Crawler structure and dredging device

Abstract

The utility model provides a kind of track structure, comprising: track leg assembly, including multiple first and last joint rod body structure, track leg assembly has two kinds of use state, first use state is contraction state, second use state is lifting state, the height size of track leg assembly under second use state is greater than the height size of track leg assembly under first use state;Power component, with track leg assembly connection, power component is used to control the use state of track leg assembly;Driving wheel, with track leg assembly connection;Track support component, with the track leg assembly connection, for playing overall supporting effect;Track, it is set on track leg assembly, and simultaneously with driving wheel, track support component contact.The utility model provides a kind of track structure, track inside arrangement can produce deformation track leg assembly, so that track structure has lifting function simultaneously under the condition of compact structure.The utility model further provides a kind of dredging equipment.

Description

Technical Field

[0001] This utility model belongs to the technical field of pipeline dredging equipment, specifically, it relates to a tracked structure and dredging equipment. More specifically, it relates to a tracked structure and a dredging equipment including the tracked structure. Background Technology

[0002] Tracked drive systems consist of drive wheels, support wheels, and tracks. They can increase the ground contact area and reduce pressure on soft ground, making them suitable for complex terrains such as swamps and snowfields. They are commonly used in engineering machinery and special vehicles.

[0003] Pipeline dredging equipment equipped with tracked drive systems typically has a small ground clearance. When traveling through pipelines, it may encounter slightly higher obstacles, causing the equipment to be lifted and suspended in mid-air. Directly using high-tracked dredging equipment would increase the overall height of the equipment. Due to the small cross-sectional dimensions of drainage pipes and inspection wells, high-tracked dredging equipment has a limited applicable range within pipelines. Utility Model Content

[0004] The purpose of this utility model is to provide a tracked structure and dredging equipment, which aims to solve the technical problem that existing dredging equipment cannot simultaneously meet the requirements of being suitable for small-sized pipes and crossing large obstacles.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: to provide a track structure, including: a track leg assembly, including multiple rod structures connected end to end, the track leg assembly having two usage states, a first usage state being a retracted state and a second usage state being a raised state, the height of the track leg assembly in the second usage state being greater than the height of the track leg assembly in the first usage state;

[0006] A power unit is connected to the track leg assembly, and the power unit is used to regulate the usage status of the track leg assembly;

[0007] The drive wheel is connected to the track leg assembly;

[0008] The track support assembly is connected to the track leg assembly and serves to provide overall support.

[0009] The track is fitted onto the track leg assembly and simultaneously contacts the drive wheel and the track support assembly.

[0010] Preferably, the track leg assembly consists of four rods connected end to end, and the adjacent rods are connected by hinges; the power assembly is connected to at least two rods.

[0011] Preferably, the power component is a hydraulic cylinder, which is positioned at an angle in the middle of the track leg assembly.

[0012] Preferably, the track support assembly includes:

[0013] The first driven wheel is hinged to the front support arm;

[0014] The second driven wheel is hinged to the rear support arm;

[0015] The support wheel is hinged to the lower cross arm.

[0016] Preferably, there are multiple support wheels, and the multiple support wheels are equally spaced along the length direction of the lower cross arm.

[0017] Preferably, the track support assembly further includes:

[0018] The tensioning block is slidably connected to the end of the lower cross arm that is away from the front support arm;

[0019] The tensioning wheel is hinged to the end of the tensioning block opposite to the lower cross arm.

[0020] Preferably, the track leg assembly is quadrilateral in shape; the drive wheel, the first driven wheel, the tension wheel, and the second driven wheel are respectively arranged at the four corners of the track leg assembly.

[0021] A dredging device, comprising a tracked structure as described in any of the above.

[0022] The beneficial effects of the tracked structure and dredging equipment provided by this utility model are as follows: Compared with the prior art, the tracked structure and dredging equipment of this utility model adopts a track leg assembly that can deform on the inner side of the track, so that the tracked structure can have a lifting function while maintaining a compact structure. The power component drives the track leg assembly to complete the lifting action. The power component is also a hydraulic structure. The hydraulic drive actuator has the characteristics of high energy density and large holding force, which can better ensure the stable operation of the robot. Tensioning blocks and tensioning wheels are arranged on the outer side of the track leg assembly. This structure can tension the track without changing the geometry of the track leg assembly. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1A schematic diagram of a track structure in a first use state provided by an embodiment of this utility model;

[0025] Figure 2 A schematic diagram of a track structure in a second use state provided by an embodiment of this utility model;

[0026] Figure 3 This is a structural diagram of a dredging device including a track structure, provided for an embodiment of the present utility model.

