CN115817660A - A dual-crawler chassis synchronous walking system and its application method - Google Patents

Abstract

The invention discloses a dual-crawler chassis synchronous walking system and a method for using it, comprising two walking chassis mechanisms, the walking chassis mechanism including a crawler chassis assembly and a slewing assembly; the driving wheel module including a driving wheel, a walking encoder, and a bracket and the first gear pair; the rotary drive module includes a motor, a reducer and a rotary encoder, and the rotary support module includes an inner rotary tube disk, an outer rotary sleeve and a second gear pair. In the present invention, the deflection angle difference between the walking chassis mechanism and the telescopic sleeve frame mechanism in the column units on both sides is monitored in time, and then the stroke difference is calculated, and the walking speed of the trailing chassis mechanism is automatically adjusted according to the stroke difference , until the stroke difference is compensated, the dual-track chassis mechanism returns to maintain synchronous walking, and at the same time monitors the walking speed of the dual-track chassis in real time to ensure the smooth operation of the walking chassis mechanism and improve the safety of the overall use of the construction platform.

Description

A dual-crawler chassis synchronous walking system and its application method

technical field

The invention relates to the technical field of steel structure industrial factory building construction equipment in the construction industry, in particular to a dual-crawler chassis synchronous walking system and a use method.

Background technique

The construction of steel structure industrial plants requires manual connection of a large number of steel structure parts through bolts, welding and other methods. Due to the large size and heavy weight of the steel structural parts, and most of the working surface is located at high altitude, the traditional high-altitude construction method mostly uses conventional equipment such as self-made hanging baskets, well-shaped frames, climbing vehicles, steel ladders, etc., together with cranes and boom cranes to complete. However, during the construction process, the use of cranes and boom cranes for high-altitude operations still has problems such as limited actual working space, inconvenient operation, many hazards, and accident safety that cannot be effectively controlled. Therefore, the construction platform came into being.

In order to meet the needs of safe and efficient high-altitude operations in a wider range and wider space, the current construction platform has derived an integrated platform with dual crawlers. However, in the prior art, the double-track chassis is generally driven by a hydraulic system. When there is an asynchronous stroke difference between the crawler chassis on both sides, the force on the connecting frame connected between the double-track chassis will increase. When the asynchronous stroke difference reaches a certain value, the structure of the connecting frame will be damaged, and then the structure of the entire construction platform will also be damaged, resulting in double losses of personal safety and economic property.

Contents of the invention

The technical problem to be solved by the present invention is to provide a dual-crawler chassis synchronous walking system and a use method that ensure the stable operation of the chassis and protect the overall safety.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: a dual-crawler chassis synchronous traveling system, including two traveling chassis mechanisms, and the traveling chassis mechanism includes a crawler chassis assembly and a slewing assembly;

The crawler chassis assembly includes a driving wheel module, the driving wheel module includes a driving wheel, a travel encoder, a bracket and a first gear pair, and the first gear pair includes a first gear ring and a first gear, and the first gear pair includes a first gear ring and a first gear. The gear ring is fixedly sleeved on the periphery of the driving wheel, the first gear is coaxially connected with the travel encoder, and the two are installed on both sides of the bracket respectively, the first gear and the The meshing and matching of the first gear ring;

The slewing assembly includes a slewing drive module and a slewing bearing module, the slewing drive module includes a motor, a reducer and a slewing encoder, and the slewing bearing module includes an inner slewing pipe coil, an outer slewing sleeve and a second gear pair, the The second gear pair includes a second gear ring and a second gear, the second gear ring is fixedly embedded in the inner ring of the inner rotary tube disk, the second gear is installed at the bottom of the rotary drive module, The second gear meshes with the second gear ring.

Further, the driving wheel module also includes a mounting plate, the bracket is fixed on the mounting plate, the first gear ring is an outer ring gear ring, the tooth diameter is larger than the tooth diameter of the first gear, and the The first gear ring is a driving gear, the first gear is a driven gear, the driving wheel is used to drive the first gear ring to rotate, and the travel encoder is used to monitor the rotation speed of the first gear.

