CN110588813A - Easy-to-adjust shape crawler traveling device - Google Patents

Abstract

The invention discloses an easy-to-adjust shape crawler traveling device, comprising a crawler, the outer surface of the crawler is in contact with the ground for frictional advancement; a triangular wheel structure, including front and rear load-bearing wheel sets and driving wheel sets, front and rear load-bearing wheel sets and driving wheel sets The outer surface of the track meshes with the inner surface of the track and frictionally drives the track to rotate; the switching device includes a horizontal screw connecting the front and rear load-bearing wheel sets to adjust the contact length of the track and the ground, connecting the front load-bearing wheel set and the drive wheel set to adjust the track The length of the front screw on one side and the rear screw connecting the rear load-bearing wheel set and the driving wheel set to adjust the length of the other side of the track support the triangular wheel structure to form a triangular track and adjust the stretching length of each screw to adjust the track supported shape. The invention can adjust the length of the three sides of the crawler belt and the position of the center of gravity during the running process of the crawler belt, so as to meet the requirements of different terrains.

Description

Easy-to-adjust shape crawler traveling device

technical field

The invention relates to the technical field of driving deformation of crawler belts, in particular to a crawler belt traveling device whose shape can be easily adjusted.

Background technique

The crawler chassis is a commonly used complex road walking chassis. The current crawler chassis is mainly composed of traveling mechanism, crawler belt, driving wheel, supporting roller, supporting roller, tensioning device, power device, guide wheel and other structures. Track rollers, driving wheels, supporting pulleys, guide wheels, tensioning devices, and power units are installed on the traveling mechanism, and the track is matched with the driving wheels, supporting pulleys, and guiding wheels. The power unit drives the drive wheel to rotate, and the gear teeth on the drive wheel mesh with the track chain to continuously roll up the track from the rear. The grounded track will give the ground a backward force, and the ground will correspondingly give the track a forward reaction force. This reaction is the driving force that pushes the machine forward. When the driving force is sufficient to overcome the walking resistance, the rollers will roll forward on the track, so that the machine will move forward. When the crawler device is used for climbing stairs, the following problems will be encountered: the stairs are composed of multi-level steps. When the crawler chassis is climbing the stairs, the crawler only contacts with the edge of the stairs. The contact surface is extremely small, and under the action of gravity , it is easy to make the track bend, and at the same time the track will be in an over-tight state, which will cause obstacles to the rolling of the rollers on the track. The method to overcome this obstacle is: increase the driving force of the power unit; adjust the track to an over-tight state to The bending of the track is reduced, so as to reduce the obstacle of the roller rolling. When the track is adjusted to be too tight, the driving force of the motor will also be higher. Present crawler chassis, all there is application difficulty when being applied to carrying stair climbing machine and automatic upstairs wheelchair. And the load-bearing support of existing crawler all is fixed steel plate, is difficult to transform self form under different situations such as different road surfaces and up and down stairs, soft and hard road surface.

Contents of the invention

Aiming at the deficiencies in the above-mentioned technologies, the present invention provides an easy-to-adjust shape crawler traveling device, which can adjust the length of three sides of the crawler and adjust the position of the center of gravity during the traveling of the crawler to meet the requirements of different terrains.

In order to achieve the above purpose, the present invention provides a crawler track device that is easy to adjust the shape, including:

Tracks, the outer sides of which are in contact with the ground for frictional advancement;

Triangular wheel structure, including front and rear load-bearing wheel sets and drive wheel sets, the outer surfaces of the front and rear load-bearing wheel sets and drive wheel sets mesh with the inner surface of the track and drive the track to rotate by friction;

Switching device, including connecting the front and rear load-bearing wheel sets to adjust the length of the contact between the track and the ground, connecting the front load-bearing wheel set and the driving wheel set to adjust the length of one side of the track and connecting the rear load-bearing wheel set and the driving wheel The wheel set uses the rear screw rod to adjust the length of the other side of the track, supports the triangular wheel structure to form a triangular track, and adjusts the shape of the track after being supported by adjusting the telescopic length of each screw rod.

