Crawler belt structure capable of achieving single-rail steering function

Abstract

The utility model discloses a track structure capable of achieving a single-track steering function, belongs to the technical field of tracks, and aims to solve the problem that a steering mechanism of a double-track vehicle in the prior art is complex. The track structure achieving the single-track steering function comprises a plurality of track units (10). Each track unit (10) comprises a track shoe (1), a middle connector (2), a first pin shaft (3) and a second pin shaft (4). In the two crawler units (10) which are adjacent front and back, the crawler plates (1) of the two crawler units (10) can rotate around the first pin shafts (3) of the crawler units (10) on the rear portion, and the crawler plates (1) of the two crawler units (10) can rotate around the second pin shafts (4) of the crawler units (10) on the front portion. After the track structure achieving the single-track steering function is installed and used on a vehicle, a single track has the steering function while having power, and the maintenance difficulty is lowered.

Description

Technical Field

[0001] The utility model relates to the technical field of crawlers, in particular to a crawler structure that realizes the single-track steering function. Background Art

[0002] According to the characteristics of crawlers, crawler vehicles have advantages such as high cross-country ability and strong load-carrying capacity, and are widely used in agricultural machinery, engineering vehicles and military vehicles. At present, most crawler vehicles are equipped with two or more crawlers, and the steering effect is achieved by the differential rotation or reverse rotation of the two crawlers. Due to the limitation of the double-crawler steering principle, double-crawler vehicles must be equipped with two or more crawlers, which inevitably affects the width of the crawler vehicle by the number and width of the crawlers, that is, the vehicle width must be greater than or approximately equal to the width of two crawlers. At the same time, because the vehicle steering needs to be achieved by the rotation of two crawlers at different speeds and in different directions, it is required that the crawler vehicle must rely on a coaxial non-directional transmission mechanism or a similar complex steering mechanism, and the above mechanism also increases the structural complexity of the crawler vehicle. Content of the Utility Model

[0003] In order to solve the problem of the complex steering mechanism of double-crawler vehicles in the prior art, the utility model provides a crawler structure that realizes the single-track steering function. After the crawler structure that realizes the single-track steering function is installed and used on the vehicle, a single crawler has the steering function while having power, and at the same time simplifies the structure of the crawler vehicle and reduces the width limitation of the crawler vehicle, so that some small crawler vehicles, such as crawler motorcycles, etc., can reduce the number of crawlers from two to one, simplifies the steering structure in front of the vehicle, and also reduces the difficulty of maintenance. At the same time, because the crawler can swing laterally and deviate, it gets rid of the limitation of rotating along a straight line, improves the power consumption of the crawler vehicle when turning, and also reduces the wear on the crawler components.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A crawler structure for realizing single-track steering function, comprising a plurality of crawler units, each crawler unit containing a crawler plate, a middle connector, a first pin shaft and a second pin shaft; in one crawler unit, the first pin shaft extends in the up-down direction, the second pin shaft extends in the left-right direction, a middle pin ear is arranged in the middle of the front end of the crawler plate, and side pin ears are fixedly connected to both the left and right sides of the rear end of the crawler plate. The middle connector is located between the two side pin ears in the left-right direction. The middle connector is hinged to the middle pin ear through the first pin shaft, and the two ends of the second pin shaft are correspondingly connected to the two side pin ears; in two adjacent front and rear crawler units, the second pin shaft of the front crawler unit passes through the middle connector of the rear crawler unit, and the second pin shaft of the front crawler unit and the first pin shaft of the rear crawler unit are arranged at intervals in the front-rear direction. The crawler plates of the two crawler units can both rotate around the first pin shaft of the rear crawler unit, and the crawler plates of the two crawler units can both rotate around the second pin shaft of the front crawler unit.

[0006] In one crawler unit, the crawler plate is of a rectangular plate structure, the length direction of the crawler plate is parallel to the left-right direction, the width direction of the crawler plate is parallel to the front-rear direction, and the thickness direction of the crawler plate is parallel to the up-down direction.

[0007] The side pin ear is of a cylindrical structure, a first side pin hole is arranged inside the side pin ear, the first side pin hole extends in the left-right direction, and the end of the second pin shaft is inserted into the first side pin hole.

