Crawler-type self-moving tail capable of rectifying deviation

Abstract

The utility model relates to the technical field of mining devices, in particular to a crawler-type self-moving tail capable of rectifying deviation. The crawler-type self-moving tail capable of correcting the deviation comprises a front walking part frame, a front vehicle stabilizing frame, a front crawler walking device, a belt guide roller, a front bottom carrier roller and a deviation correcting device. The front vehicle stabilizing frame is connected with the front walking part frame, and front crawler walking devices are arranged in the left direction and the right direction of the front walking part frame; a rear walking part frame, a rear vehicle stabilizing frame and a rear crawler walking device; the rear vehicle stabilizing frame is connected with the rear walking part frame, and rear crawler walking devices are arranged in the left direction and the right direction of the rear walking part frame. A power part frame, a power device and a power part sliding plate; the power device is arranged on the power part frame, and the power part sliding plate is connected with the power part frame; and the front end of the power part frame is rotationally connected with the rear end of the rear walking part frame. According to the crawler-type self-moving tail capable of correcting the deviation, the walking speed of the crawler-type self-moving tail capable of correcting the deviation can be increased, and self-correction of the belt can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of mining devices, in particular to a crawler-type self-moving machine tail capable of correcting deviation. Background Art

[0002] With the continuous development of intelligent rapid tunneling equipment in my country's coal mines, rapid tunneling equipment is being used more and more widely in domestic coal mines. At this stage, in order to increase the tunneling speed, a self-moving tail is usually set at the tail of the equipment.

[0003] A self-propelled tail truck includes a crawler mobile chassis, a tail platform, a transfer conveyor system, and a hydraulic pump station. The tail platform is fixed to the top of the crawler mobile chassis, and the transfer conveyor system and hydraulic pump station are both installed above the tail platform. The crawler mobile chassis includes a main frame assembly and a crawler track running device, which drives the main frame assembly and thus the entire self-propelled tail truck. However, this self-propelled tail truck still has the problem of slow travel speed, which cannot meet the requirements of fast tunneling technology. Utility Model Content

[0004] The purpose of the utility model is to provide a crawler-type self-moving machine tail that can correct deviations, so as to solve the technical problem that the self-moving machine tail in the prior art still has a slow walking speed and cannot meet the requirements of fast excavation technology to a certain extent.

[0005] The utility model provides a crawler-type self-moving tail machine with corrective function, comprising: a front traveling part, including a front traveling part frame, a front stabilizing frame, a front crawler traveling device belt guide roller, a front bottom supporting roller and a correcting device; the front stabilizing frame is connected to the front traveling part frame, and the front crawler traveling device is provided on both sides in the width direction of the front traveling part frame; the belt guide roller is movably provided on the front traveling part frame; the front bottom supporting roller is provided on the front traveling part frame at a distance from the belt guide roller in the length direction of the front traveling part frame; the correcting device is transmission-connected to the belt guide roller to drive at least one end of the belt guide roller to move along the length direction of the front traveling part frame; The rear walking part includes a rear walking part frame, a rear stabilizing frame and a rear crawler walking device; the rear stabilizing frame is connected to the rear walking part frame, and the rear crawler walking device is provided on both sides of the width direction of the rear walking part frame; the rear end of the front walking part frame and the front end of the rear walking part frame can be relatively movably arranged; the power part includes a power part frame, a power device and a power part slide plate; the power device is arranged on the power part frame, and the power part slide plate is connected to the power part frame so as to be able to contact the supporting surface; the front end of the power part frame is rotatably connected to the rear end of the rear walking part frame; the power device is respectively transmission-connected to the front crawler walking device and the rear crawler walking device.

