Crawler device and carriage

Abstract

To provide a highly practical bogie that can adapt to crawler devices and traveling in various road conditions in the field of bogie technology. [Solution] A crawler device 10 includes a crawler unit 1 including a plurality of crawler blocks that are sequentially hingedly connected to form an integrated closed structure, with the crawler blocks provided with protrusions extending in the traveling direction and a through passage between two adjacent crawler blocks, a support frame 2, and a gear train 3 including a plurality of crawler wheels arranged separately on both sides of the support frame, with the crawler wheels fitting with the protrusions on the crawler blocks. The bogie of the present invention includes two sets of crawler devices that are arranged in parallel and spaced apart, and a car body that is positioned above the two sets of crawler devices and is supported by two support frames.

Description

[Technical Field]

[0001] The present invention relates to the field of bogie technology, and more particularly to crawler devices and bogies. [Background technology]

[0002] The crawler vehicle's unique crawler running mechanism provides excellent traction and stability in multiple terrain conditions.

[0003] Application number JP2019011977 discloses a crawler unit, which is composed of multiple outer and inner components, and a belt. The pair of outer and inner components, which are combined inside and outside the belt, are continuous around the periphery. Considering that the outer and inner components will come into contact with various surfaces, an engineering plastic with a relatively low coefficient of friction, high hardness, scratch resistance, and excellent mechanical strength is selected. The outer and inner components are molded from PA resin, glass-filled PA resin, PBT resin, glass-filled PBT resin, POM resin, or glass-filled POM resin. While this embodiment includes an internal metal fitting, an embodiment without an internal metal fitting may also be adopted. Because the belt is constantly under tension, it is made of a material that is resistant to stretching, has excellent dimensional stability, and is easily flexible, such as a braided flat belt. Both ends are fixed to form a circular belt, which can be sized to flexibly accommodate the crawler unit. In this embodiment, two parallel through-holes are drilled at a predetermined interval of 25 mm.

[0004] The crawler unit uses a belt to arrange the inner and outer accessories into an integrated structure, and the crawler unit can be used for traveling. However, when traveling on poor road conditions, the installation of the belt prevents foreign objects that enter the crawler unit from being discharged, increasing the weight of the crawler unit and causing wear on the crawler unit. Furthermore, foreign objects may get caught between adjacent inner accessories or adjacent outer accessories, preventing them from being stably attached to the outer circumference of the pulley, causing a dead point problem. Summary of the Invention [Problem to be solved by the invention]

[0005] In order to solve the technical problems in the prior art, in which foreign objects in the crawler unit are difficult to expel, which increases the weight of the crawler unit, causes wear on the crawler unit, and is prone to causing dead points, the present invention provides a crawler device that solves the above technical problems. [Means for solving the problem]

[0006] In order to solve the above technical problems, the present invention provides a crawler device, A crawler unit including a plurality of crawler blocks, the plurality of crawler blocks being sequentially hinged to form an integral closed structure, the crawler blocks being provided with protrusions extending along the traveling direction, and a through passage being provided between two adjacent crawler blocks; A support frame; The wheel train includes a plurality of crawler wheels arranged separately on both sides of the support frame, the crawler wheels fitting with protrusions on the crawler blocks.

[0007] According to one embodiment of the present invention, the first shaft hole body and the second shaft hole body are integrally cast in the crawler block, the first shaft hole body of one crawler block and the second shaft hole body of the adjacent crawler block are hingedly connected via a shaft, and a notch is provided in the second shaft hole body and extends toward the bottom of the crawler block to form the passage.

[0008] According to one embodiment of the present invention, an internal concave pattern is formed on the bottom surface of the crawler block, the internal concave pattern communicates with the passage, and the internal concave pattern laterally penetrates two side surfaces of the crawler block.

[0009] According to one embodiment of the present invention, the axis between two adjacent crawler blocks does not protrude beyond the edge of one of the crawler blocks.

[0010] According to one embodiment of the present invention, the holes of the first bore body and the second bore body are both split bores, and the split bore includes at least two stages of semi-encircling bore walls, and two adjacent stages of semi-encircling bore walls form offset vertical or relative support surfaces.