Further, the crawler chassis assembly also includes a chassis and crawlers, the crawler belts have two, respectively sleeved on both sides of the chassis, and the drive wheel module has two, respectively installed on both sides of the chassis , and located inside the track.

Further, the slewing support module also includes a support plate, the inner slewing pipe coil is fixed on the support plate, the outer slewing sleeve is rotatably fitted on the periphery of the inner slewing tube plate, the second The gear ring is an inner ring gear ring with a tooth diameter larger than that of the second gear, the second gear is a driving gear, the second gear ring is a driven gear, and the rotary drive module is used to drive the The second gear rotates, and the rotary encoder is built in the rotary drive module for monitoring the rotation angle of the second gear.

Further, the walking chassis mechanism also includes a support assembly, the support assembly includes a support beam, an outrigger cylinder and a pressure equalizing plate, the support beam is erected on the crawler chassis assembly, and the outrigger cylinder has four , respectively installed at the four corners of the bottom of the support beam, and the bottom of each of the outrigger cylinders is fixed with the pressure equalizing plate that can touch the ground.

Further, the support assembly also includes a connecting beam, which is an X-shaped upper and lower double-layer structure, installed horizontally and centrally between the supporting beams, and the slewing assembly is centrally installed on the crawler chassis assembly , the lower layer of the connecting beam is fixedly welded to the outer wall of the outer slewing sleeve, the upper layer of the connecting beam is located on the slewing support module, and can clamp the slewing drive module and limit its rotation path range .

Further, it also includes a work platform unit and a column unit, the column unit has two, respectively installed at the left and right ends of the bottom of the work platform unit at intervals, the column unit includes a telescopic sleeve mechanism and the walking chassis mechanism .

Further, the telescopic sleeve frame mechanism includes an inner sleeve frame and an outer sleeve frame that are fitted inside and outside and are slidably matched. The top of the inner sleeve.

Further, it also includes a spanning connection frame connected between the two telescopic sleeve mechanisms, the spanning connection frame is located below the working platform unit, and includes a first section and a second section, the first section A segment is at least two, and may be horizontally hinged transversely to each other or horizontally hinged transversely to said second segment.

A method for using a dual-crawler chassis synchronous walking system, including the dual-crawler chassis synchronous walking system, the method includes the following steps:

S1: the outrigger cylinder shrinks, the pressure equalizing plate lifts off the ground, and the two crawler chassis components keep walking synchronously, driving the construction platform to transfer between construction stations;

S2: The slewing drive module drives the slewing support module to rotate, drives the crawler chassis assembly and the slewing support module to keep rotating in the same direction, so as to realize the lateral rotation and longitudinal rotation of the walking chassis mechanism, and then realize the construction Flexible steering of the platform between stations;

S3: the outrigger cylinder is stretched out, the pressure equalizing plate touches the ground, the two crawler chassis assemblies stop walking, and the construction platform remains static;

S4: When the two traveling chassis mechanisms move in the same traveling direction, when one of the traveling chassis mechanisms produces an asynchronous stroke difference ΔL due to slipping or other reasons, the An angle difference of θ° will be generated between the telescopic sleeve mechanism and the walking chassis mechanism, and the angle difference of θ° will be amplified by the slewing reduction ratio of the overall control system, and then fed back to the two slewing drive modules respectively. A rotary encoder, the rotary encoder can accurately measure the angle difference of θ°, and then calculate and process to obtain the ΔL stroke difference, and send the result to the general control system;

S5: According to the received ΔL stroke difference, the general control system increases the walking speed of the crawler chassis assembly that lags behind the synchronous stroke in combination with the current walking speeds of the two crawler chassis assemblies until the ΔL stroke difference is compensated, and the two crawler chassis assemblies The walking chassis mechanism returns to synchronous walking, the walking encoder measures the rotational speed of the first gear, calculates and processes the rotational speed of the driving wheel, and sends the result to the general control system to monitor the crawler chassis in real time The walking speed of the components ensures that the two walking chassis mechanisms run smoothly.

