WO2023019844A1

WO2023019844A1 - Foldable chain type track

Info

Publication number: WO2023019844A1
Application number: PCT/CN2021/140802
Authority: WO
Inventors: 丁宁; 李德程; 郝万鈞; 张爱东
Original assignee: 香港中文大学（深圳）
Priority date: 2021-08-19
Filing date: 2021-12-23
Publication date: 2023-02-23
Also published as: CN113585066A

Abstract

A foldable chain type track. The foldable chain type track is formed by hinging unit bodies, and comprises an end unit body I (10), several middle unit bodies (12) and an end unit body II (11). Each unit body is provided with a pulley module I, a pulley module II and a track member, wherein pulley modules I on upper sides of the end unit body I (10) and the end unit body II (11) are connected to a suspension rope; pulley modules I on lower sides of the end unit body I (10) and the end unit body II (11), and the pulley module I of each middle unit body (12) are connected to a traction rope I; and the pulley modules II of the end unit body I (10), the middle unit bodies (12) and the end unit body II (11) are connected to a traction rope II. The foldable chain type track has a folded state, a U-shaped curve state and a straight line state, wherein in the folded state, the length of same can be reduced significantly, and the track is convenient to transport, deliver and recover, and in the put-up and recovery processes, can adapt to most situations of the distance from a bridge bottom face to the under-bridge ground or the water surface being less than the length of the track.

Description

A foldable chain track

This application claims the priority of the Chinese patent application with the application number 202110954455.7 and the title of the invention "a foldable chain track" submitted to the China Patent Office on August 19, 2021, the entire contents of which are incorporated by reference in this application .

technical field

The invention relates to the technical field of bridge detection equipment, in particular to a foldable chain track.

Background technique

In order to avoid safety accidents, it is necessary to regularly inspect the bottom surface of bridges exposed to harsh natural environments for a long time.

At present, the detection of the bottom surface of the bridge is divided into manual detection and machine detection. The efficiency of human inspection is low, and the cost and risk of casualties are high. Machine inspection can improve efficiency, reduce costs and risk of casualties. Among them, the machine inspection can be divided into two types. The first is to take pictures of the bottom of the bridge with a computer vision system on the drone; the second is to build a track on the bottom of the bridge for the car to drive, and then the car is equipped with a computer vision system to take pictures. Photos of the underside of the bridge. The disadvantage of the first method is that when the UAV is flying under the bridge, the bridge body will block the GPS signal, making it difficult for the UAV to locate, while the second method does not require GPS signals, and the detection efficiency, detection cost, security, etc. All aspects have great advantages and thus become a promising direction. The track built at the bottom of the bridge can be a cantilever track or a two-point suspension track. The cantilever track has limited bearing capacity and is difficult to reach the middle of the bridge with a large width. The two-point suspension track can cover a wide bridge. At all positions of the bridge, and under the same width conditions, the two-point suspension track has a stronger bearing capacity than the cantilever track.

For the problem of how to build a two-point suspension track at the bottom of the bridge, the prior art solution is: first suspend one end of the long strip rigid track with a rope so that it is vertically suspended on one side of the bridge, and then on the other side of the bridge. The rope fixed on the other end of the long strip rigid track is pulled, so that the long strip rigid track changes from a vertical suspension state to a horizontal suspension state. The disadvantage of this solution is: for a bridge with a wide width of 25 meters as an example, the length of the long track that needs to be built is greater than 25 meters, so the transportation, construction and disassembly of the track are more troublesome, which affects the detection efficiency ; In addition, if the distance between the bottom of the bridge and the ground or the water is less than the width, that is, the distance between the bottom of the bridge and the ground or the water is less than 25 meters, the track cannot be changed from the vertical suspension state to the horizontal suspension state. Poor sex.

Therefore, how to provide a foldable chain track that solves the above technical problems is a technical problem urgently needed by those skilled in the art.

Contents of the invention

The purpose of the present invention is to provide a foldable chain track, which has three forms of folded, U-shaped curve and straight line. When it is in the folded state, its length can be greatly reduced, which is convenient for transportation, delivery and recycling. In the process of building and recycling, it can adapt to most situations where the distance from the bottom of the bridge to the ground or water surface under the bridge is less than the length of the track.