[0008] The side pin ear is located above the upper surface of the crawler plate, the first side pin hole is located behind the crawler plate, and the side pin ear is fixedly connected to the crawler plate as a whole.

[0009] The outer peripheral surface of the side pin ear contains an outer side section and an inner side section connected in sequence along the axis direction of the first side pin hole. The cross section of the upper outer peripheral surface of the outer side section is a semi-circle with the opening facing downwards, and an induction tooth is fixedly connected above the inner side section.

[0010] The induction tooth is of an inverted U-shaped structure, the cross section of the upper outer peripheral surface of the induction tooth is a semi-circle with the opening facing downwards, and a dredging port is arranged inside the induction tooth, and the dredging port penetrates through the induction tooth in the left-right direction.

[0011] Support blocks are fixedly connected to both the left and right sides of the upper surface of the crawler plate. In the left-right direction, the middle connector is located between the two support blocks, and the two support blocks are located between the two side pin ears.

[0012] The front part and the middle part of the support block are fixedly connected to the crawler plate as a whole. A second side pin hole is arranged inside the rear part of the support block. The second side pin hole is located behind the crawler plate, the second side pin hole extends in the left-right direction, and the second pin shaft passes through the second side pin hole.

[0013] The support block on the left is fixedly connected to the side pin ear on the left as a whole. The second side pin hole of the support block on the left communicates with the first side pin hole of the side pin ear on the left. The support block on the right is fixedly connected to the side pin ear on the right as a whole. The second side pin hole of the support block on the right communicates with the first side pin hole of the side pin ear on the right. The silt drainage opening on the left is higher than the upper surface of the support block on the left. The silt drainage opening on the right is higher than the upper surface of the support block on the right.

[0014] In a crawler unit, the projection of the front part of the middle connector on the horizontal plane is rectangular, and the projections of the middle and rear parts of the middle connector on the horizontal plane are triangular. A first upper middle pin hole is provided in the middle and rear parts of the middle connector, and the axis of the first upper middle pin hole extends in the up-down direction. A second upper middle pin hole is provided in the front part of the middle connector, and the second upper middle pin hole extends in the left-right direction. The middle pin ear is a semi-circular structure protruding forward, and the middle pin ear contains a lower middle pin hole. A part of the lower middle pin hole is located within the middle pin ear, and the other part of the lower middle pin hole is located within the crawler plate. In two adjacent crawler units in the front-rear direction, the second pin shaft of the front crawler unit passes through the second upper middle pin hole of the middle connector of the rear crawler unit, and the first pin shaft of the rear crawler unit passes through the first upper middle pin hole and the lower middle pin hole of the rear crawler unit.

[0015] The beneficial effects of the present utility model are as follows: A single crawler has a steering function while having power. At the same time, the structure of the crawler vehicle is simplified, and the width limit of the crawler vehicle is reduced, enabling some small crawler vehicles, such as crawler motorcycles, etc., to reduce the number of crawlers from two to one, simplifying the steering structure in front of the vehicle and also reducing the difficulty of maintenance. At the same time, because the crawler can swing laterally and offset, it gets rid of the limitation of rotating along a straight line, improving the power consumption of the crawler vehicle when turning and also reducing the wear on the crawler components. It improves the mobility of the crawler vehicle, enriches the types of single-track crawler vehicles, and expands the use scenarios and market development space of single-track crawler vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The specification drawings forming a part of this application are used to provide a further understanding of the present utility model. The schematic embodiments of the present utility model and their descriptions are used to explain the present utility model and do not constitute an improper limitation to the present utility model.

[0017] Figure 1 It is a schematic front view of the disassembled crawler structure for realizing the single-track steering function of the present utility model.

[0018] Figure 2 It is a schematic three-dimensional view of the disassembled crawler structure for realizing the single-track steering function of the present utility model.

[0019] Figure 3 It is a schematic diagram of the connection between the crawler structure for realizing the single-track steering function of the present utility model and the wheel.

[0020] Figure 4 It is a schematic diagram of a wheel.

[0021] Figure 5 It is a schematic diagram of the usage state of the crawler structure that realizes the single-rail steering function described in the present utility model.