[0027] In the diagram: 1. Drive wheel; 2. Front control arm; 3. First driven wheel; 4. Lower cross arm; 5. Power unit; 6. Support wheel; 7. Rear control arm; 8. Tensioner block; 9. Tensioner wheel; 10. Second driven wheel; 11. Track; 12. Track support plate. Detailed Implementation

[0028] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0029] Please refer to the following: Figures 1 to 3 The present invention provides a track structure. This track structure, applied to the walking unit of a dredging equipment, includes: a track leg assembly, a power assembly 5, a drive wheel 1, a driven wheel assembly, a support wheel 6, and a track 11. The track leg assembly includes multiple rod-like structures connected end-to-end. The track leg assembly is deformable and has two operating states. The first operating state is a retracted state (see [reference]). Figure 1 The second usage state is the raised state (see...). Figure 2 In the second usage state, the height of the track leg assembly is greater than that in the first usage state. The power assembly 5 is connected to the track leg assembly and is used to regulate the usage state of the track leg assembly. Specifically, the power assembly 5 applies force to the track leg assembly to adjust its usage state. The drive wheel 1 is connected to the track leg assembly. The track support assembly is connected to the track leg assembly and provides overall support. The track 11 is fitted onto the track leg assembly and simultaneously contacts the drive wheel 1 and the track support assembly. The drive wheel 1 rotates the track 11, thereby moving the dredging equipment.

[0030] As one specific implementation of this utility model, please refer to the following: Figures 1 to 3The track leg assembly is parallelogram-shaped and consists of four rods connected end-to-end. Adjacent rods are hinged, allowing for rotation. The power unit 5 is connected to at least two rods. When operating, the power unit 5 deforms and widens the track leg assembly, thereby widening the track structure and dynamically lifting the track. The parallelogram arrangement of the track leg assembly allows the track structure to have lifting capabilities while maintaining a compact design. The dynamic lifting of the track 11 enables the dredging equipment to adapt to small-sized pipes and overcome large obstacles.

[0031] In some feasible embodiments, the track leg assembly includes: a front support arm 2, a lower crossarm 4, a rear support arm 7, and a track support plate 12; a drive wheel 1 is connected to the front end of the front support arm 2; one end of the lower crossarm 4 is rotatably connected to the front support arm 2; one end of the rear support arm 7 is rotatably connected to the other end of the lower crossarm 4; one end of the track support plate 12 is rotatably connected to the end of the rear support arm 7 opposite to the lower crossarm 4, and the other end is rotatably connected to the end of the front support arm 2 opposite to the lower crossarm 4.

[0032] In any feasible embodiment, one end of the front support arm 2 is a first end, and the other end is a second end. One end of the lower cross arm 4 is a first end, and the other end is a second end. One end of the rear support arm 7 is a first end, and the other end is a second end. One end of the track support plate 12 is a first end, and the other end is a second end. The first end of the track support plate 12 is provided with a drive wheel 1. The second end of the front support arm 2 is rotatably connected to the first end of the lower cross arm 4. The second end of the rear support arm 7 is rotatably connected to the first end of the track support plate 12. The power assembly 5 is a hydraulic cylinder. Hydraulic power is used as the lifting power for the chassis and the holding power after lifting. Hydraulic power has the characteristic of high energy density at the actuator end. After the track legs are lifted, they can effectively support the overall mass of the robot, ensuring the stable operation of the robot after the chassis is lifted. The hydraulic cylinder is set in the middle of the track leg assembly in an oblique posture. One end of the hydraulic cylinder is hinged to the second end of the front support arm 2, and the other end is hinged to the second end of the rear support arm 7.

[0033] As one specific implementation of this utility model, please refer to the following: Figures 1 to 3 The track support assembly includes a first driven wheel 3 and a second driven wheel 10. The first driven wheel 3 is rotatably connected to the front support arm 2. Specifically, the first driven wheel 3 is hinged to the end of the front support arm 2 opposite to the drive wheel 1. The second driven wheel 10 is hinged to the rear of the track support plate 12.

[0034] In some feasible embodiments, the track support assembly further includes support wheels 6 hinged to the lower crossarm 4. Multiple support wheels 6 are provided, and the multiple support wheels 6 are equally spaced along the length direction of the lower crossarm 4.