[0006] The power unit can drive both the front crawler and rear crawler running gear. The front and rear crawler running gears simultaneously drive the front and rear running gears, thereby driving the entire crawler-type self-propelled machine tail, enabling self-propelled propulsion to match the tunneling speed. The power unit slide plate can contact a support surface (e.g., the ground) and, driven by the front and rear running gears, slide along the support surface, reducing the propulsion resistance of the crawler-type self-propelled machine tail. The crawler-type self-propelled machine tail provided by the utility model utilizes dual crawler running gear, increasing its travel speed and meeting the requirements of a fast tunneling process. Furthermore, the rear end of the front running gear frame and the front end of the rear running gear frame are movable relative to each other, and the front end of the power unit frame is rotatably connected to the rear end of the rear running gear frame, enabling relative left-right and up-and-down swinging of the different parts to adapt to road conditions. Belt guide rollers and a front base support are also provided for belt mounting. The deviation correction device can drive the belt guide roller to move, thereby adjusting the position of the belt guide roller and then adjusting the position of the belt to prevent the belt from deviating due to the deviation of the crawler walking device. The self-moving tail provided in this embodiment can achieve self-correction and better cooperate with the work of the tunnel boring machine.

[0007] Furthermore, the crawler-type self-correcting machine tail also includes: an intermediate transition portion, including a middle frame, a middle stabilizing frame and a middle slide; the middle stabilizing frame is connected to the middle frame, and the middle slide is connected to the middle frame so as to be able to contact the support surface; the front end of the middle frame is rotatably connected to the rear end of the front walking frame, and the rear end of the middle frame is rotatably connected to the front end of the rear walking frame.

[0008] Furthermore, the front traveling frame also includes: a front adjusting frame, which is rotatably connected to the front traveling frame; a front stabilizing frame, which is connected to the front adjusting frame; in the width direction of the front traveling frame, the front stabilizing frames are provided on both sides of the front traveling frame, and the front crawler traveling device is provided on both sides of the front stabilizing frame.

[0009] Furthermore, the rear walking portion also includes: a rear adjustment frame, which is rotatably connected to the rear walking portion frame; a rear stabilizing frame, which is connected to the rear adjustment frame; in the width direction of the rear walking portion frame, the rear stabilizing frames extend out of both sides of the rear walking portion frame, and the rear crawler walking device is provided on both sides of the rear stabilizing frames.

[0010] Furthermore, the power unit also includes: a power unit stabilizing frame, including a power unit connecting frame and a power unit lifting support leg; the power unit lifting support leg is connected to the power unit connecting frame to drive the power unit connecting frame to rise and fall; a power unit correcting device, including a power unit fixed part and a power unit movable part; the power unit fixed part is arranged on the power unit connecting frame, and the power unit movable part is transmission-connected to the power unit frame to drive the power unit frame to move.

[0011] Furthermore, the central stabilizing frame includes a central connecting frame and a central lifting leg; the central lifting leg is connected to the central connecting frame to drive the central connecting frame to rise and fall; the intermediate transition part also includes: a central correcting device, including a central fixed part and a central movable part; the central fixed part is arranged on the central connecting frame, and the central movable part is transmission-connected to the central frame to drive the central frame to move.

[0012] Furthermore, the rear walking part also includes a rear bottom roller arranged on the rear walking part frame; the power part also includes a power part bottom roller arranged on the power part frame; the intermediate transition part also includes a middle bottom roller arranged on the middle frame.

[0013] Furthermore, in the length direction of the power unit frame, both ends of the power unit slide plate are tilted upward; in the length direction of the middle unit frame, both ends of the middle unit slide plate are tilted upward.

[0014] Furthermore, the crawler-type self-moving machine tail that can correct deviations also includes: a rear bracket, which is rotatably connected to the power unit frame; a driving device, which is connected to the rear bracket to drive the rear bracket to move and rotate; and a rear roller, which is arranged on the rear bracket.

[0015] Furthermore, the rear support includes a rear support connecting frame and a rear support leg; one end of the rear support connecting frame is rotatably connected to the power frame, and the other end is connected to the rear support leg; the driving device is a rear support cylinder, one end of the rear support cylinder is rotatably connected to the power frame, and the other end is rotatably connected to the rear support connecting frame.