[0011] According to one embodiment of the present invention, the first shaft hole body includes three stages of semi-encircling hole walls, the opening directions of the semi-encircling hole walls located on both sides are the same and perpendicular to the inner surface of the crawler block, and the opening direction of the semi-encircling hole wall located in the middle is parallel to the inner surface of the crawler block.

[0012] According to one embodiment of the present invention, the second bore body includes two independent split bores, each of which includes two semi-enclosed bore walls, the opening directions of the two semi-enclosed bore walls being perpendicular to the mounting surface, and the through passage is located between the two independent split bores.

[0013] According to one embodiment of the present invention, the crawler wheel includes guide wheels arranged at both ends and rollers supporting the support frame, the radius of the rollers is twice the width of the crawler block, the radius of the guide wheels is four times the width of the crawler block, the center distance between the rollers and the guide wheels is five times the width of the crawler block, and the included angle between the tangent of the rollers and the guide wheels and the horizontal plane is 15 to 30 degrees.

[0014] According to one embodiment of the present invention, an auxiliary steering module is mounted on the support frame, and the auxiliary steering module includes a steering rod and an elastic member. A slider is assembled to the central part of the steering rod, and the slider is slidably assembled to the support frame. Long holes are formed on both sides of the support frame, and both ends of the steering rod protrude from the long holes and connect to guide wheels. The elastic member acts on the slider to abut the steering rod against the ends of the long holes.

[0015] The present invention further provides a trolley, two sets of crawler devices, the two sets of crawler devices being arranged in parallel and spaced apart; The vehicle includes a body located above the two sets of crawler devices and supported by two support frames. [Effects of the Invention]

[0016] Based on the above technical solutions, the technical effects that can be achieved by the present invention are as follows: 1. The crawler device of the present invention is designed to have a passageway between adjacent crawler blocks, which facilitates the discharge of foreign matter. The passageway is located between adjacent crawler blocks. On the one hand, when the crawler blocks move to the outer periphery of the gear train and an angle is formed between two adjacent crawler blocks, the passageway becomes even larger, making it easier to discharge a relatively large volume of foreign matter. On the other hand, the installation of the passageway does not reduce the strength of the crawler blocks, ensuring the service life of the crawler blocks. 2. The crawler device of this invention is hinged between the crawler blocks, eliminating the need for belts and preventing foreign matter from being blocked. A notch is provided in the first shaft hole of the crawler block, extending to form a passageway, allowing foreign matter to enter the passageway from the hinged position and be easily discharged. The bottom surface of the crawler block is formed with an internal recessed pattern, which communicates with the passageway. The internal recessed pattern increases friction between the crawler block and the contact surface, preventing slippage, and allows foreign matter discharged through the passageway to be discharged via the internal recessed pattern. 3. In the crawler device of the present invention, the rotation axis of two adjacent crawler blocks does not protrude beyond the edge of the crawler block body of one of the crawler blocks, and the two crawler blocks can be glued together. The first and second shaft hole bodies that form the hinge connection structure are installed in the split shaft hole, and the split shaft hole is installed in multiple stages of semi-enclosed hole walls, so that adjacent semi-enclosed hole walls form offset vertical or relative support surfaces. This makes it easy to form the hinge connection hole as a single unit using a mold, and effectively improves the processing precision and assembly precision, thereby improving the stability and service life of the crawler. 4. The crawler device of this invention further establishes the size relationship between the rollers, guide wheels and crawler blocks, so that the crawler blocks can be stably attached to the outer circumference of the rollers and guide wheels and are not easily detached. The included angle between the tangent line of the rollers and guide wheels and the horizontal plane is 15 to 30 degrees, which makes it easy for the crawler device to pass through uneven surfaces. 5. The crawler device of this invention is provided with an auxiliary steering module on the support frame. When the carriage needs to be steered, the user can apply a steering force to the car body. The steering force will generate an angular deflection on the support frame, and the steering rod and the guide wheel thereon will generate an angular deflection accordingly, propelling the carriage's movement and changing its direction. In the above process, the installation of the elastic member and the slot allows the steering rod to generate an angular deflection relative to the support frame, i.e., the steering rod is not perpendicular to the support frame, which serves a buffering function and makes it easier to steer the carriage. 6. The trolley of this invention can adapt to various road conditions, has excellent adaptability and is highly practical. Foreign objects on the crawler can be easily expelled, which does not affect the running and does not cause dead point problems. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a structural schematic diagram of a crawler device according to the present invention; [Figure 2] FIG. 1 is a structural schematic diagram of two crawler blocks hinged together. [Figure 3] FIG. 1 is a bottom view of two hinged crawler blocks. [Figure 4] FIG. 2 is a structural schematic diagram of a crawler block. [Figure 5] FIG. 2 is a bottom view of the crawler block. [Figure 6] FIG. 1 is a structural schematic diagram showing how the gear train is assembled to the support frame. [Figure 7] FIG. 10 is a perspective view of the wheel train being assembled to the support frame. [Figure 8] FIG. 10 is a front view of the wheel train assembled to the support frame. [Figure 9]FIG. 1 is a structural schematic diagram of an auxiliary steering module assembled to a support frame. [Figure 10] FIG. 4 is a schematic diagram of the fitting structure between the guide wheel and the crawler block. [Figure 11] FIG. 1 is a schematic diagram of the fitting structure between the rollers and the crawler blocks. [Figure 12] FIG. DETAILED DESCRIPTION OF THE INVENTION