[0022] 1. Crawler plate; 2. Middle coupler; 3. First pin shaft; 4. Second pin shaft; 5. Side pin ear; 6. Support block; 7. Middle pin ear; 8. Inducing tooth;

[0023] 10. Crawler unit; 11. Frame; 12. Steering handlebar; 13. Shaft coupling ear; 14. Wheel; 15. Front fork;

[0024] 201. First upper middle pin hole; 202. Second upper middle pin hole;

[0025] 501. First side pin hole; 502. Outer segment; 503. Inner segment;

[0026] 601. Second side pin hole;

[0027] 701. Lower middle pin hole;

[0028] 801. Drainage opening;

[0029] 1401. First outer large diameter segment; 1402. Second middle large diameter segment; 1403. Intermediate small diameter segment; 1404. First insertion groove. Detailed implementation manners

[0030] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will describe the present utility model in detail with reference to the drawings and in combination with the embodiments.

[0031] For the convenience of understanding and description, the following description of the present utility model adopts absolute positional relationships. Without special instructions, the orientation word "up" represents the direction perpendicular to Figure 1 the paper surface and pointing outside the paper surface, the orientation word "down" represents the direction perpendicular to Figure 1 the paper surface and pointing inside the paper surface, the orientation word "left" represents Figure 1 the left side direction in Figure 1 the right side direction in Figure 1 the upper side direction in Figure 1 the lower side direction in

[0032] Such asFigures 1 to 2 As shown in the figure, a crawler structure capable of realizing the single-track steering function according to an embodiment of the present utility model includes a plurality of crawler units 10, and each crawler unit 10 includes a crawler plate 1, a middle connector 2, a first pin shaft 3, and a second pin shaft 4; in one crawler unit 10, the first pin shaft 3 extends in the up-down direction (the axis of the first pin shaft 3 is parallel to the up-down direction), the second pin shaft 4 extends in the left-right direction (the axis of the second pin shaft 4 is parallel to the left-right direction), a middle pin ear 7 is provided in the middle of the front end of the crawler plate 1, and side pin ears 5 are fixedly connected to both the left and right sides of the rear end of the crawler plate 1. The middle connector 2 is located between the two side pin ears 5 in the left-right direction, the middle connector 2 is located at the front part of the crawler plate 1, the middle connector 2 is hinged to the middle pin ear 7 through the first pin shaft 3, and the two ends of the second pin shaft 4 are respectively connected to the two side pin ears 5 in a one-to-one correspondence; in two adjacent crawler units 10 in the front and rear, the second pin shaft 4 of the front crawler unit 10 passes through the middle connector 2 of the rear crawler unit 10, and the second pin shaft 4 of the front crawler unit 10 and the first pin shaft 3 of the rear crawler unit 10 are arranged at intervals in the front and rear. The crawler plates 1 of the two crawler units 10 can rotate a set first angle around the first pin shaft 3 of the rear crawler unit 10, and the crawler plates 1 of the two crawler units 10 can rotate a set second angle around the second pin shaft 4 of the front crawler unit 10.

[0033] That is, the crawler plates 1 of the two crawler units 10 can rotate a set first angle with the axis of the first pin shaft 3 of the rear crawler unit 10 as the axis, and the crawler plates 1 of the two crawler units 10 can rotate a set second angle with the axis of the second pin shaft 4 of the front crawler unit 10 as the axis.

[0034] In one crawler unit 10, the crawler plate 1 can be a rectangular plate structure, the crawler plate 1 can be in a horizontal state, the length direction of the crawler plate 1 is parallel to the left-right direction, the width direction of the crawler plate 1 is parallel to the front-back direction, and the thickness direction of the crawler plate 1 is parallel to the up-down direction. The length of the crawler plate 1 can be 2 to 8 times the width of the crawler plate 1.

[0035] The side pin ear 5 has a cylindrical structure, a first side pin hole 501 is provided in the side pin ear 5, the first side pin hole 501 extends in the left-right direction, and the end of the second pin shaft 4 is inserted into the first side pin hole 501. The second pin shaft 4 and the first side pin hole 501 are in transitional fit or clearance fit.