In order to achieve the above object, the present invention provides a foldable chain track, which is composed of a plurality of hinged units, including several intermediate units of the end unit I and end unit II in turn; any upper unit of the unit The side and the lower side are provided with a pulley module I, the front side and/or rear side of any one of the unit bodies is provided with a pulley module II, and any one of the unit bodies is provided with a track piece; the end unit body I and the pulley module I on the upper side of the end unit body II are connected by a suspension rope, and the pulley module I on the lower side of the end unit body I and the end unit body II And the pulley module I of the middle unit body is connected to the traction rope I, and the pulley module II of the middle unit body of the end unit body I and the end unit body II is used for the traction rope II connected so that the foldable chain track is in a curved state when the traction rope I and the traction rope II are relaxed, and the foldable chain track is in a curved state when the traction rope I is relaxed and the traction rope II is tightened In the folded state, when the traction rope I is tightened and the traction rope II is relaxed, the foldable chain track is in a straight line state and the track pieces are spliced on the same straight line.

Preferably, the end unit body I and/or the end unit body II is provided with a hoisting module I that connects and drives the traction rope I, and/or, the end unit body I and/or Or the end unit body II is provided with a hoisting module II connected to and driving the traction rope II.

Preferably, the hoisting module I includes a hoisting module I-I arranged on the end unit body I and a hoisting module III-I arranged on the end unit body II, and the hoisting module Group II includes the hoisting module I-II set on the end unit body I and the hoisting module III-II set on the end unit body II, and the two ends of the traction rope I are connected to the The hoisting module I-I and the hoisting module III-I, the two ends of the traction rope II are connected to the hoisting module I-II and the hoisting module III-II.

Preferably, the hoisting module I-I includes hoisting module I-I-I and hoisting module I-I-II, and the hoisting module III-I includes hoisting module III-I-I and hoisting module III-I -II, the hoisting module I-II includes hoisting module I-II-I and hoisting module I-II-II, and the hoisting module III-II includes hoisting module III-II -I and the hoisting module III-II-II, the traction rope I includes a traction rope I-I connected to the hoisting module I-I-I and the hoisting module III-I-I, connected to the hoisting module The traction rope I-II of the group I-I-II and the hoisting module III-I-II, the traction rope II includes the hoisting module I-II-I and the hoisting module III - the traction rope II-I of II-I, the traction rope II-II connected to the hoisting module I-II-II and the hoisting module III-II-II, the traction rope I-I and the hoisting rope II-II The traction rope I-II is located at the lower side, and the traction rope II-I and the traction rope II-II are located at the front and rear sides.

Preferably, the suspension rope includes a suspension rope I and a suspension rope II, and the pulley module I includes: a pulley module I-I-I, a pulley module I-I-II and a pulley module located at the end unit body I Module I-I-III, the pulley module I-I-II and the pulley module I-I-I are located on the left and right sides of the lower side, and the pulley module I-I-III is located on the left side of the upper side and is connected to the suspension rope I; The pulley module III-I-I of the end unit body II, the pulley module III-I-II and the pulley module III-I-III, the pulley module III-I-I and the pulley module III-I -II is located on the left and right sides of the lower side, and the pulley module III-I-III is located on the right side of the upper side and is connected to the suspension rope II; the pulley module II-I-I and the pulley module II arranged in the middle unit body -I-II, the pulley module II-I-I is located on the left side of the lower side, and the pulley module II-I-II is located on the right side of the upper side.

Preferably, the pulley module II includes: the pulley module I-II-I, the pulley module I-II-II, the pulley module I-II-III and the pulley module set at the end unit body I Group I-II-IV, the pulley module I-II-I is located at the upper left of the front side, the pulley module I-II-II is located at the lower right of the front side, and the pulley module I-II-III is located at the rear On the upper left side, the pulley module I-II-IV is located at the lower right of the rear side; the pulley module III-II-I, pulley module III-II-II, pulley module set on the end unit body II III-II-III and the pulley module III-II-IV, the pulley module III-II-I is located at the upper right of the front side, the pulley module III-II-II is located at the lower left of the front side, and the pulley module III-II-III is located at the upper right of the rear side, and the pulley module III-II-IV is located at the lower left of the rear side; the pulley module II-II-I and the pulley module II-II-II located in the middle unit , pulley module II-II-III and pulley module II-II-IV, the pulley module II-II-I is located at the upper right of the front side, and the pulley module II-II-II is located at the lower left of the front side, so The pulley module II-II-III is located at the upper right of the rear side, and the pulley module II-II-IV is located at the lower left of the rear side.