[0018] The following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is for illustrative purposes only and does not constitute any limitation on the present invention and its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without any creative work are also within the scope of protection of the present invention.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments and is not intended to limit the exemplary embodiments of the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and when used herein, the terms "comprises" and / or "includes" are understood to indicate the presence of features, steps, operations, devices, assemblies, and / or combinations thereof.

[0020] Unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions, and values ​​described in these embodiments do not limit the scope of the present invention. It should be understood that the dimensions of the various parts shown in the drawings are not to scale for ease of explanation. A detailed discussion of techniques, methods, and equipment known to those skilled in the relevant arts is not provided; however, in appropriate circumstances, such techniques, methods, and equipment should be considered part of the description. In all examples shown and discussed herein, any specific numerical values ​​should be construed as merely illustrative and not limiting. Therefore, other examples of the illustrative embodiments may have different values. It should be noted that like numerals and letters indicate like items in the following drawings; therefore, once an item is defined in one drawing, there is no need to further discuss that item in subsequent drawings.

[0021] In describing the present invention, it should be understood that the orientations or positional relationships indicated by directional terms, such as "front, back, up, down, left, right," "lateral, longitudinal, vertical, horizontal," and "top, bottom" are generally based on the orientations or positional relationships shown in the drawings, and are intended solely to facilitate the description and simplification of the present invention; unless otherwise stated, these directional terms do not indicate or suggest that the indicated devices or elements have a particular orientation or must be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present invention; and the directional terms "inside, outside" refer to the inside or outside of the outline of each member itself.

[0022] For ease of description, spatially relative terms such as "above," "above," "on top of," and "above" may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It should be understood that spatially relative terms are intended to encompass different orientations of use or operation of the device other than the orientation depicted in the figures. For example, if a device in the figures were turned upside down, a device described as "above other devices or structures" or "on other devices or structures" would later be positioned "below other devices or structures" or "beneath other devices or structures." Thus, the exemplary term "above" may encompass two orientations: "above" and "below." The device may be oriented in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

[0023] It should also be noted that the use of terms such as "first" and "second" to define components is intended to facilitate distinction between corresponding components, and unless otherwise specified, the terms have no special meaning and therefore cannot be understood to limit the scope of protection of the present invention.

[0024] As shown in Figures 1 to 12, this embodiment provides a crawler device 10, which includes a crawler unit 1, a support frame 2, and a gear train 3, where the crawler unit 1 includes a plurality of crawler blocks 11, which are sequentially hinged to form an integrally closed structure, and the gear train 3 includes crawler wheels arranged separately on both sides of the support frame 2, and the integrally closed structure formed by the plurality of crawler blocks 11 is wound around the outer periphery of the gear train 3.

[0025] The crawler unit 1 includes a plurality of crawler blocks 11, which are hingedly connected in sequence to form an integrally closed structure. The crawler blocks 11 have an inner surface and a bottom surface, with the inner surface located close to the gear train 3 and the bottom surface located opposite the inner surface. A protrusion 111 extending in the direction of travel is provided on the inner surface of the crawler block 11 to facilitate engagement with the gear train 3. A first shaft hole body 112 and a second shaft hole body 113 are integrally cast in the crawler block 11, and the first shaft hole body 112 of one crawler block 11 and the second shaft hole body 113 of the adjacent crawler block 11 are hingedly connected via a shaft 12, with a passage 13 provided between adjacent crawler blocks 11.