The beneficial effects of the present invention are reflected in:

In the present invention, the dual-travel chassis mechanism adopts the general control mode combining the electric control system and the hydraulic control system, which can not only realize the movement and steering of the double-track chassis flexibly, but also prevent the crawler chassis on both sides from slipping due to transfer or other Reason When there is an asynchronous stroke difference, the deflection angle difference between the walking chassis mechanism and the telescopic sleeve mechanism in the column units on both sides is monitored in time, and then the stroke difference is calculated, and the walking of the lagging side is automatically adjusted according to the stroke difference The walking speed of the chassis mechanism is maintained until the stroke difference is compensated and the dual-travel chassis mechanism returns to maintain synchronous walking. At the same time, the walking speed of the double-crawler chassis is monitored in real time to ensure the smooth operation of the walking chassis mechanism and improve the safety of the overall use of the construction platform.

Description of drawings

Fig. 1 is a front view of the overall structure when the traveling chassis mechanism of an embodiment of the present invention is rotated to the longitudinal direction.

Fig. 2 is a front view of the overall structure when the traveling chassis mechanism of an embodiment of the present invention is rotated to the horizontal direction.

Fig. 3 is an axonometric view of a walking chassis mechanism according to an embodiment of the present invention.

Fig. 4 is a partial assembly diagram of the slewing drive module and the slewing support module according to an embodiment of the present invention.

Fig. 5 is a partial schematic diagram of a driving wheel module according to an embodiment of the present invention.

Fig. 6 is a front view of a spanning connecting frame according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of a double-crawler chassis according to an embodiment of the present invention when there is a stroke difference.

The marks of each component in the accompanying drawings are: 1. Working platform unit; 2. Column unit; 3. Telescopic frame mechanism; 4. Traveling chassis mechanism; Wheel module; 601, driving wheel; 602, travel encoder; 603, mounting plate; 604, bracket; 7, first gear pair; 701, first gear ring; 702, first gear; 8, support assembly; 801, Supporting beam; 802, connecting beam; 803, outrigger cylinder; 804, equalizing plate; 9, rotary assembly; 10, rotary drive module; 1001, motor; 1002, reducer; 1003, rotary encoder; ; 1101, the inner rotary pipe coil; 1102, the outer rotary casing; 1103, the support plate; 12, the second gear pair; 1201, the second gear ring; 1202, the second gear; segment; 1302, the second segment.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. It should be noted that if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. Implying their relative importance or implying the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features.

See Figures 1-7.

The present invention provides a dual-crawler chassis synchronous walking system, which includes two walking chassis mechanisms 4, and the walking chassis mechanism 4 includes a crawler chassis assembly 5 and a rotary assembly 9;

The crawler chassis assembly 5 includes a driving wheel module 6, the driving wheel module 6 includes a driving wheel 601, a travel encoder 602, a bracket 604 and a first gear pair 7, and the first gear pair 7 includes a first gear ring 701 and the first gear 702, the first gear ring 701 is fixedly sleeved on the periphery of the driving wheel 601, the first gear 702 is coaxially connected with the travel encoder 602, and the two are installed on the On both sides of the bracket 604, the first gear 702 meshes with the first gear ring 701;

The rotary assembly 9 includes a rotary drive module 10 and a rotary support module 11, the rotary drive module 10 includes a motor 1001, a reducer 1002 and a rotary encoder 1003, and the rotary support module 11 includes an inner rotary tube disk 1101, an outer rotary The casing 1102 and the second gear pair 12, the second gear pair 12 includes a second gear ring 1201 and a second gear 1202, and the second gear ring 1201 is fixedly embedded in the inner ring of the inner rotary tube disk 1101 , the second gear 1202 is mounted on the bottom of the rotary drive module 10 , and the second gear 1202 meshes with the second gear ring 1201 .

In the present invention, the dual-travel chassis mechanism adopts the general control mode combining the electric control system and the hydraulic control system, which can not only realize the movement and steering of the double-track chassis flexibly, but also prevent the crawler chassis on both sides from slipping due to transfer or other Reason When there is an asynchronous stroke difference, the deflection angle difference between the walking chassis mechanism and the telescopic sleeve mechanism in the column units on both sides is monitored in time, and then the stroke is calculated.

difference, and automatically adjust the walking speed of the trailing chassis mechanism according to the stroke difference until the 5-stroke difference is compensated, and the dual-track chassis mechanism returns to maintain synchronous walking. At the same time, the walking speed of the dual-track chassis is monitored in real time to ensure The mechanism runs smoothly, improving the safety of the overall use of the construction platform.