[0035] In some feasible embodiments, the track support assembly further includes a tension block 8 and a tension wheel 9. The tension wheel 9 is connected to the lower crossarm 4 via the tension block 8. Specifically, one end of the tension block 8 is slidably connected to the end of the lower crossarm 4 opposite to the front support arm 2. That is, the tension block 8 can reciprocate along the length of the lower crossarm 4. The tension wheel 9 is hinged to the other end of the tension block 8 (the end opposite to the lower crossarm 4). The arrangement of the tension block 8 and the tension wheel 9 ensures that the track 11 is in a tensioned state, ensuring the reliability of the track structure operation. The first driven wheel 3, the second driven wheel 10, the support wheel 6, and the tension wheel 9 play a role in supporting the track as a whole. Specifically, the tension block 8 and the tension wheel 9 are arranged at the end of the "parallelogram" track leg assembly, and the tension block 8 pushes the tension wheel 9 to complete the track tensioning operation. The tensioning block 8 and tensioning wheel 9 are located on the outside of the "parallelogram" track leg assembly. During the tensioning process, they will not cause a change in the length of one side of the "parallelogram" that would result in the track 11 not being parallel. Therefore, they avoid abnormal movement of the dredging robot caused by uneven track 11.

[0036] This utility model provides a track structure that, compared with existing technologies, employs deformable track leg assemblies arranged on the inner side of the track 11, enabling the track structure to simultaneously possess lifting capabilities while maintaining a compact structure. A power component 5 drives the track leg assemblies to complete the lifting action. The power component 5 is also a hydraulic structure; the hydraulically driven actuator features high energy density and strong holding force, effectively ensuring the robot's stable operation. Tensioning blocks 8 and tensioning wheels 9 are arranged on the outer side of the track leg assemblies. This structure allows for tensioning of the track 11 without altering the geometry of the track leg assemblies. The question remains whether this track structure can simultaneously accommodate working environments suitable for small-sized pipes and those requiring the ability to cross large obstacles.

[0037] This utility model also provides a dredging device, including a tracked structure as described in any of the above claims. Specifically, the dredging device includes a main body and a tracked structure connected to the main body. In any feasible implementation, the main body is a dredging robot. The tracked structure serves as the walking unit for the dredging robot during operation.

[0038] This utility model provides a dredging device that can retract to maintain a small overall height, or it can be dynamically raised to improve the obstacle-crossing ability of the dredging device. Other advantages are the same as those of the existing technology with tracked structures, and therefore will not be repeated.

[0039] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A track structure, characterized in that, include: The track leg assembly includes multiple rod structures connected end to end. The track leg assembly has two usage states: a first usage state is a retracted state, and a second usage state is a raised state. The height of the track leg assembly in the second usage state is greater than the height of the track leg assembly in the first usage state. A power unit is connected to the track leg assembly, and the power unit is used to regulate the usage status of the track leg assembly; The drive wheel is connected to the track leg assembly; The track support assembly is connected to the track leg assembly and serves to provide overall support. The track is fitted onto the track leg assembly and simultaneously contacts the drive wheel and the track support assembly.

2. The track structure as described in claim 1, characterized in that, The track leg assembly consists of four rods connected end to end, namely the front support arm, lower cross arm, rear support arm, and track support plate. The adjacent rods are connected by hinges. The power unit is connected to at least two rods.

3. The track structure as described in claim 2, characterized in that, The power component is a hydraulic cylinder, which is positioned at an angle in the middle of the track leg assembly.

4. A track structure as described in any one of claims 2-3, characterized in that, The track support assembly includes: The first driven wheel is hinged to the front support arm; The second driven wheel is hinged to the rear support arm; The support wheel is hinged to the lower cross arm.

5. A track structure as described in claim 4, characterized in that, The support wheels are provided in multiple ways, and the multiple support wheels are equally spaced along the length direction of the lower cross arm.

6. A track structure as described in claim 4, characterized in that, The track support assembly also includes: The tensioning block is slidably connected to the end of the lower cross arm that is away from the front support arm; The tensioning wheel is hinged to the end of the tensioning block opposite to the lower cross arm.

7. A track structure as described in claim 6, characterized in that, The track leg assembly is quadrilateral in shape; the drive wheel, the first driven wheel, the tension wheel, and the second driven wheel are respectively arranged at the four corners of the track leg assembly.

8. A dredging device, characterized in that, Includes the track structure as described in any one of claims 1-7.

Images