[0036] As Figures 1 to 2 shown, in order to prevent the side pin ear 5 from hindering the rotation of the crawler plate 1 around the first pin shaft 3, the side pin ear 5 is located above the upper surface of the crawler plate 1, the first side pin hole 501 is located behind the crawler plate 1, and the side pin ear 5 and the crawler plate 1 are fixedly connected and integrated up and down.

[0037] The outer peripheral surface of the side pin ear 5 includes an outer segment 502 and an inner segment 503 that are sequentially connected along the axis direction of the first side pin hole 501. The lengths of the outer segment 502 and the inner segment 503 can be substantially the same. The cross-section of the upper outer peripheral surface of the outer segment 502 is a semi-circle with the opening facing downwards. An induction tooth 8 is fixedly connected above the inner segment 503.

[0038] As Figures 1 to 2 shown, the induction tooth 8 and the side pin ear 5 are fixedly connected as a whole. The induction tooth 8 has an inverted U-shaped structure. The cross-section of the upper outer peripheral surface of the induction tooth 8 is a semi-circle with the opening facing downwards. A silt passage port 801 is provided inside the induction tooth 8, and the silt passage port 801 penetrates the induction tooth 8 in the left-right direction. The silt passage port 801 can improve the silt discharge capacity of the crawler and reduce the weight of the crawler.

[0039] Support blocks 6 are fixedly connected to both the left and right sides of the upper surface of the crawler plate 1. The support blocks 6 are substantially in the shape of a horizontal plate. The function of the support blocks 6 is to transfer the weight of the vehicle body to the crawler plate 1. In the left-right direction, the middle connector 2 is located between the two support blocks 6, and the two support blocks 6 are located between the two side pin ears 5. The two support blocks 6 are arranged at intervals left and right, and the two side pin ears 5 are arranged at intervals left and right. Wear-resistant metal layers or rubber layers can be provided on the upper surface of the support blocks 6 and the lower surface of the crawler plate 1.

[0040] As Figures 1 to 2 shown, to prevent the side pin ear 5 from hindering the rotation of the crawler plate 1 around the first pin shaft 3, the support block 6 is located above the crawler plate 1. The front part and the middle part of the support block 6 are fixedly connected to the crawler plate 1 up and down as a whole. A second side pin hole 601 is provided inside the rear part of the support block 6. The second side pin hole 601 is located behind the crawler plate 1 and extends in the left-right direction. The second pin shaft 4 passes through the second side pin hole 601, and the second pin shaft 4 has a transition fit or a clearance fit with the second side pin hole 601.

[0041] The left support block 6 is fixedly connected to the left side pin ear 5 as a whole. The second side pin hole 601 of the left support block 6 is communicated with the first side pin hole 501 of the left side pin ear 5. The right support block 6 is fixedly connected to the right side pin ear 5 as a whole. The second side pin hole 601 of the right support block 6 is communicated with the first side pin hole 501 of the right side pin ear 5.

[0042] The left support block 6 is located inside the left side pin ear 5, and the right support block 6 is located inside the right side pin ear 5. In the left-right direction, the left support block 6, the left induction tooth 8, and the left outer segment 502 are arranged in sequence, and the right support block 6, the right induction tooth 8, and the right outer segment 502 are arranged in sequence.

[0043] The support block 6 on the left and the support block 6 on the right are symmetric about the left and right and are mirror images of each other. The side pin ears 5 on the left and the side pin ears 5 on the right are symmetric about the left and right and are mirror images of each other. The guiding teeth 8 on the left and the guiding teeth 8 on the right are symmetric about the left and right and are mirror images of each other. The sludge discharge port 801 on the left is higher than the upper surface of the support block 6 on the left, and the sludge discharge port 801 on the right is higher than the upper surface of the support block 6 on the right. The upper surface of the support block 6 can be a flat surface or an arc surface.