Preferably, the number of pulleys in the pulley module I is greater than or equal to four, and the traction rope I adopts reciprocating winding when passing through the pulley modules I of two adjacent units.

Preferably, the number of pulleys in the pulley module II is greater than or equal to two, and the traction rope II adopts reciprocating winding when passing through the pulley modules II of two adjacent units.

Preferably, the end unit body I is provided with a hinge joint I-I-I located on the right side of the upper side, and the intermediate unit body is provided with a hinge joint II-II-I located on the left side of the upper side and a hinge joint II-I-I located on the right side of the lower side. I-I, the end unit body II is provided with a hinge joint III-II-I on the left side of the upper side, the hinge joint I-I-I is connected to the hinge joint II-II-I, and the hinge joint II-I-I is connected to the hinge joint II-I-I Hinge joint III-II-I connection described above.

Preferably, the end unit body I, the middle unit body and the end unit body II include a connecting rod assembly that forms a long rigid body, and the track member includes upper and lower parts arranged on the front side of the connecting rod assembly The track piece I and the track piece II, the track piece III and the track piece IV arranged up and down on the rear side of the connecting rod assembly.

With respect to the above-mentioned background technology, the foldable chain track provided by the present invention is composed of a plurality of hinged units, including the end unit I, several intermediate units and the end unit II in turn, and the end unit I The upper side and the lower side, the upper side and the lower side of the middle unit body, the upper side and the lower side of the end unit body II are provided with a pulley module I, the front side and/or rear side of the end unit body I, the middle unit The front side and/or rear side of the body, the front side and/or rear side of the end unit body II are provided with a pulley module II, the end unit body I, the middle unit body and the end unit body II are provided with track pieces, The pulley module I on the upper side of the end unit body I and the end unit body II is connected by the suspension rope, the pulley module I on the lower side of the end unit body I and the end unit body II and the pulley of the middle unit body The module I is connected by the traction rope I, and the pulley module II of the end unit body I, the middle unit body and the end unit body II is connected by the traction rope II.

The foldable chain track has three forms of folding, U-shaped curve and straight line. When the traction rope I and the traction rope II are relaxed, the foldable chain track is in a curved state. When the traction rope I is relaxed, the traction rope II The foldable chain track is in the folded state when it is tightened, and the foldable chain track is in a straight line state when the traction rope I is tightened and the traction rope II is relaxed, and the track pieces are spliced on the same straight line; , its length and size can be greatly reduced, which is convenient for transportation, delivery and recovery. During the construction and recovery process, it can adapt to most situations where the distance from the bottom of the bridge to the ground or water surface under the bridge is less than the length of the track.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is a schematic structural diagram of a foldable chain track provided by an embodiment of the present invention;

Fig. 2 is the structural representation of Fig. 1 end unit body I;

Fig. 3 is the schematic plan view of Fig. 2;

Fig. 4 is the structural representation of Fig. 1 middle unit body;

Figure 5 is a schematic plan view of Figure 4;

Fig. 6 is a schematic structural view of the end unit body II of Fig. 1;

Figure 7 is a schematic plan view of Figure 6;

Fig. 8 is a schematic diagram of the connection between the hinge joint I and the hinge joint II provided by the embodiment of the present invention;

Fig. 9 is a schematic structural view of the pulley module 1 provided by the embodiment of the present invention;

Fig. 10 is a schematic structural view of the pulley module II provided by the embodiment of the present invention;

Fig. 11 is a schematic diagram of the first installation of the foldable chain track provided by the embodiment of the present invention;

Fig. 12 is a second schematic diagram of installation of the foldable chain track provided by the embodiment of the present invention;