[0016] It should be understood that both the foregoing general description and the following detailed description are for purposes of illustration and description and are not necessarily limiting of the present disclosure. The accompanying drawings, which are incorporated into and constitute a part of the specification, illustrate the subject matter of the present disclosure. Together, the description and the drawings serve to explain the principles of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a structural diagram of a crawler-type self-moving machine tail with corrective function according to an embodiment of the present invention;

[0019] Figure 2 for Figure 1 The schematic diagram of the structure of the front-end walking part of the crawler-type self-moving machine with corrective function is shown;

[0020] Figure 3 for Figure 1 The structure diagram of the crawler-type self-moving machine tail center rear walking part shown in FIG.

[0021] Figure 4 for Figure 1 The schematic diagram of the structure of the power unit of the tail of the crawler-type self-moving machine with correctable deviation is shown;

[0022] Figure 5 for Figure 1 The structure diagram of the middle transition part in the tail of the crawler-type self-moving machine with correctable deviation is shown.

[0023] icon:

[0024] 1-Front running gear; 11-Front running gear frame; 12-Front stabilizing frame; 13-Front crawler running gear; 14-Front adjustment frame; 15-Belt guide roller; 16-Front bottom roller; 17-Correcting device; 18-Front impact bed;

[0025] 2-rear running gear; 21-rear running gear frame; 22-rear stabilizing frame; 23-rear crawler running gear; 24-rear adjustment frame; 25-rear bottom roller; 26-rear impact bed; 27-material box;

[0026] 3-Power unit; 31-Power unit frame; 32-Power unit; 33-Power unit slide plate; 34-Power unit stabilizing frame; 35-Power unit deviation correction device; 36-Power unit bottom roller; 37-Power unit impact bed; 341-Power unit connecting frame; 342-Power unit lifting legs;

[0027] 4-middle transition section; 41-middle frame; 42-middle stabilizing frame; 43-middle slide plate; 44-middle impact bed; 45-middle bottom roller; 46-middle deviation correcting device; 421-middle connecting frame; 422-middle lifting legs;

[0028] 5- rear bracket; 51- rear bracket connecting frame; 52- rear bracket legs;

[0029] 6-Drive device. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0031] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention.

[0032] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0034] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0035] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0036] like Figures 1 to 5As shown, the utility model provides a crawler-type self-moving tail machine with corrective function, comprising: a front walking part 1, comprising a front walking frame 11, a front stabilizing frame 12, a front crawler walking device 13, a belt guide roller 15, a front bottom roller 16 and a correcting device 17; the front stabilizing frame 12 is connected to the front walking frame 11, and a front crawler walking device 13 is provided on both sides of the width direction (i.e., the left and right directions) of the front walking frame 11; the belt guide roller 15 is movably arranged on the front walking frame 11; the front bottom roller 16 is arranged on the front walking frame 11 at a distance from the belt guide roller 15 in the length direction of the front walking frame 11; the correcting device 17 is transmission-connected to the belt guide roller 15 to drive at least one end of the belt guide roller 15 to move along the length direction of the front walking frame 11 movement; the rear walking part 2, including a rear walking frame 21, a rear stabilizing frame 22 and a rear crawler walking device 23; the rear stabilizing frame 22 is connected to the rear walking frame 21, and rear crawler walking devices 23 are provided on both sides of the width direction (that is, the left and right direction) of the rear walking frame 21; the rear end of the front walking frame and the front end of the rear walking frame can be relatively movable; the power unit 3, including a power unit frame 31, a power device 32 and a power unit slide plate 33; the power device 32 is arranged on the power unit frame 31, and the power unit slide plate 33 is connected to the power unit frame 31 so as to be able to contact the supporting surface; the front end of the power unit frame 31 is rotatably connected to the rear end of the rear walking frame 21; the power device 32 is respectively connected to the front crawler walking device 13 and the rear crawler walking device 23 in transmission.