[0044] As Figures 1 to 2 shown, in a crawler unit 10, the middle connector 2 can be generally in a flat plate structure. The projection of the front part of the middle connector 2 on the horizontal plane is a rectangle, and the projections of the middle and rear parts of the middle connector 2 on the horizontal plane are triangles. A first upper middle pin hole 201 is provided in the middle and rear parts of the middle connector 2, and the axis of the first upper middle pin hole 201 extends in the up and down direction. A second upper middle pin hole 202 is provided in the front part of the middle connector 2, and the second upper middle pin hole 202 extends in the left and right direction. The second upper middle pin hole 202 and the first upper middle pin hole 201 are arranged at intervals in the front and rear. The middle pin ear 7 is a semi-circular structure protruding forward. The middle pin ear 7 is fixedly connected to the crawler plate 1 front and rear as a whole. The middle pin ear 7 contains a lower middle pin hole 701. A part of the lower middle pin hole 701 is located in the middle pin ear 7, and another part of the lower middle pin hole 701 is located in the crawler plate 1. The distances from the axis of the lower middle pin hole 701 to the left and right ends of the crawler plate 1 are the same.

[0045] In a crawler unit 10, the middle connector 2, the first pin shaft 3, and the middle pin ear 7 are independent of each other, as Figure 1 and Figure ② shown. Alternatively, the middle connector 2 and the first pin shaft 3 are connected as a whole (i.e., an integral structure), and the first pin shaft 3 is detachably connected to the middle pin ear 7. Alternatively, the middle pin ear 7 and the first pin shaft 3 (and the crawler plate 1) are connected as a whole (i.e., an integral structure), and the first pin shaft 3 is detachably connected to the middle connector 2. Washers or shims can also be used when the first pin shaft 3 is installed and connected.

[0046] In two adjacent crawler units 10 front and rear, the second pin shaft 4 of the front crawler unit 10 passes through the second upper middle pin hole 202 of the middle connector 2 of the rear crawler unit 10. The second pin shaft 4 has an interference fit or a clearance fit with the second upper middle pin hole 202. The first pin shaft 3 of the rear crawler unit 10 passes through the first upper middle pin hole 201 and the lower middle pin hole 701 of the rear crawler unit 10. The first pin shaft 3 has an interference fit or a clearance fit with the first upper middle pin hole 201, and the first pin shaft 3 has an interference fit or a clearance fit with the lower middle pin hole 701.

[0047] The following introduces a vehicle, as Figures 1 to 5As shown, the vehicle includes a frame 11, and a wheel 14, a front fork 15, and a steering handlebar 12 that are sequentially connected. The front fork 15 is connected to the frame 11 through a shaft coupling ear 13. The vehicle also only includes one above-mentioned crawler structure that realizes the single-track steering function (which can also be called a crawler capable of realizing single-track steering). The wheel 14 is connected to the crawler structure that realizes the single-track steering function. The wheel 14 can drive the crawler structure that realizes the single-track steering function to move forward and turn.

[0048] Along the circumference of the wheel 14, the outer peripheral surface of the wheel 14 includes a first outer large-diameter section 1401, a second middle large-diameter section 1402, an intermediate small-diameter section 1403, a second middle large-diameter section 1402, and a first outer large-diameter section 1401 that are sequentially connected. The outer diameter of the first outer large-diameter section 1401 is greater than the outer diameter of the second middle large-diameter section 1402, and the outer diameter of the second middle large-diameter section 1402 is greater than the outer diameter of the intermediate small-diameter section 1403.

[0049] The first outer large-diameter section 1401 corresponds to the outer side section 502. The edge of the first outer large-diameter section 1401 includes a plurality of first insertion grooves 1404. The plurality of first insertion grooves 1404 are evenly spaced along the circumference of the first outer large-diameter section 1401. The first insertion grooves 1404 can be inserted into the outer side section 502 in a matching manner. The second middle large-diameter section 1402 corresponds to the induction tooth 8. The edge of the second middle large-diameter section 1402 includes a plurality of second insertion grooves. The plurality of second insertion grooves are evenly spaced along the circumference of the second middle large-diameter section 1402. The second insertion grooves can be inserted into the induction tooth 8 in a matching manner. The way of the second insertion grooves being inserted into the induction tooth 8 in a matching manner is the same as the way of the first insertion grooves 1404 being inserted into the outer side section 502 in a matching manner. The intermediate small-diameter section 1403 can be in contact with the upper surface of the support block 6.