Fig. 13 is a schematic diagram of the third installation of the foldable chain track provided by the embodiment of the present invention;

Fig. 14 is a schematic diagram of the unilateral suspension of the foldable chain track in the folded state provided by the embodiment of the present invention;

Fig. 15 is a schematic diagram of bilateral suspension of the foldable chain track in the folded state provided by the embodiment of the present invention;

Figure 16 is a schematic diagram of bilateral suspension of the foldable chain track in a curved state provided for an embodiment of the present invention;

Fig. 17 is a schematic diagram of bilateral suspension of the foldable chain track provided by the embodiment of the present invention in a straight line state.

in:

00-bridge, 10-end unit body I, 11-end unit body II, 12-intermediate unit body, 100-connecting rod assembly I, 111-winch module I-I-I, 112-winch module I-I-II , 113-winch module I-II-I, 114-winch module I-II-II, 121-pulley module I-I-I, 122-pulley module I-I-II, 123-pulley module I-I-III, 131-pulley module I-II-I, 132-pulley module I-II-II, 133-pulley module I-II-III, 134-pulley module I-II-IV, 141-track parts I-I, 142-track part I-II, 143-track part I-III, 144-track part I-IV, 151-hinge joint I-I-I, 200-connecting rod assembly II, 221-pulley module II-I-I, 222-pulley mold Group II-I-II, 231 - Pulley Module II-II-I, 232 - Pulley Module II-II-II, 233 - Pulley Module II-II-III, 234 - Pulley Module II-II-IV , 241-rail part II-I, 242-rail part II-II, 243-rail part II-III, 244-rail part II-IV, 251-hinge joint II-I-I, 261-hinge joint II-II-I , 300-Connecting Rod Assembly III, 311-Winch Module III-I-I, 312-Winch Module III-I-II, 313-Winch Module III-II-I, 314-Winch Module III- II-II, 321-pulley module III-I-I, 322-pulley module III-I-II, 323-pulley module III-I-III, 331-pulley module III-II-I, 332-pulley module Group III-II-II, 333 - pulley module III-II-III, 334 - pulley module III-II-IV, 341 - track piece III-I, 342 - track piece III-II, 343 - track piece III -III, 344-track piece III-IV, 361-hinge joint III-II-I, 411-drawing rope I-I, 412-drawing rope I-II, 421-drawing rope II-I, 422-drawing rope II-II , 431-suspension rope I-I, 432-suspension rope I-II, 441-suspension rope II-I, 442-suspension rope II-II, 1201-intermediate unit body I, 1202-intermediate unit body II, 1203 -Middle unit III, 1204-Middle unit IV, 2000-Pulley shaft I-I, 2010-Pulley I-I, 2020-Pulley I-II, 2030-Pulley I-III, 2040-Pulley I-IV, 2050-Beam, 2060 -support frame, 3000-pulley shaft II-I, 3010-pulley II-I, 302 0-Pulley II-II, 3030-Pulley Cover II-I, 3031-Restraining Teeth II-I, 3040-Pulley Cover II-II, 5000-Hinge Joint I, 5010-Hinge Pin, 6000-Hinge Joint II, 10001- Hinge I, 11001-Hinge V, 12011-Hinge II, 12021-Hinge III, 12031-Hinge IV.

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 some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Please refer to Figures 1 to 17, wherein Figure 1 is a schematic structural view of a foldable chain track provided by an embodiment of the present invention, Figure 2 is a schematic structural view of the end unit body I in Figure 1, and Figure 3 is a schematic plan view of Figure 2 , Fig. 4 is a schematic structural view of the middle unit body of Fig. 1, Fig. 5 is a schematic plan view of Fig. 4, Fig. 6 is a schematic structural view of the end unit body II of Fig. 1, Fig. 7 is a schematic plan view of Fig. 6, and Fig. 8 is a schematic view of the present invention The schematic diagram of the connection between the hinge joint I and the hinge joint II provided by the embodiment, Fig. 9 is a schematic structural diagram of the pulley module I provided by the embodiment of the present invention, Fig. 10 is a schematic structural diagram of the pulley module II provided by the embodiment of the present invention, Fig. 11 The first installation schematic diagram of the foldable chain track provided by the embodiment of the present invention, Fig. 12 is the second installation schematic diagram of the foldable chain track provided by the embodiment of the present invention, Fig. 13 is the foldable chain provided by the embodiment of the present invention Figure 14 is a schematic diagram of the unilateral suspension of the foldable chain track provided by the embodiment of the present invention in the folded state, and Figure 15 is a schematic diagram of the foldable chain track provided by the embodiment of the present invention in the folded state Figure 16 is a schematic diagram of bilateral suspension of the foldable chain track provided by the embodiment of the present invention in a curved state, and Figure 17 is a schematic view of the foldable chain track provided by the embodiment of the present invention in a straight line state A schematic diagram of the bilateral suspension.