[0037] In this embodiment, the power unit 32 can drive the front crawler running device 13 and the rear crawler running device 23 simultaneously. The front crawler running device 13 and the rear crawler running device 23 simultaneously drive the front and rear running devices 1 and 2, respectively, thereby driving the entire crawler-type self-propelled machine tail, enabling self-propelled propulsion to match the tunneling speed. The power unit slide plate 33 can contact a support surface (e.g., the ground) and, driven by the front and rear running devices 1 and 2, slide on the support surface, reducing the propulsion resistance of the crawler-type self-propelled machine tail. The crawler-type self-propelled machine tail provided in this embodiment utilizes dual crawler running devices to increase its travel speed, thereby meeting the requirements of a fast tunneling process. Furthermore, the rear end of the front running device frame and the front end of the rear running device frame are movable relative to each other, and the front end of the power unit frame 31 is rotatably connected to the rear end of the rear running device frame 21, enabling relative left-right and up-and-down swinging of the different parts to adapt to road conditions.

[0038] In addition, the belt guide roller 15 and the front base support can be used to install the belt. The deviation correction device 17 can drive the belt guide roller 15 to adjust its position, thereby adjusting the position of the belt and, in turn, the belt, to prevent the belt from shifting due to deviation of the crawler track. The self-moving tail provided in this embodiment can achieve self-correction, better cooperating with tunneling operations.

[0039] The correcting device 17 may include a displacement sensor and a correcting power element (e.g., a hydraulic cylinder, pneumatic cylinder, or electric telescopic rod) connected to the displacement sensor. The displacement sensor measures the displacement of the belt guide roller 15. After receiving the information from the displacement sensor, the correcting power element drives the belt guide roller 15 to move, thereby correcting the deviation. Optionally, the correcting device 17 is an inductive correcting cylinder. A sensor within the inductive correcting cylinder identifies the direction of the track deviation. The sensor feeds this deviation information back to an onboard controller, which can then control the inductive correcting cylinder to adjust its length, thereby achieving an automatic correcting function. Furthermore, the use of an inductive correcting cylinder facilitates control by utilizing the hydraulic power unit 32 at the tail of the crawler-type self-moving machine with correctable deviation.

[0040] Optionally, in the width direction of the front walking portion 1 , both sides of the belt guide roller 15 are connected with a correction device 17 , which can correct the belt guide roller 15 more accurately.

[0041] The power unit 3 can be an electric device. Alternatively, the power unit 3 can be a hydraulic power unit 32. A front crawler chassis is provided under the front traveling frame 11, and the hydraulic power unit 32 is connected to the front crawler traveling device 13 via the front crawler chassis. A rear crawler chassis is provided under the rear traveling frame 21, and the hydraulic power unit 32 is connected to the rear crawler traveling device 23 via the rear crawler chassis. The hydraulic power unit 32 provides reliable and sufficient power.

[0042] like Figure 1 and Figure 5 As shown, on the basis of the above embodiment, the crawler-type self-correcting and self-moving machine tail further includes: an intermediate transition portion 4, including a middle frame 41, a middle stabilizing frame 42 and a middle slide 43; the middle stabilizing frame 42 is connected to the middle frame 41, and the middle slide 43 is connected to the middle frame 41, so as to be able to contact the supporting surface; the front end of the middle frame 41 is rotatably connected to the rear end of the front walking frame 11, and the rear end of the middle frame 41 is rotatably connected to the front end of the rear walking frame 21.

[0043] In this embodiment, the middle slide plate 43 can contact a support surface (e.g., the ground), thereby sliding on the support surface driven by the front and rear running parts 1 and 2, thereby reducing the running resistance of the crawler-type self-correcting and self-moving tail. The provision of the middle transition portion 4 can achieve certain functions as needed. The provision of the middle transition portion 4 can adjust the length of the crawler-type self-correcting and self-moving tail.

