperates with the scale to display the angle between the axial direction of the track and the top surface of the chassis.

[0013] In one embodiment of the present invention, the angle between the axial direction of the crawler and the top surface of the chassis ranges from 0° to 60°.

[0014] In one embodiment of the present utility model, the driving mechanism is a motor, the motor is arranged inside the crawler, a gear assembly is also arranged inside the crawler, and the motor is drivingly connected to the crawler through the gear assembly;

[0015] And / or, a driven wheel is provided inside the track, and the track-type chassis assembly also includes a tensioning screw, one end of which is connected to the driven wheel, and the other end is threadedly connected to the track, and the tensioning screw is rotated to adjust the tension of the track.

[0016] The utility model also provides a pipe and canal dredging robot, which comprises a dredging mechanism and any one of the above-mentioned crawler chassis components.

[0017] The crawler chassis assembly proposed in the technical solution of the utility model comprises a chassis, two crawlers and a driving mechanism, wherein the two crawlers are respectively installed on both sides of the chassis and are rotatably connected to the chassis, and the driving mechanism is connected to the crawler driving to drive the crawler to move along the inner wall of the pipe. At the same time, the crawler in the present application can rotate relative to the chassis in a plane perpendicular to the forward direction of the crawler, so that the angle between the axial direction of the crawler and the top surface of the chassis can be adjusted. Therefore, when the shape of the pipe to be cleaned is square, the crawler is rotated so that the peripheral side of the crawler and the abutment surface of the pipe are adjusted to be parallel to the surface of the chassis, and when the shape of the pipe to be cleaned is circular, the crawler is rotated so that the crawler is tilted relative to the chassis, and the peripheral side of the crawler is adjusted to be tilted relative to the surface of the chassis, and the tilt angle can be adjusted according to the diameter of the pipe. Therefore, the crawler chassis assembly proposed in the present application can be simultaneously applicable to cleaning pipes of different shapes, thereby improving the applicability of the crawler chassis and reducing the cost of dredging. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 A schematic structural diagram of an embodiment of a crawler chassis provided by the utility model;

[0020] Figure 2 for Figure 1 Front view of the tracked chassis;

[0021] Figure 3 for Figure 2 A local enlarged schematic diagram at point A;

[0022] Figure 4 for Figure 2 Sectional view along BB;

[0023] Figure 5 This is a structural schematic diagram of another embodiment of the crawler chassis provided by the utility model.

[0024] Description of Figure Numbers:

[0025] 1. crawler chassis assembly; 10. chassis; 11. mounting portion; 11a. rotating groove; 20. crawler; 21. rotating portion; 211. scale; 30. driving mechanism; 31. driven wheel; 32. gear assembly; 321. driving wheel; 322. driving wheel gear; 323. idler gear; 324. driving gear; 325. driving bevel gear; 40. rotating shaft; 50. locking nut; 60. tensioning screw.

[0026] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0029] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0030] The utility model provides a crawler chassis assembly 1.

[0031] Combination Figure 1 and Figure 5As shown, in one embodiment of the utility model, the crawler chassis assembly 1 includes a chassis 10, two crawlers 20 and a driving mechanism 30; the two crawlers 20 are rotatably arranged on both sides of the chassis 10; the driving mechanism 30 is drivingly connected to the crawlers 20 to drive the crawlers 20 to rotate and drive the chassis 10 to move forward, and the angle between the axial direction of the crawler 20 and the top surface of the chassis 10 can be adjusted so that the side surfaces of the two crawlers 20 fit the inner wall of the pipeline.

[0032] In the embodiment of the utility model, the driving mechanism 30 can be arranged inside the crawler 20, and the crawler 20 is installed on both sides of the chassis 10, and the crawler 20 is driven to rotate by the driving mechanism 30, so that the crawler 20 drives the chassis 10 to move forward along the inner wall of the pipe. At the same time, the driving mechanism 30 can also be arranged on the chassis 10, and the driving mechanism 30 is connected to the crawler 20 by driving, and the above effect can also be achieved. In addition, the present application also rotatably connects the crawler 20 with the chassis 10, and the rotation direction is perpendicular to the forward direction of the crawler 20 and the chassis 10, so that the rotating shaft 40, gears, damping members, bearing members and other structural members can be arranged at the connection between the crawler 20 and the chassis 10, so that the crawler 20 and the chassis 10 can be rotatably connected. Therefore, the crawler 20 in the present application has the function of self-rotation and rotation relative to the chassis 10, and the outer peripheral surface of the crawler 20, that is, the peripheral side surface of its self-rotation, is provided with a plurality of protrusions to improve the grip stability of the crawler 20.