In one embodiment, the driving wheel module 6 further includes a mounting plate 603, the bracket 604 is fixed on the mounting plate 603, the first gear ring 701 is an outer gear ring, and the tooth diameter is larger than that of the first gear ring. one

The tooth diameter of the gear 702, the first gear ring 701 is a driving gear, the first gear 702 is a driven gear, the driving wheel 601 is used to drive the first gear ring 701 to rotate, and the walking code device 602

It is used to monitor the rotation speed of the first gear 702 . Designed in this way, the driving wheel module 6 drives the crawler chassis assembly 5 to run, the speed of the driving wheel 601 is reflected as the walking speed of the crawler chassis assembly 5, and the first gear ring 701 and the driving The wheel 601 rotates coaxially, the first gear 702 meshes with the first gear ring 701, that is, maintains the same speed as the driving wheel 601, the 5-travel encoder 602 is connected to the first gear 702, That is, the real-time measurement of the walking speed of the crawler chassis assembly 5 can be reflected by the real-time measurement of the rotational speed of the first gear 702 .

In one embodiment, the crawler chassis assembly 5 further includes a chassis 501 and a crawler belt 502, the crawler belt 502 has two, respectively sleeved on both sides of the chassis 501, and the driving wheel module 6 has two

one, respectively installed on both sides of the chassis 501, and located in the track 502. Designed in this way, the chassis 501 is provided with a hydraulic drive motor and a travel reducer, and the crawler chassis assembly 5 drives the integrated platform to move smoothly between construction stations through walking.

In one embodiment, the slewing support module 11 further includes a support plate 1103, the inner slewing tube plate 1101 is fixed on the support plate 1103, and the outer slewing sleeve 1102 is rotatably set in the inner slewing tube plate 1103.

On the periphery of the rotary tube disk 1101, the second gear ring 1201 is an inner ring gear ring with a tooth diameter larger than that of the fifth second gear 1202, the second gear 1202 is a driving gear, and the second gear ring 1201 is a driven gear, the rotary drive module 10 is used to drive the second gear 1202 to rotate, and the rotary encoder 1003 is built in the rotary drive module 10 to monitor the rotation of the second gear 1202 angle. Designed in this way, the slewing drive module 10 drives the slewing support module 11 to turn, and drives the crawler chassis assembly 5 fixed at the bottom of the slewing support module 11 to turn together, so as to realize the movement of the walking chassis mechanism 4 Horizontal rotation or vertical rotation, and then realize the flexible steering and transfer of the integrated platform between stations, and the operation is stable.

In one embodiment, the walking chassis mechanism 4 further includes a support assembly 8, the support assembly 8 includes a support beam 801, an outrigger cylinder 803 and a pressure equalizing plate 804, and the support beam 801 is erected on the crawler chassis assembly 5 Above, there are four outrigger cylinders 803, which are respectively installed at the four corners of the bottom of the support beam 801, and the bottom of each outrigger cylinder 803 is fixed with the pressure equalizing plate 804 that can touch the ground. Designed in this way, when the outrigger cylinder 803 contracts upwards, the pressure equalizing plate 804 is off the ground, and the two crawler chassis assemblies 5 keep synchronously walking, driving the construction platform to transfer between construction stations. When the outrigger cylinder 803 extends downward, the pressure equalizing plate 804 touches the ground, the two crawler chassis assemblies 5 stop walking, and the construction platform remains standing.