In the first specific embodiment, the foldable chain track provided by the present invention is composed of a plurality of hinged units, including the end unit I10, several intermediate units 12 and the end unit II11, the middle unit The number of body 12 is greater than or equal to zero, and its number can be increased or decreased according to different bridge 00 widths.

The upper and lower sides of any unit body are provided with a pulley module I, that is to say, the upper and lower sides of the end unit body I10, the upper and lower sides of the middle unit body 12, and the end unit body II11 The upper and lower sides of the upper and lower sides are provided with a pulley module I; the front side and/or rear side of any unit body is provided with a pulley module II, that is to say, the front side and/or rear side of the end unit body I10, The front side and/or the rear side of the middle unit body 12, the front side and/or the rear side of the end unit body II11 are provided with a pulley module II; any unit body is provided with a track piece, that is to say, the end unit body I10, the middle unit body 12 and the end unit body II11 are provided with track pieces. The pulley module I on the upper side of the end unit body I10 and the pulley module I on the upper side of the end unit body II11 are connected by suspension ropes, the pulley module I and the end unit on the lower side of the end unit body I10 The pulley module I on the lower side of the body II11, the pulley module I of the middle unit body 12 are connected for the traction rope I, and the pulley module II of the end unit body I10, the middle unit body 12, and the end unit body II11 are used for the traction rope II connection.

In this embodiment, the foldable chain track is in a curved state when the traction rope I and the traction rope II are relaxed, and the foldable chain track is in a folded state when the traction rope I is relaxed and the traction rope II is tensioned. The foldable chain track is in a straight line state and the track pieces are spliced on the same straight line when the tension and traction rope II are relaxed.

The foldable chain track is long strip, which is spliced by several rigid short strip track units. Adjacent track units are connected by hinges. The rotation range of each hinge is 0°～180°. And the rotatable directions of the two adjacent hinges are opposite, and there are three forms: folding, U-shaped curve and straight line. When in the folded state, its length can be greatly reduced, which is convenient for transportation, delivery and recycling. During the construction and recovery process, it can adapt to most situations where the distance from the bottom of the bridge to the ground or water surface under the bridge is less than the length of the track.

Further, the hoisting module is used to drive the traction rope, the end unit body I10 and/or the end unit body II11 is provided with a hoisting module I that connects and drives the traction rope I, and/or, the end unit body I10 and /or the end unit body II11 is provided with the hoisting module II that connects and drives the traction rope II, and the hoisting module I and the hoisting module II are the output modules of rotary motion and power, both of which include the rotary power module and The reel can be used to retract and release the rope.

Furthermore, hoisting module I and hoisting module II can be arranged in multiple groups, and hoisting module I includes hoisting module I-I arranged at the end unit body I10 and a hoisting module I-I arranged at the end unit body II11. The hoisting module III-I and the hoisting module II include the hoisting module I-II located at the end unit body I10 and the hoisting module III-II located at the end unit body II11, and the two parts of the traction rope I The two ends of the traction rope II are connected to the hoisting module I-I and the hoisting module III-I, and the two ends of the traction rope II are connected to the hoisting module I-II and the hoisting module III-II.