[0033] When the crawler chassis assembly 1 is used to clean a square pipe, the crawler 20 is rotated relative to the chassis 10 so that the outer circumference of the crawler 20 is adjusted to be parallel to the top or bottom surface of the chassis 10, that is, the axial direction of the crawler 20 is parallel to the chassis 10. At this time, the outer circumferences of the two crawlers 20 arranged on both sides of the chassis 10 are also parallel to each other, so that the two crawlers 20 of the crawler chassis assembly 1 can fit the bottom wall of the pipe at the same time. When the crawler chassis assembly 1 is used to clean a circular pipe, the crawlers 20 on both sides are rotated relative to the chassis 10 so that the axial directions of the two crawlers 20 form a certain angle with the chassis 10, and the angle between the crawler 20 and the chassis 10 is adjusted according to the diameter of the circular pipe so that the outer circumferences of the two crawlers 20 fit the inner wall of the pipe.

[0034] Therefore, the present application designs the track 20 to be rotatable relative to the chassis 10 in a plane perpendicular to the forward direction of the track 20, so that the tracked chassis assembly 1 can adjust the angle between the track 20 and the chassis 10 according to the actual shape of the pipeline, thereby realizing the function of the tracked chassis assembly 1 being applicable to pipelines of different shapes, improving the applicability of the tracked chassis assembly 1, and reducing the dredging cost.

[0035] Combination Figure 1-Figure 3As shown, in one embodiment of the utility model, the track 20 is provided with a rotating portion 21, and mounting portions 11 are provided on both sides of the chassis 10. The rotating portion 21 and the mounting portion 11 are both provided with rotating holes. The crawler chassis assembly 1 also includes a rotating shaft 40, and the rotating shaft 40 passes through the rotating holes of the rotating portion 21 and the mounting portion 11 in sequence. The track 20 and the chassis 10 are rotatably connected via the rotating shaft 40.

[0036] In an embodiment of the utility model, the track 20 and the chassis 10 are rotatably connected via a rotating shaft 40. By setting the rotating shaft 40, the angle between the track 20 and the chassis 10 can be arbitrarily adjusted within a certain angle range, so that the crawler chassis assembly 1 can better match pipes of different shapes and circular pipes of different diameters.

[0037] Combination Figure 1-Figure 3 As shown, in one embodiment of the present invention, the crawler chassis assembly 1 further includes a locking nut 50 , and one end of the rotating shaft 40 passing through the rotating hole is threadedly connected to the locking nut 50 , and the locking nut 50 is used to lock the crawler 20 and the chassis 10 .

[0038] In the embodiment of the utility model, one end of the rotating shaft 40 is a stopper with a larger diameter. When the rotating shaft 40 is inserted into the rotating holes of the mounting portion 11 and the rotating portion 21, the stopper abuts against the rotating portion 21 or the mounting portion 11. The other end of the rotating shaft 40 is connected to the locking nut 50. The locking nut 50 abuts against the side of the mounting portion 11 or the rotating portion 21 away from the stopper, that is, the rotating portion 21 and the mounting portion 11 are fixed between the locking nut 50 and the stopper of the rotating shaft 40. The locking nut 50 is provided to facilitate the track 20 to adjust the angle, and then fix the track 20 and the chassis 10 to improve the stability of the crawler chassis assembly 1 when moving forward. In other embodiments, the angle between the track 20 and the chassis 10 can also be adjusted by a driving member.

[0039] Combination Figure 1 and Figure 2 As shown, in one embodiment of the present invention, at least two mounting portions 11 are provided on one side of the chassis 10 , and the track 20 is provided with at least two rotating portions 21 , each rotating portion 21 being rotatably connected to a mounting portion 11 via a rotating shaft 40 .