Wherein, the front load-bearing unit includes a front load-bearing fixed frame and two front load-bearing wheels, and the two front load-bearing wheels are respectively hinged at two ends on the same side of the front load-bearing fixed frame and are connected to each other by a front load-bearing connecting frame.

Wherein, the front load-bearing fixed frame is provided with an active inducer engaged with the inner surface of the track, and the active inducer is located between the front load-bearing wheel and the driving wheel.

Wherein, the structure of the rear load-bearing group is the same as that of the front load-bearing group, and the rear load-bearing fixed frame is also hinged with a driven inducer engaged with the inner surface of the track, and the driven inducer is located on the Between the rear load wheel and the drive wheel.

Wherein, a plurality of shock absorbing springs are also included, and the shock absorbing springs are arranged between the front load-bearing fixing frame and the front load-bearing connecting frame and between the rear load-bearing fixing frame and the rear load-bearing connecting frame.

Wherein, the driving wheel set is connected with the driving wheel set of another crawler traveling device through a linkage rod to form a crawler chassis, and the linkage rod is connected to the load, and the horizontal screw rod and the front and rear screw rods are stretched to adjust the The shape of the crawler chassis is used to change the position of the linkage rod, thereby changing the position of the center of gravity of the load.

Wherein, it also includes a load-bearing receiving frame, the load-bearing receiving frame is fixed between the left front load-bearing wheels, and the middle part is hinged on the linkage rod through a receiving screw.

Wherein, the front screw rod stretches to the shortest, the rear screw rod stretches to the longest, and the track is in a tensioned state after the horizontal screw rod stretches, so that the distance between the linkage rod and the active induction wheel Minimum, adjust the center of gravity of the load closer to the forward direction.

Wherein, the horizontal screw rod includes an inner rod, a middle rod and an outer rod, the middle rod is a cavity structure with an opening, and the inner wall of the middle rod is provided with a forward thread portion, and the outer wall is arranged in sequence along the direction of the opening. There is a reverse threaded portion and a first fixing portion, one end of the inner rod is connected to the front load-bearing wheel set, and the outer wall of the other end is provided with a forward thread adapted to the forward threaded portion; one end of the outer rod is connected to the rear The load-bearing wheel set is connected, and the inner wall at the other end is provided with a reverse thread adapted to the reverse thread part, and the first fixing part is connected with a driving device to control the expansion and contraction of the inner rod and the outer rod.

Wherein, the pitches of the positive thread portion and the external thread portion are equal.

The beneficial effects of the present invention are: compared with the prior art, the easily-adjustable shape crawler traveling device provided by the present invention includes a crawler track and a triangular wheel structure. The outer surface of the driving wheel set and the inner surface of the crawler track are engaged and frictionally drives the track to rotate; a switching structure is provided, and the switching structure includes a horizontal screw connecting the front and rear load-bearing wheel sets to adjust the contact length of the track and the ground, and connecting the front load-bearing wheel set and the driving track. The wheel set uses the front screw to adjust the length of one side of the track and the rear screw that connects the rear load-bearing wheel set and the driving wheel set to adjust the length of the other side of the track, that is, the horizontal screw and the front and rear screw support the triangular wheel structure to form a triangle. Track, and adjust the shape of the track after being supported by adjusting the telescopic length of each screw rod, and play the role of adjusting the tension of the track to meet the requirements of different terrains.

Description of drawings

Fig. 1 is a reference diagram of the first use state of the present invention;

Fig. 2 is a reference diagram of the second angle use state of the present invention;

Fig. 3 is a schematic diagram of the unilateral uphill state of the present invention;

Fig. 4 is a schematic diagram of the unilateral downhill state of the present invention;

Fig. 5 is a schematic diagram of the unilateral high-speed forward state of the present invention;

Fig. 6 is a partial structural schematic diagram of the present invention;

Fig. 7 is the structural representation of horizontal screw rod and driving device of the present invention;

Fig. 8 is the anatomical view of horizontal screw rod and driving device of the present invention;

Fig. 9 is a schematic structural view of the horizontal screw rod of the present invention.