[0050] As Figures 3 to 5 shown, the matching insertion of the first insertion grooves 1404 into the outer side section 502 is similar to the meshing connection of gears. The matching insertion of the first insertion grooves 1404 into the outer side section 502 can prevent the wheel 14 from detaching from the crawler structure that realizes the single-track steering function. The matching insertion of the second middle large-diameter section 1402 into the induction tooth 8 is also similar to the meshing connection of gears, which can better guide the matching insertion of the first insertion grooves 1404 into the outer side section 502.

[0051] When the wheel 14 rotates, the wheel 14 can drive the crawler structure that realizes the single-track steering function to move forward, and the wheel 14 can transmit power to the crawler structure that realizes the single-track steering function. When steering is required, the steering handlebar 12 drives the front fork 15 and the wheel 14 to swing left or right. Among the two adjacent crawler units 10 in front and behind below the front fork 15, the crawler plates 1 of the two crawler units 10 can all rotate correspondingly around the first pin shaft 3 of the rear crawler unit 10, so as to realize the steering function of the crawler structure that realizes the single-track steering function.

[0052] By applying the crawler structure capable of realizing the single-rail steering function to a crawler motorcycle, the wheel type and sled steering structures in the existing design can be removed, and a steering device such as a motorcycle handlebar can be adopted. By twisting the steering handlebar 12, the vehicle can be guided to turn. Therefore, since the driver sits on the rear driver's seat of the motorcycle and most of the weight is on the load-bearing wheels at the rear end, there will be no great turning resistance when twisting the handlebar to guide the vehicle to turn. In order to optimize the vehicle turning performance, a guiding wheel for auxiliary steering can also be added in the middle of the vehicle to improve the steering efficiency. Since the whole vehicle adopts a crawler structure without an additional wheel type or sled steering mechanism, the maintenance cost and difficulty of the crawler vehicle are reduced, and the passability of the vehicle on various road surfaces is improved. For a motorcycle originally designed with two crawlers, the width of the vehicle can also be reduced by changing the installation of the crawlers from both sides to directly below the middle of the vehicle, thereby improving the passing ability of the vehicle on narrow roads.

[0053] Glossary of terms:

[0054] Single-rail steerable: Relying on a single track and having the steering function.

[0055] Single-rail crawler: A single crawler that provides a continuous rolling track for the equipment (load-bearing wheels) to improve passability.

[0056] The above are only specific embodiments of the present invention, and the scope of implementation of the invention cannot be limited by them. Therefore, the replacement of equivalent components or the equivalent changes and modifications made according to the scope of protection of the present invention patent should still fall within the scope covered by this patent. In addition, the technical features in the present invention can be freely combined with each other, as well as the technical features with the technical solutions and the technical solutions with the technical solutions.

Claims

1. A crawler structure for realizing single-track steering function, comprising a plurality of crawler units (10), characterized in that, Each crawler unit (10) includes a crawler plate (1), a middle connector (2), a first pin shaft (3) and a second pin shaft (4); In one crawler unit (10), the first pin shaft (3) extends in the up and down direction, the second pin shaft (4) extends in the left and right direction. In the middle of the front end of the crawler plate (1), a middle pin ear (7) is provided. On the left and right sides of the rear end of the crawler plate (1), side pin ears (5) are fixedly connected. The middle connector (2) is located between the two side pin ears (5) in the left and right direction. The middle connector (2) is hinged to the middle pin ear (7) through the first pin shaft (3), and the two ends of the second pin shaft (4) are connected to the two side pin ears (5) in one-to-one correspondence; In two adjacent front and rear crawler units (10), the second pin shaft (4) of the front crawler unit (10) passes through the middle connector (2) of the rear crawler unit (10). The second pin shaft (4) of the front crawler unit (10) and the first pin shaft (3) of the rear crawler unit (10) are arranged at intervals in the front and rear direction. The crawler plates (1) of the two crawler units (10) can both rotate around the first pin shaft (3) of the rear crawler unit (10), and the crawler plates (1) of the two crawler units (10) can both rotate around the second pin shaft (4) of the front crawler unit (10).