In one embodiment, the support assembly 8 further includes a connecting beam 802, the connecting beam 802 is an X-shaped upper and lower double-layer structure, installed horizontally and centrally between the supporting beams 801, and the slewing assembly 9 is centrally Installed on the crawler chassis assembly 5, the lower layer of the connecting beam 802 is fixedly welded to the outer wall of the outer slewing sleeve 1102, and the upper layer of the connecting beam 802 is located on the slewing support module 11, and can be clamped Hold the rotary drive module 10 and limit the path range of its rotation. Designed in this way, since the lower layer of the connecting beam 802 is fixedly connected between the outer wall of the outer rotary sleeve 1102 and the support beam 801, when the rotary drive module 10 drives the inner rotary tube coil When 1101 rotates, the outer rotary sleeve 1102 set on the periphery of the inner rotary tube plate 1101 keeps not rotating, and since the rotary drive module 10 is located between the upper layers of the connecting beams 802, when the rotary When the drive module 10 drives the second gear 1202 to rotate around the inner ring of the second gear ring 1201, the rotary drive module 10 will be blocked by the upper layer of the connecting beam 802 and cannot rotate, and then transformed into the The second gear ring 1201 rotates around the second gear 1202 , that is, the inner rotating tube plate 1101 rotates, so that the slewing support module 11 drives the crawler chassis assembly 5 to rotate.

In one embodiment, it also includes a work platform unit 1 and a column unit 2. There are two column units 2, which are respectively installed at the left and right ends of the bottom of the work platform unit 1 at intervals. The column unit 2 includes a telescopic sleeve Frame mechanism 3 and said walking chassis mechanism 4. With this design, the working platform unit 1 is supported by the two column units 2 at the bottom, the structure is more stable, and it is suitable for wider factory buildings.

In one embodiment, the telescopic frame mechanism 3 includes an inner frame and an outer frame that are fitted inside and outside and are slidingly matched. The walking chassis mechanism 4 is rotatably mounted on the bottom of the outer frame. The working platform unit 1 An adjustable hinge is attached to the top of the inner sleeve. In this design, the inner sleeve frame and the outer sleeve frame are adjusted by sliding up and down, and the height of the telescopic sleeve frame mechanism 3 is adjusted to meet the construction requirements of higher or lower factory buildings, and the application range is wider and the use is more flexible.

In one embodiment, it also includes a spanning connecting frame 13 connected between the two telescopic frame mechanisms 3, the spanning connecting frame 13 is located below the working platform unit 1, and includes a first section 1301 and The second segment 1302 , the first segment 1301 has at least two, can be horizontally connected to each other with a transverse hinge or can be horizontally connected to the second segment 1302 with a transverse hinge. In such a design, by removing or connecting the first segment 1301 and the second segment 1302, the length of the span connector 13 can be changed to meet the construction needs of a factory building with a narrower or wider span, while the span connection The frame 13 also plays the role of enhancing the overall structural strength of the construction platform.

A method for using a dual-crawler chassis synchronous walking system, including the dual-crawler chassis synchronous walking system, the method includes the following steps:

S1: the outrigger cylinder 803 shrinks, the pressure equalizing plate 804 lifts off the ground, and the two crawler chassis assemblies 5 keep moving synchronously, driving the construction platform to transfer between construction stations;

S2: The slewing drive module 10 drives the slewing support module 11 to rotate, and drives the crawler chassis assembly 5 to keep rotating in the same direction as the slewing support module 11, so as to realize the lateral rotation and longitudinal rotation of the walking chassis mechanism 4 , so as to realize the flexible steering of the construction platform between stations;

S3: The outrigger cylinder 803 is stretched out, the pressure equalizing plate 804 touches the ground, the two crawler chassis assemblies 5 stop walking, and the construction platform remains standing;

S4: When the two traveling chassis mechanisms 4 move in the same traveling direction, when one of the traveling chassis mechanisms 4 produces an asynchronous stroke difference ΔL due to slipping or other reasons, the column units 2 located on both sides An angle difference of θ° will be generated between the telescopic sleeve mechanism 3 and the walking chassis mechanism 4, and the angle difference of θ° will be amplified by the slewing reduction ratio of the general control system, and then fed back to the two slewing drives respectively. The rotary encoder 1003 in the module 10, the rotary encoder 1003 can accurately measure the angle difference of θ°, and then calculate and process to obtain the ΔL stroke difference, and send the result to the general control system;

S5: According to the received ΔL stroke difference, the general control system increases the walking speed of the crawler chassis assembly 5 that is behind the synchronous stroke in combination with the current walking speeds of the two crawler chassis assemblies 5 until the ΔL stroke difference is compensated, the two The walking chassis mechanism 4 returns to synchronous walking, the walking encoder 602 measures the rotating speed of the first gear 702, and then calculates and processes the rotating speed of the driving wheel 601, and sends the result to the general control system, The walking speed of the crawler chassis assembly 5 is monitored in real time to ensure that the two walking chassis mechanisms 4 run smoothly.