[0026] As a preferred technical solution of this embodiment, there are two protrusions 111, and the two protrusions 111 are respectively located on both sides of the first shaft hole body 112 and the second shaft hole body 113. As a preferred technical solution of this embodiment, the protrusion 111 includes an arc-shaped outer surface, and both ends of the arc-shaped outer surface extend to abut against the inner surface of the crawler block 11 via inclined surfaces.

[0027] In a preferred technical solution of this embodiment, the holes of the first shaft hole body 112 and the second shaft hole body 113 are both split shaft holes, and the split shaft hole includes at least two stages of semi-encircling hole walls, with two adjacent stages of semi-encircling hole walls forming offset vertical or relative support surfaces. Specifically, the first shaft hole body 112 includes three stages of semi-encircling hole walls, with the opening directions of the semi-encircling hole walls on both sides being the same and perpendicular to the inner surface of the crawler block 11, and the opening direction of the middle semi-encircling hole wall being parallel to the inner surface of the crawler block 11, i.e., the semi-encircling hole walls on both sides of the first shaft hole body 112 are offset vertically from the middle semi-encircling hole wall. The second bore body 113 includes two independent split bores, each including two semi-encircling bore walls, the opening directions of which are both perpendicular to the mounting surface, i.e., the two adjacent semi-encircling bore walls of the two independent split bores of the second bore body 113 are offset relative to each other. Preferably, the first bore body 112 and the second bore body 113 are symmetrical.

[0028] As a preferred technical solution of this embodiment, the through passage 13 is located between the two independent split shaft holes of the second shaft hole body 113. Specifically, a notch 1131 is formed between the two independent split shaft holes, and the notch 1131 penetrates the crawler block 11, and the notch 1131 on one crawler block 11 and the notch 1131 on the adjacent crawler block 11 fit together to form the passage 13. Preferably, the notch 1131 is a square notch.

[0029] As a preferred technical solution of this embodiment, the first shaft hole body 112 and the second shaft hole body 113 are formed on the inner surface of the crawler block 11, and an internal concave pattern 114 is formed on the bottom surface of the crawler block 11, the internal concave pattern 114 communicates with the passage 13, and the internal concave pattern 114 penetrates laterally through two side surfaces of the crawler block 11. The internal concave pattern 114 can be configured in various shapes, including but not limited to a wave shape or a sawtooth shape.

[0030] As a preferred technical solution of this embodiment, the shaft 12 does not protrude from the edge of one of the crawler blocks 11, which allows the adjacent surfaces of the two crawler blocks 11 to fit together better and does not interfere with the fit between the guide wheels 31 and rollers 32 and the protrusions 111 on the crawler blocks 11.

[0031] As a preferred technical solution of this embodiment, the crawler block 11 further has flanges 115 formed on both sides of the inner surface thereof, and the flanges 115 are located outside the protrusions 111 .

[0032] The wheel train 3 is attached to the support frame 2 and includes a plurality of crawler wheels, specifically, the crawler wheels may be divided into guide wheels 31 and rollers 32, of which there are two pairs of guide wheels 31, each located at both ends of the support frame 2, and there are multiple pairs of rollers 32, which are arranged at the lower end of the support frame 2 and support the support frame 2. The guide wheels 31 of the same pair are located on both sides of the support frame 2, and the rollers 32 of the same pair are located on both sides of the support frame 2.

[0033] Specifically, there are multiple rollers 32, and in this embodiment, nine pairs of rollers 32 are installed, with three pairs of rollers 32 in one set, which are divided into three sets, and the rollers 32 are arranged in a row, with small gaps between the rollers 32 in the same set and large gaps between adjacent roller rows.

[0034] As a preferred technical solution of this embodiment, the guide wheel 31 located at the front end of the support frame 2 is located above the front end of the foremost roller 32, and the guide wheel 31 located at the rear end of the support frame 2 is located above the rear end of the rearmost roller 32.