The main component symbols are explained as follows:

1. Tracks; 2. Front load-bearing wheel set; 21. Front load-bearing fixed frame; 22. Front load-bearing wheel; 23. Front load-bearing connecting frame; 24. Front shock absorbing spring; 3. Rear load-bearing wheel set; 31. Rear load-bearing fixation 32, load-bearing wheels; 33, rear load-bearing connecting frame; 34, rear damping spring; 4, drive wheel group; 5, switching mechanism; 51, front screw mandrel; 52, rear screw mandrel; 53, horizontal screw mandrel 6, the induction wheel group; 61, the active induction wheel; 62, the driven induction wheel; 71, the linkage frame; 72, the transmission column; 73, the bearing frame;

Detailed ways

In order to express the present invention more clearly, the present invention will be further described below in conjunction with the accompanying drawings.

Please refer to Fig. 1-Fig. 2, the easily-adjustable shape crawler traveling device of the present invention includes crawler belt 1, triangular wheel structure and switching structure, crawler track is usually made of rubber, has appropriate transmission belt device and reinforcing fiber, to withstand the usual encounters The terrain that is encountered, including rocks, logs, mud, sand, etc., its outer surface is in contact with the ground for frictional advancement; the triangular wheel structure meshes with the inner surface of the crawler 1 and drives the crawler forward. The triangular wheel structure includes front and rear load-bearing wheels and drive The wheel set 4, the front and rear load-bearing wheel sets are respectively the front load-bearing wheel set 2 and the rear load-bearing wheel set 3, the outer surfaces of the front and rear load-bearing wheel sets and the driving wheel set 4 mesh with the inner surface of the track 1 and friction drives the track to rotate; switching structure It includes a horizontal screw 53 connecting the front and rear load-bearing wheel sets to adjust the contact length between the track and the ground, a front screw 51 connecting the front load-bearing wheel set 2 and the driving wheel set 4 to adjust the length of one side of the track, and connecting the rear load-bearing wheel set 3 and the driving wheel set. The wheel set 4 uses the rear screw 52 to adjust the length of the other side of the track, that is, the horizontal screw 53 and the front and rear screw 51 to support the triangular wheel structure to form a triangular shoe, and adjust the stretching length of each screw to adjust the track to be supported After the shape, and play a role in adjusting the track tension.

Compared with the prior art, the present invention not only supports the triangular wheel structure through the switching device, but also plays the role of adjusting the tension of the crawler belt, and can change the shape of the crawler belt. The front and rear load-bearing wheel sets and driving wheel sets are supported to form a triangular crawler, but the defect is that the length of each side of the triangular fixing frame is fixed. The position between the track is fixed, so the shape of the track cannot be adjusted, and an additional tensioning device is required to adjust the tension of the track during the running process to prevent the track from being disconnected from the triangular wheel structure. The structure is relatively complicated and the track cannot be adjusted. The general track application scenarios include flat ground, up and down slopes, or soft and hard progress at high speed. Due to the different force conditions in each scene, the requirements for the center of gravity position and shape of the track are different. The crawler traveling device such as the crawler chassis needs the symmetrical setting of the crawlers on both sides to keep the balance. The two crawlers are connected through the linkage frame between the respective driving wheel sets to form the crawler chassis. The linkage frame is used to fix and support the load. Such as a wheelchair seat, and in the process of traveling, such as going uphill, due to the gravity offset, if the center of gravity of the load is located in the middle of the track at this time, it is prone to the danger of backward tilting, and the present invention can change the load by adjusting the shape of the track. The position of the center of gravity of the object adapts to the needs of different scenes.