2. The crawler structure for realizing the single-rail steering function according to claim 1, characterized in that, In one crawler unit (10), the crawler plate (1) is of a rectangular plate structure. The length direction of the crawler plate (1) is parallel to the left and right direction, the width direction of the crawler plate (1) is parallel to the front and rear direction, and the thickness direction of the crawler plate (1) is parallel to the up and down direction.

3. The crawler structure for realizing the single-track steering function according to claim 2, characterized in that, The side pin ear (5) is of a cylindrical structure. A first side pin hole (501) is provided inside the side pin ear (5). The first side pin hole (501) extends in the left and right direction, and the end of the second pin shaft (4) is inserted into the first side pin hole (501).

4. The crawler structure for realizing the single-rail steering function according to claim 3, characterized in that, The side pin ear (5) is located above the upper surface of the crawler plate (1). The first side pin hole (501) is located behind the crawler plate (1). The side pin ear (5) and the crawler plate (1) are fixedly connected as a whole.

5. The crawler structure for realizing the single-rail steering function according to claim 3, characterized in that, The outer peripheral surface of the side pin ear (5) includes an outer side section (502) and an inner side section (503) connected in sequence along the axial direction of the first side pin hole (501). The cross section of the upper outer peripheral surface of the outer side section (502) is a semi-circle with the opening facing downwards. An induction tooth (8) is fixedly connected above the inner side section (503).

6. The crawler structure for realizing the single-rail steering function according to claim 5, characterized in that, The induction tooth (8) is of an inverted U-shaped structure. The cross section of the upper outer peripheral surface of the induction tooth (8) is a semi-circle with the opening facing downwards. A dredging port (801) is provided inside the induction tooth (8). The dredging port (801) penetrates the induction tooth (8) in the left and right direction.

7. The crawler structure for realizing the single-rail steering function according to claim 6, characterized in that, Support blocks (6) are fixedly connected to both the left and right sides of the upper surface of the crawler plate (1). In the left and right direction, the middle connector (2) is located between the two support blocks (6). The two support blocks (6) are located between the two side pin ears (5).

8. The crawler structure for realizing the single-rail steering function according to claim 7, characterized in that, The front part and the middle part of the support block (6) are fixedly connected to the crawler plate (1) as a whole. A second side pin hole (601) is provided inside the rear part of the support block (6). The second side pin hole (601) is located behind the crawler plate (1). The second side pin hole (601) extends in the left and right direction, and the second pin shaft (4) passes through the second side pin hole (601).

9. The crawler structure for realizing the single-rail steering function according to claim 8, characterized in that, The support block (6) on the left is fixedly connected to the side pin ear (5) on the left as an integral body. The second side pin hole (601) of the support block (6) on the left communicates with the first side pin hole (501) of the side pin ear (5) on the left. The support block (6) on the right is fixedly connected to the side pin ear (5) on the right as an integral body. The second side pin hole (601) of the support block (6) on the right communicates with the first side pin hole (501) of the side pin ear (5) on the right. The silt drainage port (801) on the left is higher than the upper surface of the support block (6) on the left. The silt drainage port (801) on the right is higher than the upper surface of the support block (6) on the right.

10. The crawler structure for realizing the single-track steering function according to claim 1, characterized in that, In a crawler unit (10), the front part of the middle connector (2) projects as a rectangle on the horizontal plane. The middle and rear parts of the middle connector (2) project as a triangle on the horizontal plane. A first upper middle pin hole (201) is provided in the middle and rear parts of the middle connector (2). The axis of the first upper middle pin hole (201) extends in the up and down direction. A second upper middle pin hole (202) is provided in the front part of the middle connector (2). The second upper middle pin hole (202) extends in the left and right direction. The middle pin ear (7) is a semi-circular structure protruding forward. The middle pin ear (7) contains a lower middle pin hole (701). A part of the lower middle pin hole (701) is located within the middle pin ear (7), and the other part of the lower middle pin hole (701) is located within the crawler plate (1). In two adjacent crawler units (10) in the front and rear directions, the second pin shaft (4) of the front crawler unit (10) passes through the second upper middle pin hole (202) of the middle connector (2) of the rear crawler unit (10). The first pin shaft (3) of the rear crawler unit (10) passes through the first upper middle pin hole (201) and the lower middle pin hole (701) of the rear crawler unit (10).

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