[0035] As a preferred technical solution of this embodiment, the radius of the roller 32 is twice the width D of the crawler block 11, the radius of the guide wheel 31 is four times the width D of the crawler block 11, the center distance between the roller 32 and the guide wheel 31 is five times the width D of the crawler block 11, and the included angle α between the tangent line of the roller 32 and the guide wheel 31 and the horizontal plane is 15 to 30 degrees. With the above-mentioned installation, a certain number of crawler blocks 11 are wrapped around the outer periphery of the guide wheel 31 and the roller 32, preventing separation between the wheel train 3 and the crawler block 11.

[0036] As a preferred technical solution of this embodiment, the guide wheels 31 and the rollers 32 are attached to the support frame 2 by an axle structure, specifically, a plurality of axle structures are respectively passed through and assembled to the support frame 2, and the guide wheels 31 or the rollers 32 are correspondingly assembled to both ends of the axle structures.

[0037] As a preferred technical solution of this embodiment, a first groove 311 is formed on the circumferential surface of the guide wheel 31, and the two guide wheels 31 at both ends of the same axial structure respectively fit into the protrusions 111 on both sides of the crawler block 11; a second groove 321 is formed on the circumferential surface of the roller 32, and the two rollers 32 at both ends of the same axial structure respectively fit into the protrusions 111 on both sides of the crawler block 11.

[0038] The guide wheel 31 is assembled to the support frame 2 via an auxiliary steering assembly 4. Specifically, the auxiliary steering assembly 4 includes a steering rod 41 and an elastic member 42. The steering rod 41 is assembled to the shaft structure on the support frame 2 as the guide wheel 31. A slider 43 is assembled to the center of the steering rod 41. The steering rod 41 is slidably assembled to the support frame 2 via the slider 43. Both ends of the steering rod 41 protrude from the support frame 2 and are connected to the two guide wheels 31. Correspondingly, a slide groove 21 extending along the traveling direction is formed in the support frame 2. The slider 43 slides along the slide groove 21. Slots 22 are formed on both side walls of the slide groove 21. Both ends of the steering rod 41 protrude from the slots 22. The elastic member 42 acts on the steering rod 41, and in the initial state, due to the action of the elastic member 42, the steering rod 41 abuts against the end of the same end of the long hole 22, and the steering rod 41 is perpendicular to the support frame 2, and when steering, the steering rod 41 can be deflected relative to the support frame 2.

[0039] As a preferred technical solution of this embodiment, the upper opening of the slide groove 21 is shaped like a throttle, which can prevent the slider 43 from slipping out of the upper opening of the slide groove 21.

[0040] As a preferred technical solution of this embodiment, a stopper 44 is further provided in the slide groove 21, and the elastic member 42 is located between the stopper 44 and the slider 43, with both ends of the elastic member 42 acting on the stopper 44 and the slider 43, respectively. Preferably, both ends of the elastic member 42 can be fixed to the stopper 44 and the slider 43, respectively, and the elastic member 42 can be preferably, but is not limited to, a spring, and in the initial state, the elastic member 42 is in a compressed state.

[0041] As shown in FIG. 12, this embodiment further provides a bogie, which includes the aforementioned crawler device 10 and car body 20, and the crawler device 10 is in two sets, the two sets of crawler devices 10 are parallel and spaced apart, and the car body 20 is located above the two sets of crawler devices 10 and supported by the two sets of crawler devices 10.

[0042] The body 20 includes a load plate 201 and a push rod 202. The load plate 201 is horizontally positioned above the crawler device 10, and the lower part of the load plate 201 is fixed to the support frames 2 of the two crawler devices 10 via the fixed frame 30. The push rod 202 is fixed to the upper surface of the load plate 201, making it easy for users to grasp and push / pull.

[0043] As a preferred technical solution of this embodiment, the fixed frame 30 is an inverted U-shaped frame, the upper end of the fixed frame 30 is connected to the bottom surface of the load plate 201, and the lower end of the fixed frame 30 extends to both ends of the support frame 2 and is connected to the support frame 2.