[0044] like Figure 2 As shown, on the basis of the above embodiment, the front traveling frame 11 further includes: a front adjusting frame 14, which is rotatably connected to the front traveling frame 11; a front stabilizing frame 12, which is connected to the front adjusting frame 14; in the width direction of the front traveling frame 11, front stabilizing frames 12 are provided on both sides of the front traveling frame 11, and front crawler traveling devices 13 are provided on both sides of the front stabilizing frame 12.

[0045] In this embodiment, the front adjusting frame 14 is rotatably connected to the front traveling frame 11 (which can be achieved through bearings or shaft hole matching, etc.), the front stabilizing frame 12 and the front adjusting frame 14 can be fixedly connected, and the front crawler traveling device 13 is installed on the front stabilizing frame 12, so that the front traveling frame 11 of the crawler traveling device can be rotated. In the case that the crawler traveling device turns or deviates, the front traveling frame 11 can still maintain its original position to a certain extent, thereby reducing the correction amount of the correction device 17.

[0046] like Figure 2 As shown, based on the above embodiment, the front traveling part 1 further includes a front buffer bed 18 arranged on the front traveling part frame 11, and the front buffer bed 18 can protect the belt arranged thereunder.

[0047] like Figure 3 As shown, on the basis of the above embodiment, the rear walking part 2 further includes: a rear adjustment frame 24, which is rotatably connected to the rear walking part frame 21; a rear stabilizing frame 22, which is connected to the rear adjustment frame 24; in the width direction of the rear walking part frame 21, the rear stabilizing frames 22 extend out of both sides of the rear walking part frame 21, and rear crawler walking devices 23 are provided on both sides of the rear stabilizing frames 22.

[0048] In this embodiment, the rear adjusting frame 24 is rotatably connected to the rear walking frame 21 (which can be achieved by bearings or shaft hole matching, etc.), the rear stabilizing frame 22 and the rear adjusting frame 24 can be fixedly connected, and the rear crawler walking device 23 is installed on the rear stabilizing frame 22, so that the rear walking frame 21 of the crawler walking device can be rotated. When the crawler walking device turns or deviates, the rear walking frame 21 can still maintain its original position to a certain extent, so that the belt portion located at the rear walking portion 2 can be aligned with the belt portion located at the rear walking portion 2.

[0049] like Figure 3 As shown, based on the above embodiment, further, a rear bottom roller 25 is provided on the rear traveling frame 21, and the rear bottom roller 25 can support the belt.

[0050] like Figure 3As shown, based on the above embodiment, a rear buffer bed 26 is further provided on the rear traveling frame 21 .

[0051] like Figure 3 As shown, based on the above embodiment, the rear traveling portion 2 further includes a material box 27 arranged on the rear traveling portion frame 21 , and the rear buffer bed 26 is located below the material box 27 .

[0052] like Figure 4 As shown, on the basis of the above embodiment, the power unit 3 further includes: a power unit stabilizing frame 34, including a power unit connecting frame 341 and a power unit lifting support leg 342; the power unit lifting support leg 342 is connected to the power unit connecting frame 341 to drive the power unit connecting frame 341 to rise and fall; a power unit correcting device 35, including a power unit fixed part and a power unit movable part; the power unit fixed part is arranged on the power unit connecting frame 341, and the power unit movable part is transmission-connected to the power unit frame 31 to drive the power unit frame 31 to move.

[0053] In this embodiment, the fixed portion of the power unit in the power unit correction device is mounted on a power unit connecting frame 341. The movable portion of the power unit in the power unit correction device is in transmission connection with the power unit frame, thereby driving the power unit frame to move horizontally (across the width of the crawler-type self-moving machine tail). This allows for adjustment of the horizontal position of the power unit frame, and thus the position of the belt. The power unit lifting legs 342 can raise and lower the power unit connecting frame 341, thereby raising and lowering the power unit frame 31. This allows for leveling according to road conditions, ensuring smoother and faster movement of the crawler-type self-moving machine tail.