It should be understood that the examples and implementations described herein are for illustration only, and are not intended to limit the present invention, and those skilled in the art can make various modifications or changes based on it, and within the spirit and principles of the present invention, any Modifications, equivalent replacements, improvements, etc., should all be included within the protection scope of the present invention.

Claims (10)

1. The utility model provides a synchronous traveling system of two crawler chassis which characterized in that: the crawler type crawler belt chassis comprises two walking chassis mechanisms (4), wherein each walking chassis mechanism (4) comprises a crawler belt chassis component (5) and a rotary component (9);

the crawler chassis assembly (5) comprises a driving wheel module (6), the driving wheel module (6) comprises a driving wheel (601), a walking encoder (602), a bracket (604) and a first gear pair (7), the first gear pair (7) comprises a first gear ring (701) and a first gear (702), the first gear ring (701) is fixedly sleeved on the periphery of the driving wheel (601), the first gear (702) is coaxially connected with the walking encoder (602) and respectively clamped and installed on two side faces of the bracket (604), and the first gear (702) is meshed and matched with the first gear ring (701);

the slewing assembly (9) comprises a slewing drive module (10) and a slewing bearing module (11), the slewing drive module (10) comprises a motor (1001), a speed reducer (1002) and a slewing encoder (1003), the slewing bearing module (11) comprises an inner slewing pipe disc (1101), an outer slewing sleeve (1102) and a second gear pair (12), the second gear pair (12) comprises a second gear ring (1201) and a second gear (1202), the second gear ring (1201) is fixedly embedded in an inner ring of the inner slewing pipe disc (1101), the second gear (1202) is installed at the bottom of the slewing drive module (10), and the second gear (1202) is meshed and matched with the second gear ring (1201).

2. The dual-track undercarriage synchronous walking system of claim 1 wherein: drive wheel module (6) still includes mounting panel (603), support (604) are fixed on mounting panel (603), first gear circle (701) are outer lane ring gear, and the tooth diameter is greater than the tooth diameter of first gear (702), first gear circle (701) are the driving gear, first gear (702) are driven gear, drive wheel (601) are used for driving first gear circle (701) rotate, walking encoder (602) are used for monitoring the rotational speed of first gear (702).

3. The dual-track undercarriage synchronous walking system of claim 1 wherein: the crawler chassis assembly (5) further comprises a chassis (501) and two crawler belts (502), the two crawler belts (502) are respectively sleeved on two sides of the chassis (501), and the two driving wheel modules (6) are respectively installed on two sides of the chassis (501) and located in the crawler belts (502).

4. The dual-track undercarriage synchronous walking system of claim 1 wherein: the slewing bearing module (11) further comprises a bearing plate (1103), the inner slewing pipe disc (1101) is fixed on the bearing plate (1103), the outer slewing sleeve (1102) is rotatably sleeved on the periphery of the inner slewing pipe disc (1101), the second gear ring (1201) is an inner ring gear ring, the tooth diameter of the second gear ring is larger than that of the second gear (1202), the second gear (1202) is a driving gear, the second gear ring (1201) is a driven gear, the slewing drive module (10) is used for driving the second gear (1202) to rotate, and the slewing encoder (1003) is arranged in the slewing drive module (10) and used for monitoring the rotation angle of the second gear (1202).