[0044] Although the embodiments of the present invention have been described in detail above with reference to the accompanying drawings, the present invention is not limited to the above embodiments, and various modifications can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. [Explanation of symbols]

[0045] 10 - crawler device, 1 - crawler unit, 11 - crawler block, 111 - protrusion, 112 - first shaft hole body, 113 - second shaft hole body, 1131 - notch, 114 - inner concave pattern, 115 - flange, 12 - shaft, 13 - passage, 2 - support frame, 21 - slide groove, 22 - elongated hole, 3 - wheel train, 31 - guide wheel, 311 - first groove, 32 - roller, 321 - second groove, 4 - auxiliary steering module, 41 - steering rod, 42 - elastic member, 43 - slider, 44 - stopper, 20 - body, 201 - load plate, 202 - push rod, 30 - Fixed frame.

Claims

1. A crawler device, A crawler unit (1) including a plurality of crawler blocks (11), the plurality of crawler blocks (11) being sequentially hinged to form an integral closed structure, the crawler blocks (11) being provided with protrusions (111) extending along the traveling direction, and a passage (13) being provided between two adjacent crawler blocks (11); A support frame (2); A crawler device characterized in that it includes a wheel train (3) including a plurality of crawler wheels arranged separately on both sides of the support frame (2), the crawler wheels engaging with protrusions (111) on the crawler blocks (11).

2. The crawler device of claim 1, characterized in that the first shaft hole body (112) and the second shaft hole body (113) are integrally cast in the crawler block (11), the first shaft hole body (112) of one crawler block (11) and the second shaft hole body (113) of another adjacent crawler block (11) are hingedly connected via a shaft (12), and a notch (1131) is provided in the second shaft hole body (113) and extends toward the bottom of the crawler block (11) to form the passage (13).

3. The crawler device according to any one of claims 1 to 2, characterized in that an internal concave pattern (114) is formed on the bottom surface of the crawler block (11), the internal concave pattern (114) communicates with the passage (13), and the internal concave pattern (114) laterally penetrates two side surfaces of the crawler block (11).

4. The crawler device according to any one of claims 1 to 2, characterized in that the axis (12) between two adjacent crawler blocks (11) does not protrude from the edge of one of the crawler blocks (11).

5. The crawler device according to claim 2, characterized in that the holes of the first shaft hole body (112) and the second shaft hole body (113) are both split shaft holes, and the split shaft hole includes at least two stages of semi-encircling hole walls, and the two adjacent stages of semi-encircling hole walls form offset vertical or relative support surfaces.

6. The crawler device according to claim 5, characterized in that the first shaft hole body (112) includes three stages of semi-encircling hole walls, the opening directions of the semi-encircling hole walls located on both sides are the same and perpendicular to the inner surface of the crawler block (11), and the opening direction of the semi-encircling hole wall located in the middle is parallel to the inner surface of the crawler block (11).

7. The crawler device of claim 5, characterized in that the second shaft hole body (113) includes two independent split shaft holes, each of the two independent split shaft holes includes two stages of semi-enclosed hole walls, the opening directions of the two stages of semi-enclosed hole walls are both perpendicular to the assembly surface, and the through passage (13) is located between the two independent split shaft holes.

8. The crawler device according to claim 1, characterized in that the crawler wheels include guide wheels (31) arranged separately at both ends and rollers (32) that support the support frame (2), the radius of the rollers (32) is twice the width D of the crawler block (11), the radius of the guide wheels (31) is four times the width D of the crawler block (11), the center distance between the rollers (32) and the guide wheels (31) is five times the width D of the crawler block (11), and the included angle α between the tangents of the rollers (32) and the guide wheels (31) and the horizontal plane is 15 to 30 degrees.

9. 9. The crawler device according to claim 8, wherein an auxiliary steering module (4) is attached to the support frame (2), the auxiliary steering module (4) including a steering rod (41) and an elastic member (42), a slider (43) is assembled to a central portion of the steering rod (41), the slider (43) is slidably assembled to the support frame (2), long holes (22) are formed on both sides of the support frame (2), both ends of the steering rod (41) protrude from the long holes (22) and are connected to guide wheels (31), and the elastic member (42) acts on the slider (43) to abut the steering rod (41) against the ends of the long holes (22).

10. A cart, The crawler device (10) according to any one of claims 1 to 9, wherein the crawler device (10) is in two sets, and the two sets of crawler devices (10) are provided in parallel and spaced apart; A bogie comprising: a car body (20) positioned above two sets of crawler devices (10) and supported by two support frames (2).

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