[0054] Among them, the power unit lifting leg 342 can be a cylinder or an electric telescopic rod, etc. Optionally, the power lifting leg can be a telescopic oil cylinder of the power unit 3, so that it can share a hydraulic power device 32 with the front crawler walking device 13 and the rear crawler walking device 23, so that the structure of the crawler-type self-moving tail that can be corrected is simple. The power unit correction device can be a cylinder or an electric telescopic rod, etc. Optionally, the power unit correction device can be a telescopic oil cylinder (it can be understood that in this case, the fixed part of the power unit is the cylinder body of the telescopic oil cylinder, and the movable part of the power unit is the piston of the telescopic oil cylinder), so that it can share a hydraulic power device 32 with the front crawler walking device 13 and the rear crawler walking device 23, so that the structure of the crawler-type self-moving tail that can be corrected is simple.

[0055] like Figure 4 As shown, based on the above embodiment, the power unit further includes a power unit bottom roller 36 provided on the power unit frame for installing the belt.

[0056] like Figure 4As shown, based on the above embodiment, the power unit further includes a power unit buffer bed 37 arranged on the power unit frame to protect the belt located below the power unit buffer bed 37.

[0057] like Figure 5 As shown, based on the above embodiment, further, the middle stabilizing frame 42 includes a middle connecting frame 421 and a middle lifting leg 422; the middle lifting leg 422 is connected to the middle connecting frame 421 to drive the middle connecting frame 421 to rise and fall; the intermediate transition part 4 also includes: a middle correcting device 46, including a middle fixed part and a middle movable part; the middle fixed part is arranged on the middle connecting frame 421, and the middle movable part is transmission-connected to the middle frame 41 to drive the middle frame 41 to move.

[0058] In this embodiment, the central fixed portion of the central correcting device is mounted on the central connecting frame 421. The central movable portion of the central correcting device is in transmission connection with the central frame 41, thereby driving the central frame 41 to move horizontally (across the width of the crawler-type self-moving machine tail). This allows for adjustment of the horizontal position of the central frame 41, and thus the position of the belt. The central lifting legs 422 can drive the central connecting frame up and down, thereby driving the central frame 41 up and down, thereby achieving leveling according to road conditions, making the movement of the crawler-type self-moving machine tail smoother and faster.

[0059] Among them, the middle lifting leg 422 can be a cylinder or an electric telescopic rod, etc. Optionally, the power lifting leg can be a middle telescopic oil cylinder, so that it can share a hydraulic power unit 32 with the front crawler walking device 13 and the rear crawler walking device 23, making the structure of the crawler-type self-correcting and moving tail simple. The middle correction device can be a cylinder or an electric telescopic rod, etc. Optionally, the middle correction device can be a telescopic oil cylinder (it can be understood that in this case, the middle fixed part is the cylinder body of the telescopic oil cylinder, and the middle movable part is the piston of the telescopic oil cylinder), so that it can share a hydraulic power unit 32 with the front crawler walking device 13 and the rear crawler walking device 23, making the structure of the crawler-type self-correcting and moving tail simple.

[0060] like Figure 5 As shown, based on the above embodiment, further, a middle bottom roller 45 is provided on the middle frame 41, and the middle bottom roller 45 can support the belt.

[0061] like Figure 5 As shown, based on the above embodiment, a middle buffer bed 44 is further provided on the middle frame 41 to protect the belt arranged thereunder.

[0062] The number of the intermediate transition portions 4 can be set as needed, for example, one, two, three or four. When there are multiple intermediate transition portions 4, the multiple intermediate transition portions 4 are sequentially arranged between the front walking portion 1 and the rear walking portion 2.

[0063] like Figure 1 、 Figure 4 and Figure 5 As shown, based on the above embodiment, further, in the length direction of the power unit frame 31, the two ends of the power unit skateboard 33 are upwardly tilted, that is, the two ends of the power unit skateboard 33 are bent and the ends are tilted upward, which can further reduce the walking resistance of the power unit skateboard 33.