[0040] In the embodiment of the utility model, the two rotating parts 21 are arranged on the same side of the crawler 20 and are arranged in sequence along the forward direction of the crawler 20; two mounting parts 11 are arranged on opposite sides of the chassis 10, and the two mounting parts 11 are also arranged in sequence along the forward direction of the crawler 20 and correspond to the positions of the two rotating parts 21. Since the crawler 20 in the present application is connected to the chassis 10 through the rotating shaft 40, by arranging two rotating parts 21 on one side of the crawler 20, and the two mounting parts 11 can be rotatably connected through the two rotating shafts 40, the stability of the connection between the crawler 20 and the chassis 10 is improved.

[0041] Combination Figure 3 As shown, in one embodiment of the present invention, a rotation groove 11a is formed on one side of the mounting portion 11 facing the track 20, and rotation holes are formed on two opposite groove walls of the rotation groove 11a, and the rotation portion 21 is rotatably disposed in the rotation groove 11a.

[0042] In the embodiment of the utility model, the installation groove is opened in the middle position of the installation part 11, and the shape of the installation groove is a rectangular parallelepiped. At the same time, in the groove walls around the installation groove, two opposite groove walls perpendicular to the forward direction of the crawler 20 are opened with rotation holes, and the two opposite groove walls parallel to the forward direction of the crawler 20 are cut off to avoid the crawler 20 when rotating relative to the chassis 10. At the same time, the rotating part 21 is clamped in the rotating groove 11a of the installation part 11, thereby improving the structural strength of the connection between the crawler 20 and the chassis 10.

[0043] Combination Figure 3 As shown, in one embodiment of the present invention, a slot (not shown) is provided on the side of the mounting portion 11 away from the crawler 20, the slot is extended along the forward direction of the crawler 20, and one side of the chassis 10 is embedded in the slot;

[0044] And / or, the side surface of the mounting portion 11 facing the crawler belt 20 is an arc surface.

[0045] In the embodiment of the utility model, the slot is provided on the side of the mounting portion 11 so that the cross-sectional shape of the side of the mounting portion 11 away from the crawler 20 is a concave shape, and the shape and size of the slot are adapted to the chassis 10, so that the chassis 10 can be embedded in the slot, thereby increasing the contact area and connection strength between the mounting portion 11 and the chassis 10. Furthermore, a plurality of mounting holes (not shown) can be provided on the surface of the chassis 10, and the mounting portion 11 and the chassis 10 can be detachably connected by passing through the mounting holes on the surface of the mounting portion 11 and the chassis 10 using bolts, screws and other connecting parts. Since there are a plurality of mounting holes on the surface of the chassis 10, the depth of the chassis 10 embedded in the slot can be adjusted by installing and connecting the mounting portion 11 to the connecting holes at different positions, thereby realizing the adjustment of the spacing between the crawlers 20 on both sides of the chassis 10. By adjusting the distance between the tracks 20 on both sides of the chassis 10 and coordinating the rotation angle of the tracks 20 relative to the chassis 10, the crawler chassis assembly 1 can adjust its size according to pipes of different diameters or sizes, thereby further improving the applicability of the crawler chassis assembly 1.

[0046] In the case where the mounting portion 11 is limited or not limited to be provided with a slot, the side of the mounting portion 11 facing the track 20 is designed to be an arc surface, so that when the track 20 rotates relative to the chassis 10, the arc-shaped mounting portion 11 can play a role in avoiding the track 20 during rotation, thereby improving the convenience of the track 20 when rotating and adjusting relative to the chassis 10 and the compactness of the structure of the crawler chassis assembly 1.

[0047] Combination Figure 3 As shown, in one embodiment of the present invention, a scale 211 is provided on the surface of the rotating portion 21 , and a pointer mark is provided on the surface of the mounting portion 11 . The pointer mark and the scale 211 cooperate to display the angle between the axial direction of the track 20 and the top surface of the chassis 10 .