In this embodiment, one end of the traction rope I is set to be fixed on the reel of the leftmost end unit body I10 hoisting module I, and passes through the pulley module I on the lower side of each unit body in turn to the right, and then One end is fixed on the reel of the hoisting module I of the rightmost end unit body II11; one end of the traction rope II is fixed on the reel of the hoisting module II of the leftmost end unit body I10, and sequentially After passing through the pulley module II on the front or rear side of each unit body to the right, the other end is fixed on the reel of the hoisting module II of the rightmost end unit body II11. Suspension ropes are provided on the leftmost end unit body I10 and the rightmost end unit body II11 respectively. By controlling the winch module II to retract the traction rope II, the initial state of the chain track is zigzag folded, and the folded chain track is suspended on the side of the bridge 00 through the left (or right) suspension rope, Use the drone to pull the right (or left) suspension rope to the other side of the bridge 00, then simultaneously pull the right (or left) suspension rope and release the left (or right) suspension rope, Move the chain track in the folded state to the middle position in the width direction of the bridge bottom; then release the traction rope II by controlling the winch module II, and the chain track in the folded state will transform into a U-shaped curve under the action of gravity; Control the winch module I to retract the traction rope I, so that the U-shaped curved chain track turns into a straight line; a number of track pieces are arranged on each unit body, and when the chain track turns into a straight line, each unit body The track parts in the track can be spliced into a complete linear track that can be passed by the mobile detection platform; the recovery process of the track is the reverse process of the track construction process. First, the chain track is transformed from a straight line to a U-shaped curve, and then by controlling the hoisting module II, the chain track changes from a U-shaped curve to a zigzag folded shape, and then releases one end of the suspension rope and retracts the other end of the suspension rope to make the chain track in the folded state The chain track moves to the side of the bridge 00, and finally the folded chain track is recovered to the upper side of the bridge 00 through the suspension rope. The foldable chain track controls the transformation of its three forms through several hoisting modules, which avoids on-site construction and disassembly, and improves detection efficiency.

On this basis, the hoisting module I-I, hoisting module III-I and hoisting modules I-II and III-II of each group can be further set, and the hoisting module I-I includes the hoisting module I-I- I111 and hoist module I-I-II112, hoist module III-I includes hoist module III-I-I311 and hoist module III-I-II312, hoist module I-II includes hoist module I-II-I113 and hoisting module I-II-II114, hoisting module III-II includes hoisting module III-II-I313 and hoisting module III-II-II314, traction rope I includes connecting to The traction rope I-I411 of the hoisting module I-I-I111 and the hoisting module III-I-I311, the traction rope I-II412 connected to the hoisting module I-I-II112 and the hoisting module III-I-II312, Traction rope II includes traction rope II-I421 connected to winch module I-II-I113 and winch module III-II-I313, connected to winch module I-II-II114 and winch module III- The traction rope II-II422 of II-II314, the traction rope I-I411 and the traction rope I-II412 are positioned at the lower side, and the traction rope II-I421 and the traction rope II-II422 are positioned at the front and rear sides.

Wherein, a pair of suspension ropes are connected to the end unit body I10 and the end unit body II11, the suspension ropes include the suspension rope I and the suspension rope II, and the pulley module I includes: a pulley located at the end unit body I10 Module I-I-I121, pulley module I-I-II122 and pulley module I-I-III123, pulley module I-I-II122 and pulley module I-I-I121 are located on the left and right sides of the lower side, pulley module I-I-III123 is located on the left side of the upper side and Suspension rope I is connected; The pulley module III-I-I321, the pulley module III-I-II322 and the pulley module III-I-III323 located at the end unit body II11, the pulley module III-I-I321 and The pulley module III-I-II322 is located on the left and right sides of the lower side, and the pulley module III-I-III323 is located on the right side of the upper side and is connected with the suspension rope II; the pulley module II-I-I221 and the pulley located on the middle unit body 12 Module II-I-II222, pulley module II-I-I221 is located on the left side of the lower side, and pulley module II-I-II222 is located on the right side of the upper side.

In this embodiment, hoisting module I-I-I111 and hoisting module III-I-I311 are hoisting module I installed on the front side, hoisting module I-I-II112 and hoisting module III-I -II312 is the winch module I installed on the rear side. Pulley module I-I-II122 is the pulley module I installed on the lower left end of the end unit body I10, and the pulley module I-I-I121 is the pulley module I installed on the lower right end of the end unit body I10. Pulley module III-I-I321 is the pulley module I installed on the lower left side of the end unit body II11, and the pulley module III-I-II322 is the pulley module I installed on the lower right side of the end unit body II11.