In this embodiment, referring to Fig. 1-Fig. 6, the front load-bearing wheel set 2 includes a front load-bearing fixed frame 21 and two front load-bearing wheels 22, and the two front load-bearing wheels 22 are respectively hinged on the same side of the front load-bearing fixed frame 21. and are connected to each other by the front load-bearing connecting frame 23, one end of the front screw mandrel 51 is fixed on the front load-bearing fixed frame 21 and is positioned at the side opposite to the two front load-bearing wheels 22, and the other end of the front screw mandrel 51 One end is fixedly connected to the drive wheel set 4, and two front load-bearing wheels 2 are provided to ensure overall stability during the movement, especially the two front load-bearing wheels can be on different planes, so that the corners of the triangular track can be in two Contact on different planes, more stable; Also be provided with inducer group 6, inducer group 6 active inducer 61 and driven inducer 62,, active inducer 61 is fixed on the front load-bearing fixed frame 21 and with crawler belt 1 The inner surface is meshed, and the active induction wheel 61 is located between the front load-bearing wheel 22 and the driving wheel set 4. The active induction wheel and the driving wheel together play a dual-drive role, so that the crawler track travel device can be used during movement, especially when going uphill. , there will not be a phenomenon that the front load-bearing wheel is stuck due to insufficient power of the driving wheel; the structure of the rear load-bearing group 3 is the same as that of the front load-bearing group 2, and the rear load-bearing wheel group 3 includes a rear load-bearing fixing frame 31 and 2 rear load-bearing wheels. Load-bearing wheels 32 and rear load-bearing connecting frame 33, wherein two rear load-bearing wheels 32 are respectively hinged at the two ends on the same side of rear load-bearing fixed frame 31 and are mutually connected by rear load-bearing connecting frame 33, and one end of rear screw mandrel 52 It is fixed on the rear load-bearing fixed frame 31 and is positioned at the side opposite to the two rear load-bearing wheels 32. The other end of the rear screw mandrel 52 is fixedly connected to the drive wheel set 4, and the front load-bearing wheel set 3 is the forward direction. The driven induction wheel 62 is fixed on the rear load-bearing fixed frame 31, and meshes with the inner surface of the crawler belt 1. The driven induction wheel 62 is located between the rear load-bearing wheel 32 and the driving wheel group 4, and driven by the driving induction wheel, from The induction wheel moves with it to increase the rear friction of the track; in order to reduce the vibration during the movement, it also includes two shock absorbing springs, which are respectively the front shock absorber spring 24 and the rear shock absorber spring 34, and the front shock absorber Spring 24 is arranged between front load-bearing fixed mount 21 and front load-bearing connecting frame 23, and rear damping spring 34 is arranged between rear load-bearing fixed mount 31 and rear load-bearing connecting frame 33, plays the effect of shock absorption; Specifically, it may include a driving wheel 41 and a driving bracket 42, the driving wheel is rotatably fixed on the driving bracket 42, and is connected with the rear screw mandrel 52 and the front screw mandrel 51 through the drive bracket 42.

In this embodiment, the drive wheel set 4 is generally connected to the triangular track on the other side, so by changing the position of the drive wheel set 4, the position of the center of gravity of the load on the crawler chassis made up of both sides of the track can be changed. Other connection methods can be adopted; take the drive wheel set 4 connected with the triangular crawler belt on the other side, and the load is a wheelchair as an example, the drive wheel set of the drive wheel set 4 is connected to the drive wheel set of another crawler belt traveling device through the linkage rod 71 4 drive wheels are connected to form a crawler chassis, and the linkage rod 71 fixes the load, and the shape of the crawler chassis and the center of gravity position of the load are adjusted by means of the expansion and contraction of the horizontal screw rod 53, the front screw rod 51 and the rear screw rod 53; Behind the crawler chassis, in order to facilitate the fixing and stability of the wheelchair, the linkage rod 71 is symmetrically provided with transmission columns 72, and two transmission columns 72 support the wheelchair seat, and the two transmission columns transmission columns 72 are located between the two driving wheels. In the process of avoiding in the process of traveling, especially when going uphill and downhill, such as barrier-free passages, etc., the inclined surface of the load-bearing object will bring discomfort to people, and it is prone to overturning. It also includes the load-bearing frame 73, the load-bearing receiving frame 73 is fixed between the front and rear load-bearing wheels, and the middle part is hinged on the linkage rod 71 through the receiving screw rod 74, so as to ensure that during the movement, the inclination angle of the wheelchair seat is changed by the traveling distance of the receiving screw rod 74, and then Compensate for the change of the center of gravity sent by the wheelchair during the running process, so that the wheelchair seat is always kept in a horizontal state, and completes the automatic adjustment of the horizontal center of gravity of the wheelchair seat; The working status of the crawler traveling device is explained:

Referring to Fig. 3, when going up stairs or climbing a slope, the front screw mandrel 51 is stretched to the shortest, the rear screw mandrel 52 is stretched to the longest, and the horizontal screw mandrel 53 stretches and the track is in a tensioned state, so that the drive wheel group 4 and The distance between the active induction wheel 61 is the smallest, and the driving wheel set 4 is adjusted towards the direction close to the front screw rod 51, so that the center of gravity of the load tends to be adjusted in the forward direction, so that the center of gravity of the load is forward and stable forward, preventing the load from falling backward. Danger;

Referring to Fig. 4, when going down the stairs or downhill, the front screw mandrel 51 is stretched to the longest, the rear screw mandrel 52 is shrunk to the shortest, and the horizontal screw mandrel 53 stretches and the track is in a tensioned state, so that the driving wheel group 4 and the driven wheel The distance between the induction wheel 62 is the smallest, and the driving wheel set 4 is adjusted in a direction close to the rear screw rod 52, so that the center of gravity of the load is adjusted away from the forward direction, so that the center of gravity of the load is moved forward stably, and the danger of the load being tilted forward is prevented. ;

When moving on a soft road surface, such as wet mud pit ground or similar to swampy ground, the horizontal screw rod 53 is stretched to the longest so that the length of the side of the crawler track in contact with the ground is the longest, and the front screw rod 51 and the rear screw rod are adjusted at the same time. Rod 52 is used to adjust the tension of the crawler belt, so that the crawler belt 1 is an isosceles triangle. At this time, the contact area between the crawler belt 1 and the ground is the largest, and the pressure of the entire crawler chassis is the smallest, so as to prevent falling into the soft road surface and reduce bumps;

Referring to Fig. 5, when moving on a hard road surface, the horizontal screw rod 53 shrinks to the shortest to make the side length of the crawler belt 1 in contact with the ground the shortest, and simultaneously adjusts the front screw rod 51 and the rear screw rod 52 to extend to the longest, and At the same time, adjust the tension of the track. At this time, the contact area between the track and the ground is the smallest, and the friction between the track and the ground is the smallest when the track moves, which will minimize the impact on the speed and ensure stable and fast progress; here, if it is in In the state of moving on a high-speed hard surface, it is also necessary to adjust the telescopic length of the front screw mandrel 51 and the rear screw mandrel 52, so that the rear screw mandrel 52 shrinks to a certain size, and adjust the lengths of the front screw mandrel 51 and the rear screw mandrel 52 accordingly to adjust the track The tension of 1 ensures that the contact area is small and at the same time keeps the center of gravity of the load away from the forward direction, ensuring the overall stability when advancing at a high altitude.

In this embodiment, the overall automation is realized, and a driving device is also included, which is electrically connected with the horizontal screw rod 53, the front and rear screw rods, the driving wheel and the active induction wheel 61, so as to provide power for the parts connected to it, and through the control device In order to accurately understand the force situation in different situations and automatically adjust the front and rear, up and down centers of gravity, there are also multiple pressure sensors and level sensors. The pressure sensors can sense pressure signals and can follow a certain A device or device that converts a pressure signal into a usable output electrical signal according to the law; it usually consists of a pressure sensitive element and a signal processing unit. According to different test pressure types, pressure sensors can be divided into gauge pressure sensors, differential pressure sensors and absolute pressure sensors. In terms of position, it is used to detect the force of different parts, judge the movement and adjust accordingly; the level sensor is a kind of angle sensor, and its function is to measure the level of the carrier, also called the inclination sensor, which is often called in engineering. level or inclinometer. The dual-axis level sensor can measure the horizontal angles in two directions at the same time, so the levelness of the entire measured surface can be determined. During the movement of the inclined plane, it is necessary to ensure that the load is relatively level with the ground, and the track and the ground will be separated. Form a certain angle, so the horizontal sensor is fixed on the fixed position of the load and the linkage rod and on the horizontal screw to compare the angle between the load and the track, and adjust the position of the load in time. Through each pressure sensor and For the detection of the level sensor, the information collected by the pressure sensor and the level sensor is comprehensively analyzed and processed, and then the driving device is controlled to adjust each component.