[0048] In the embodiment of the utility model, due to the different shapes and diameters of the pipes and channels, the angles of the axial direction of the crawler 20 relative to the top surface or the bottom surface of the chassis 10 are also different. Therefore, in order to improve the convenience of adjusting the angle between the crawler 20 and the chassis 10, a pointer mark is set on the mounting portion 11, and a scale 211 is set on the rotating portion 21. According to the actual diameter of the pipe and channel to be cleaned, the angle between the crawler 20 and the chassis 10 can be calculated, and the angle between the crawler 20 and the chassis 10 can be accurately and quickly adjusted according to the scale 211 on the rotating portion 21. The pointer mark set on the surface of the mounting portion 11 can be a notch opened on the surface of the mounting portion 11, and the angle between the crawler 20 and the chassis 10 is displayed by the value of the scale 211 corresponding to the notch. In other embodiments, the pointer mark can also be a marking line, a pointer, etc. set on the surface of the mounting portion 11.

[0049] In one embodiment of the present invention, the angle between the axial direction of the crawler 20 and the top surface of the chassis 10 is in the range of 0° to 60°.

[0050] In the embodiment of the present invention, when the angle between the axial direction of the crawler 20 and the top surface of the chassis 10 is 0 degrees, that is, the outer peripheral side surface of the crawler 20 is parallel to the ground, it can be used for cleaning square pipes and canals. When the angle between the axial direction of the crawler 20 and the top surface of the chassis 10 is adjusted between 0 and 60 degrees, it can be applied to the cleaning of circular pipes and canals with different supports. At the same time, the larger the angle, the smaller the diameter of the pipe that the crawler chassis assembly 1 can enter. However, the larger angle between the crawler 20 and the chassis 10 will also affect the overall stability of the crawler chassis assembly 1. Therefore, the present application designs the angle range between the axial direction of the crawler 20 and the top surface of the chassis 10 to be 0 to 60 degrees, so that it can be applied to the cleaning of circular pipes and canals with a larger diameter range under the condition of ensuring the overall stability of the crawler chassis assembly 1. (The top or bottom surface of the chassis 10 mentioned in the present application is a horizontal plane. When the top or bottom surface of the chassis 10 is a non-horizontal plane, the rotation angle of the crawler 20 can be confirmed relative to the ground at this time)

[0051] Combination Figure 1 and Figure 4 As shown, in one embodiment of the present invention, the driving mechanism 30 is a motor, which is disposed inside the crawler 20 . A gear assembly 32 is also disposed inside the crawler 20 , and the motor is drivingly connected to the crawler 20 via the gear assembly 32 .

[0052] And / or, a driven wheel 31 is provided inside the crawler track 20, and the crawler chassis assembly 1 also includes a tensioning screw 60, one end of the tensioning screw 60 is connected to the driven wheel 31, and the other end is threadedly connected to the crawler track 20, and the tensioning screw 60 is rotated to adjust the tension of the crawler track 20.

[0053] In the embodiment of the utility model, the crawler 20 includes a main structure (not shown) and a track shoe (not shown), and a mounting cavity is formed inside the main structure, and the motor and the gear assembly 32 are both arranged in the mounting cavity, thereby improving the compactness of the crawler 20 structure, and the main structure also protects the motor and the gear assembly 32. The main structure is in the shape of a cylinder, and the track shoe is arranged around the outer periphery of the main structure and is connected to the motor drive, so that the crawler 20 rotates relative to the main structure and drives the main structure forward or backward.

[0054] Furthermore, the motor is a motor with a reducer, and the gear assembly 32 includes a driving bevel gear 325, a driving gear 324, an idler gear 323, a driving wheel gear 322, and a driving wheel 321 that are sequentially connected in a transmission manner. The motor with a reducer is drivingly connected to the driving bevel gear 325, and the driving wheel 321 is drivingly connected to the track plate. Therefore, the present application transmits power to the driving gear 324 through the driving bevel gear 325 of the motor with a reducer, and the driving gear 324 transmits power to the driving wheel gear 322 through the idler gear 323, so that the driving wheel 321 has enough power to drive the crawler 20. At the same time, the driving bevel gear 325, the driving gear 324, the idler gear 323, the driving wheel gear 322, and the driving wheel 321 are sequentially arranged in the main structure of the crawler 20 along the forward direction of the crawler 20, further improving the structural compactness of the crawler 20.