[0064] like Figure 1 、 Figure 4 and Figure 5 As shown, based on the above embodiment, further, in the length direction of the middle frame 41, the two ends of the middle skateboard 43 are tilted upward, that is, the two ends of the middle skateboard 43 are bent and the ends are tilted upward, which can further reduce the walking resistance of the middle skateboard 43.

[0065] like Figure 4 As shown, based on the above embodiment, the crawler-type self-correcting and moving tail further includes: a rear bracket 5, which is rotatably connected to the power unit frame 31; a driving device 6, which is connected to the rear bracket 5 to drive the rear bracket 5 to move and rotate; and a rear roller, which is arranged on the rear bracket 5.

[0066] In this embodiment, the end of the belt away from the front running portion can be placed on the rear idler. The drive device 6 can drive the rear bracket 5 to rotate relative to the power unit frame 31, thereby achieving contact with the support surface, thereby supporting the power unit frame 31 and then supporting the belt, facilitating the installation of the belt bracket and greatly reducing the workload of the operator during the installation.

[0067] Specifically, if Figure 4 As shown, the rear support 5 includes a rear support connecting frame 51 and a rear support leg 52; one end of the rear support connecting frame 51 is rotatably connected to the power frame 31, and the other end is connected to the rear support leg 52; the driving device 6 is a rear support cylinder, one end of the rear support cylinder is rotatably connected to the power frame 31, and the other end is rotatably connected to the rear support connecting frame 51.

[0068] In this embodiment, the rear support cylinder can share the same hydraulic power unit 32 with the front and rear crawler walking devices 23, so that the structure of the crawler-type self-correcting and self-moving tail is simple.

[0069] It should be noted that the rear end of the front traveling frame and the front end of the middle frame, the rear end of the middle frame and the front end of the rear traveling frame, and the rear end of the rear traveling frame and the front end of the power frame can all be connected by universal joints to enable each part to swing in the up and down and left and right directions, thereby being able to better adapt to road conditions.

[0070] Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will appreciate that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features therein may be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the various embodiments of the present invention. In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description. In addition, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

Claims

1. A crawler-type self-moving tail machine with corrective function, characterized in that: include: A front walking portion (1) comprises a front walking portion frame (11), a front stabilizing frame (12), a front crawler walking device (13), a belt guide roller (15), a front bottom roller (16) and a deviation correcting device (17); the front stabilizing frame (12) is connected to the front walking portion frame (11), and the front crawler walking device (13) is provided on both sides of the front walking portion frame (11) in a width direction; the belt guide roller (15) is movably provided on the front walking portion frame (11); the front bottom roller (16) is provided on the front walking portion frame (11) at a distance from the belt guide roller (15) in a length direction of the front walking portion frame (11); the deviation correcting device (17) is transmission-connected to the belt guide roller (15) to drive at least one end of the belt guide roller (15) to move along the length direction of the front walking portion frame (11); The rear walking portion (2) comprises a rear walking portion frame (21), a rear stabilizing frame (22) and a rear crawler walking device (23); the rear stabilizing frame (22) is connected to the rear walking portion frame (21), and the rear crawler walking device (23) is provided on both sides of the rear walking portion frame (21) in the width direction; the rear end of the front walking portion frame (11) and the front end of the rear walking portion frame (21) are relatively movable. The power unit (3) comprises a power unit frame (31), a power device (32) and a power unit slide plate (33); the power device (32) is arranged on the power unit frame (31), and the power unit slide plate (33) is connected to the power unit frame (31) so as to be able to contact the support surface; the front end of the power unit frame (31) is rotatably connected to the rear end of the rear walking unit frame (21); the power device (32) is respectively connected to the front crawler walking device (13) and the rear crawler walking device (23) in a transmission manner.

2. The crawler-type self-moving tail machine with corrective function according to claim 1 is characterized in that: The crawler-type self-moving tail machine with correctable deviation also includes: The intermediate transition portion (4) comprises a middle frame (41), a middle stabilizing frame (42) and a middle slide plate (43); the middle stabilizing frame (42) is connected to the middle frame (41), and the middle slide plate (43) is connected to the middle frame (41) so as to be able to contact the support surface; the front end of the middle frame (41) is rotatably connected to the rear end of the front running frame (11), and the rear end of the middle frame (41) is rotatably connected to the front end of the rear running frame (21).