In this embodiment, referring to Fig. 7-Fig. 9, the horizontal screw rod 51 includes an inner rod 511, a middle rod 512 and an outer rod 513, the middle rod 512 is a cavity structure with an opening, and the inner wall of the middle rod is provided with positive To the threaded part 5121, the outer wall of the middle rod 512 is provided with a reverse threaded part 5122 and a first fixing part 5123 in sequence along the opening direction. The outer wall is provided with a forward thread 5111 adapted to the forward threaded part 5121; one end of the outer rod 513 is provided with a third fixing part 5132 connected with the rear bearing wheel set 3, and the inner wall of the other end is provided with a reverse threaded part 5122 Adapted reverse thread 5131, the first fixing part 5112 is connected with the driving device to control the expansion and contraction of the inner rod 511 and the outer rod 513; the pitch of the positive thread part 5121 and the outer thread part 5122 are equal, and the horizontal screw rod is set at both ends Stretching, lengthening the telescopic length of the horizontal screw rod, making the crawler more deformable. Similarly, the structure of the front screw rod 51 and the rear screw rod 52 is the same as that of the horizontal screw rod, making the overall variability of the crawler belt stronger; It also includes an outer rod sleeve 5133, the part of the first fixing part 5123 away from the opening is the fourth fixing part 51231, and the fourth fixing part 51231 is provided with a bearing 5134 for fixing the outer rod sleeve 5133, and the outer rod sleeve 5133 is arranged along the length direction There is a bar-shaped groove, and the outer wall of the outer rod 513 near the opening is provided with a limit block, and the limit block can slide in the bar-shaped groove to limit the length of the movement of the outer rod 513 relative to the middle rod 512, preventing the middle rod 512 from rotating forward or When the reversal is excessive, the outer rod 513 directly falls off from the middle rod 512 to play the role of positioning; and the horizontal screw rod 51 can be driven and controlled by the driving device. Taking the driving device as the stepping motor 9 as an example, the stepping motor 9 The driving gear 91 is fixed on the rotating shaft, the first fixing part 5123 is also provided with a fifth fixing part 51232 close to the opening, and the fifth fixing part 51232 is sleeved with a driven gear 92 meshing with the driving gear 91, and then stepping The motor 9 drives the middle rod 512 to rotate, such as the forward rotation of the stepping motor 9 to drive the driving gear 91 to rotate forward, so as to drive the middle rod 512 to follow the driven gear 92 to rotate forward, and then the outer rod 513 and the inner rod 511 are aligned to the two ends of the middle rod 512. The back movement makes the length of the horizontal lead screw longer; and the stepper motor 9 rotates forwardly to drive the driving gear 91 to reverse, so as to drive the middle rod 512 to reverse with the driven gear 92, and then the outer rod 513 and the inner rod 511 move toward the middle rod 512. The two ends of the two move towards each other, so that the length of the horizontal screw rod 51 is shortened, wherein, the driving gear 7 and the driven gear 92 can also be replaced by a transmission belt or a chain, and can also play a role in driving the rotation of the middle rod 2; and the driven gear 92 The structure fixed on the middle rod 2 is as follows: a first fixing groove 51233 is provided on the fifth fixing part 51232, a second fixing groove 921 is arranged on the inner wall of the driven gear 92, and then the fixing block is clamped between the first fixing groove and the Between the second fixing slots 921, so that the driven gear 92 is fixed on the middle rod 512 without affecting the movement of the middle rod 512. Forward rotation and/or reverse rotation; for the convenience of fixing the overall device and the applied equipment, it also includes a motor cover 10, the motor cover 10 is provided with a first sleeve 101 and a second sleeve 102 fixed to each other, the first sleeve 101 is fixed on the outer wall of the stepping motor 9, and the second sleeve 102 can be directly sleeved on the outer wall of the outer rod 513 to play a role of fixing.