[0055] In the case where the motor and gear assembly 32 are provided inside the crawler 20 or not, a driven wheel 31 is also provided inside the crawler 20. The driven wheel 31 is provided inside the main structure and is located on the side of the driving mechanism 30 away from the forward direction of the crawler 20. At the same time, the driven wheel 31 is also connected to the crawler 20 in a transmission manner. The driving mechanism 30 drives the crawler 20 toward the side of the forward direction, driving the driven wheel 31 and the crawler 20 to rotate, so as to realize the forward or backward movement of the crawler 20. An adjustment hole is provided on the surface of the main structure, and one end of the driven wheel 31 is embedded in the adjustment hole. At the same time, the track plate and the driven wheel 31 are respectively threadedly connected by the tensioning screw 60, and the tensioning degree of the crawler 20 is adjusted by tightening or loosening the tensioning screw 60, so as to facilitate the maintenance of the crawler 20.

[0056] The utility model also proposes a pipe canal dredging robot, which includes a dredging mechanism and a crawler chassis assembly 1. The specific structure of the crawler chassis assembly 1 refers to the above embodiment. Since the pipe canal dredging robot adopts all the technical solutions of all the embodiments of the crawler chassis assembly 1, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here. Among them, the dredging mechanism is installed on the chassis 10 of the crawler chassis assembly 1, and the crawler chassis assembly 1 drives the dredging mechanism to move along the inner wall of the pipe canal, so that the dredging mechanism can clean the silt inside the pipe canals of different shapes and diameters.

[0057] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A crawler chassis assembly, characterized in that: The crawler chassis comprises: Chassis; Two crawlers, the two crawlers are rotatably disposed on two sides of the chassis; and A driving mechanism is connected to the crawler to drive the crawler to rotate and drive the chassis to move forward. The angle between the axial direction of the crawler and the top surface of the chassis can be adjusted so that the two side surfaces of the crawler fit the inner wall of the pipeline.

2. The crawler chassis assembly according to claim 1, characterized in that: The track is provided with a rotating part, and mounting parts are provided on both sides of the chassis. The rotating part and the mounting part are both provided with rotating holes. The track-type chassis assembly also includes a rotating shaft, which passes through the rotating holes of the rotating part and the mounting part in sequence. The track is rotatably connected to the chassis via the rotating shaft.

3. The crawler chassis assembly according to claim 2, characterized in that: The crawler chassis assembly also includes a locking nut, and one end of the rotating shaft passing through the rotating hole is threadedly connected to the locking nut, and the locking nut is used to lock the crawler and the chassis.

4. The crawler chassis assembly according to claim 2, characterized in that: At least two mounting parts are provided on one side of the chassis, and at least two rotating parts are provided on the crawler track. Each rotating part is rotatably connected to a mounting part through a rotating shaft.

5. The crawler chassis assembly according to any one of claims 2 to 4, characterized in that: A rotation groove is provided on one side of the mounting portion facing the crawler belt, and the rotation holes are provided on two opposite groove walls of the rotation groove. The rotation portion is rotatably arranged in the rotation groove.

6. The crawler chassis assembly according to claim 5, characterized in that: A slot is formed on the side of the mounting portion away from the crawler, the slot is extended along the forward direction of the crawler, and one side of the chassis is embedded in the slot; And / or, the side surface of the mounting portion facing the crawler track is an arc surface.

7. A crawler chassis assembly according to any one of claims 2 to 4, characterized in that: The surface of the rotating part is provided with a scale, and the surface of the mounting part is provided with a pointer mark, and the pointer mark cooperates with the scale to display the angle between the axial direction of the crawler and the top surface of the chassis.

8. The crawler chassis assembly according to claim 7, characterized in that: The angle between the axial direction of the crawler and the top surface of the chassis ranges from 0° to 60°.

9. The crawler chassis assembly according to any one of claims 1 to 4, characterized in that: The driving mechanism is a motor, which is arranged inside the crawler. A gear assembly is also arranged inside the crawler, and the motor is drivingly connected to the crawler through the gear assembly. And / or, a driven wheel is provided inside the track, and the track-type chassis assembly also includes a tensioning screw, one end of which is connected to the driven wheel, and the other end is threadedly connected to the track, and the tensioning screw is rotated to adjust the tension of the track.

10. A canal desilting robot, characterized in that: The pipeline dredging robot comprises a dredging mechanism and a crawler chassis assembly as claimed in any one of claims 1 to 9.

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