3. The crawler-type self-moving tail machine with corrective function according to claim 1 is characterized in that: The front walking frame (11) further comprises: A front adjustment frame (14) is rotatably connected to the front walking frame (11); A front stabilizing frame (12) is connected to the front adjusting frame (14); in the width direction of the front traveling frame (11), both sides of the front traveling frame (11) are provided with the front stabilizing frame (12), and both sides of the front stabilizing frame (12) are provided with the front crawler traveling device (13).

4. The crawler-type self-moving tail machine with corrective function according to claim 1 is characterized in that: The rear walking part (2) further includes: A rear adjustment frame (24) is rotatably connected to the rear walking frame (21); A rear stabilizing frame (22) is connected to the rear adjusting frame (24); in the width direction of the rear traveling frame (21), the rear stabilizing frame (22) extends beyond both sides of the rear traveling frame (21); and the rear crawler traveling device (23) is provided on both sides of the rear stabilizing frame (22).

5. The crawler-type self-moving tail machine with correctable deviation according to claim 1 is characterized in that: The power unit (3) further includes: The power unit stabilizing frame (34) comprises a power unit connecting frame (341) and a power unit lifting support leg (342); the power unit lifting support leg (342) is connected to the power unit connecting frame (341) to drive the power unit connecting frame (341) to rise and fall; The power unit deviation correction device (35) comprises a power unit fixed part and a power unit movable part; the power unit fixed part is arranged on the power unit connecting frame (341), and the power unit movable part is transmission-connected to the power unit frame (31) to drive the power unit frame (31) to move.

6. The crawler-type self-moving tail machine with corrective function according to claim 2 is characterized in that: The middle stabilizing frame (42) includes a middle connecting frame (421) and a middle lifting leg (422); the middle lifting leg (422) and the middle connecting frame (421) drive the middle connecting frame (421) to rise and fall; The intermediate transition portion (4) further comprises: The middle deviation-correcting device (46) comprises a middle fixed portion and a middle movable portion; the middle fixed portion is arranged on the middle connecting frame (421), and the middle movable portion is in transmission connection with the middle frame (41) to drive the middle frame (41) to move.

7. The crawler-type self-moving tail machine with corrective function according to claim 2 is characterized in that: The rear traveling portion (2) further includes a rear bottom roller (25) provided on the rear traveling portion frame (21); The power unit (3) further includes a power unit bottom roller (36) arranged on the power unit frame (31); The intermediate transition portion (4) further includes a middle bottom roller (45) arranged on the middle frame (41).

8. The crawler-type self-moving tail machine with corrective function according to claim 2 is characterized in that: In the length direction of the power unit frame (31), both ends of the power unit slide plate (33) are tilted upwards; In the length direction of the middle frame (41), both ends of the middle slide plate (43) are tilted upward.

9. The crawler-type self-moving tail machine with correctable deviation according to any one of claims 1 to 8, characterized in that: The crawler-type self-moving tail machine with correctable deviation also includes: A rear bracket (5), the rear bracket (5) being rotatably connected to the power unit frame (31); A driving device (6) connected to the rear bracket (5) to drive the rear bracket (5) to move and rotate; The rear roller is arranged on the rear bracket (5).

10. The crawler-type self-moving tail machine with correctable deviation according to claim 9 is characterized in that: The rear bracket (5) includes a rear bracket connecting frame (51) and a rear bracket supporting leg (52); one end of the rear bracket connecting frame (51) is rotatably connected to the power unit frame (31), and the other end is connected to the rear bracket supporting leg (52); The driving device (6) is a rear support oil cylinder, one end of which is rotatably connected to the power unit frame (31), and the other end of which is rotatably connected to the rear support connecting frame (51).

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