5. The dual-track undercarriage synchronous walking system of claim 1 wherein: walking chassis mechanism (4) still include supporting component (8), supporting component (8) are including supporting beam (801), landing leg hydro-cylinder (803) and equalizer plate (804), supporting beam (801) erect in on the crawler chassis subassembly (5), landing leg hydro-cylinder (803) have four, install respectively the bottom four corners of supporting beam (801), and each the bottom of landing leg hydro-cylinder (803) all is fixed with can contradict to ground equalizer plate (804).

6. The dual-track undercarriage synchronous walking system of claim 5 wherein: support assembly (8) still include tie-beam (802), tie-beam (802) are the upper and lower bilayer structure that is the X type, and the level is installed centrally between supporting beam (801), install centrally rotary assembly (9) on crawler chassis subassembly (5), the lower floor of tie-beam (802) is fixed welded to the outer wall of outer gyration sleeve pipe (1102), the upper strata of tie-beam (802) is located on slewing bearing module (11), and can block slewing drive module (10) and restrict its pivoted route scope.

7. The dual-track undercarriage synchronous walking system of claim 1 wherein: still include operation platform unit (1) and stand unit (2), stand unit (2) have two, install at the interval respectively both ends about operation platform unit (1) bottom, stand unit (2) including flexible jacket frame mechanism (3) with walking chassis mechanism (4).

8. The dual track undercarriage synchronous walking system of claim 7 wherein: the telescopic sleeve frame mechanism (3) comprises an inner sleeve frame and an outer sleeve frame which are sleeved inside and outside and matched in a sliding mode, the walking chassis mechanism (4) is rotatably installed at the bottom of the outer sleeve frame, and the operation platform unit (1) is adjustably hinged to the top of the inner sleeve frame.

9. The dual track undercarriage synchronous walking system of claim 7 wherein: the cross connection frame (13) is connected between the two telescopic sleeve frame mechanisms (3), the cross connection frame (13) is positioned below the working platform unit (1) and comprises a first section (1301) and a second section (1302), and the first section (1301) is at least two and can be horizontally hinged to each other or the second section (1302).

10. A use method of a double-crawler-belt chassis synchronous walking system is characterized by comprising the following steps: a dual track undercarriage synchronous walking system comprising any one of claims 1-9, the method comprising the steps of:

s1: the supporting leg oil cylinders (803) are contracted, the pressure equalizing plates (804) are lifted off, and the two crawler chassis assemblies (5) keep walking synchronously to drive the construction platform to transfer among construction stations;

s2: the slewing drive module (10) drives the slewing bearing module (11) to rotate to drive the crawler chassis assembly (5) and the slewing bearing module (11) to rotate in the same direction so as to realize transverse rotation and longitudinal rotation of the walking chassis mechanism (4) and further realize flexible steering of the construction platform between stations;

s3: the supporting leg oil cylinders (803) extend out, the pressure equalizing plates (804) contact the ground, the two crawler chassis assemblies (5) stop walking, and the construction platform is kept static;

s4: when the two walking chassis mechanisms (4) move along the same walking direction, when one walking chassis mechanism (4) generates asynchronous stroke difference delta L due to slipping or other reasons, the angle difference of theta degrees can be generated between the telescopic sleeve frame mechanisms (3) in the upright post units (2) on the two sides and the walking chassis mechanism (4), the angle difference of theta degrees is amplified through the rotation reduction ratio of the master control system and then fed back to the rotary encoders (1003) in the two rotary driving modules (10), the rotary encoders (1003) can accurately measure the angle difference of theta degrees, the delta L stroke difference is obtained through calculation and processing, and the result is sent to the master control system;

s5: the total control system combines the current two traveling speeds of the crawler chassis assemblies (5) according to the received delta L stroke difference, the traveling speed of the crawler chassis assemblies (5) behind the synchronous stroke is improved, the traveling speed of the crawler chassis assemblies (5) is reduced until the delta L stroke difference and the two traveling chassis mechanisms (4) return to synchronous traveling, the traveling encoder (602) measures the rotating speed of the first gear (702), the rotating speed of the driving wheel (601) is obtained through calculation processing, the result is sent to the total control system, the traveling speed of the crawler chassis assemblies (5) is monitored in real time, and the traveling chassis mechanisms (4) are ensured to run stably.

Images