The above disclosures are only one or several specific embodiments of the present invention, but the present invention is not limited thereto, and any changes conceivable by those skilled in the art shall fall within the protection scope of the present invention.

Claims (10)

1. The utility model provides an easily transfer caterpillar track advancing device of plastic form which characterized in that includes:

the outer side surface of the crawler belt is in contact with the ground to perform frictional advancing;

the triangular wheel structure comprises a front bearing wheel set, a rear bearing wheel set and a driving wheel set, wherein the outer side surfaces of the front bearing wheel set and the rear bearing wheel set and the driving wheel set are meshed with the inner side surface of the crawler and rub to drive the crawler to rotate;

the switching device comprises a horizontal screw rod, a front screw rod, a rear screw rod and a triangular wheel structure, wherein the horizontal screw rod is connected with a front bearing wheel set and a rear bearing wheel set so as to adjust the contact length between the crawler and the ground, the front screw rod is connected with the front bearing wheel set and a driving wheel set so as to adjust the length of one side of the crawler, the rear screw rod is connected with the rear bearing wheel set and the driving wheel set so as to adjust the length of the other side of the crawler, the triangular wheel structure is supported to form a triangular crawler.

2. An easily shapeable crawler travel apparatus according to claim 1, wherein the front bearing assembly comprises a front bearing mount and two front bearing wheels, the two front bearing wheels are respectively hinged to two ends of the front bearing mount on the same side and connected to each other through a front bearing connection frame.

3. The easy-to-adjust contoured crawler travel device of claim 2, wherein the front load bearing mount has an active inducer that engages an inner side surface of the crawler, the active inducer being located between the front load bearing wheel and the drive wheel.

4. A shape-adjustable crawler traveling device according to claim 2 or 3, wherein the rear bearing unit has the same structure as the front bearing unit, and the rear bearing holder is further hinged with a driven inducer engaged with an inner side surface of the crawler, the driven inducer being located between the rear bearing wheel and the driving wheel.

5. An easily reshaped crawler travel unit according to claim 4, further comprising a plurality of shock absorbing springs disposed between said front load bearing mount and front load bearing link and between said rear load bearing mount and rear load bearing link.

6. The crawler traveling device with the shape being easily adjusted according to claim 1, wherein the driving wheel set is connected with a driving wheel set of another crawler traveling device through a linkage rod to form a crawler chassis, and the linkage rod is connected with a load, and the horizontal screw rod, the front screw rod and the rear screw rod are extended and retracted to adjust the shape of the crawler chassis to change the position of the linkage rod, so as to change the position of the center of gravity of the load.

7. The easy-to-adjust-shape crawler travel device according to claim 6, further comprising a bearing support frame, wherein the bearing support frame is fixed between the left front bearing wheels, and the middle part of the bearing support frame is hinged to the linkage rod through a support screw rod.

8. The easy-shape-adjustable crawler traveling device according to claim 1, wherein the front screw rod extends to the shortest length, the rear screw rod extends to the longest length, and the horizontal screw rod extends and contracts to place the crawler in a tensioned state, so that the distance between the linkage rod and the active inducer is minimized, and the center of gravity of the object is adjusted to approach the forward direction.

9. The crawler traveling device with the shape being easily adjusted according to claim 1, wherein the horizontal screw rod comprises an inner rod, a middle rod and an outer rod, the middle rod is of a cavity structure with an opening, a forward threaded portion is arranged on the inner wall of the middle rod, a reverse threaded portion and a first fixing portion are sequentially arranged on the outer wall of the middle rod along the opening direction, one end of the inner rod is connected with the front bearing wheel set, and a forward thread matched with the forward threaded portion is arranged on the outer wall of the other end of the inner rod; the one end of outer pole and rear load wheel group are connected, the inner wall of the other end be equipped with the reverse screw thread of reverse screw thread portion adaptation, first fixed part is connected with drive arrangement in order to control interior pole and outer pole's flexible.

10. The easy-to-shape track-traveling device of claim 9, wherein the pitch of the male threaded portion and the female threaded portion are equal.