Specifically, the number of traction ropes I is 2, and one end of the traction ropes I-I411 is fixed on the drum of the hoisting module I at the front side of the end unit body I10, and passes sequentially through the lower side of the end unit body I10 according to a certain winding sequence. Left end pulley module 1, end unit body 110 downside right end pulley module 1, middle unit body 12 lower side left end and/or middle unit body 12 upper side right end pulley module 1 (the structure of middle unit body 12 is identical, when When the number of intermediate unit bodies 12 is greater than two, the second intermediate unit body 12 is turned over 180° and then connected to the first intermediate unit body 12. The same applies to the subsequent intermediate unit bodies 12. At this time, the first intermediate unit body passes through first. 12 lower left end pulley module I, and then pass through the second middle unit body 12 upper right end pulley module I, where the upper right end is equivalent to the position before turning over), the lower left end of the end unit body II11 After the pulley module I and the right end pulley module I on the lower side of the end unit body II11, the other end is fixed on the drum of the hoisting module I on the front side of the end unit body II11; one end of the traction rope I-II412 is fixed on the end unit The hoisting module I on the rear side of the body I10 is placed on the reel, and passes through the left end pulley module I on the lower side of the end unit body I10, the right end pulley module I on the lower side of the end unit body I10, and the middle unit body in a certain winding order. 12 lower left end and/or middle unit body 12 upper right end pulley module I, end unit body II11 lower left end pulley module I, end unit body II11 lower right end pulley module I, and the other end is fixed on The end unit body II11 is placed on the hoisting module I reel at the rear side.

In a specific embodiment, the pulley module II includes: pulley module I-II-I131, pulley module I-II-II132, pulley module I-II-III133 and Pulley module I-II-IV134, pulley module I-II-I131 is located on the upper left side of the front side, pulley module I-II-II132 is located on the lower right side of the front side, pulley module I-II-III133 is located on the upper left side of the rear side, the pulley module Module I-II-IV134 is located at the lower right of the rear side; the pulley module III-II-I331, pulley module III-II-II332, pulley module III-II-III333 and pulley module set in the end unit body II11 Group III-II-IV334, pulley module III-II-I331 is located on the upper right side of the front side, pulley module III-II-II332 is located on the lower left side of the front side, pulley module III-II-III333 is located on the upper right side of the rear side, pulley module III -II-IV334 is located at the lower left of the rear side; the pulley module II-II-I231, pulley module II-II-II232, pulley module II-II-III233 and pulley module II-II- located in the middle unit body 12 IV234, the pulley module II-II-I231 is located on the upper right of the front side, the pulley module II-II-II232 is located on the lower left side of the front side, the pulley module II-II-III233 is located on the upper right side of the rear side, and the pulley module II-II-IV234 is located on the Rear lower left.

In this embodiment, the pulley module I-II-I131 and the pulley module I-II-II132 are two pulley modules II installed on the front side, and the pulley module I-II-III133 and the pulley module I-II- II-IV134 is two pulley module II installed on the rear side. Pulley module II-II-I231 and pulley module II-II-II232 are two pulley modules II installed on the front side, pulley module II-II-III233 and pulley module II-II-IV234 are installed on the Two pulley modules II on the rear side. Pulley module III-II-I331 and pulley module III-II-II332 are two pulley modules II installed on the front side, pulley module III-II-III333 and pulley module III-II-IV334 are installed on the Two pulley modules II on the rear side.

Specifically, the number of the traction rope II is 2, and one end of the traction rope II-I421 is fixed on the drum of the hoisting module II at the front side of the end unit body I10, and passes through the front side of the end unit body I10 in a certain order of rope winding Two pulley modules II, two pulley modules II on the front side and/or rear side of the middle unit body 12 (the structure of the middle unit body 12 is the same, when the number of the middle unit body 12 is greater than two, the second middle unit The body 12 is turned over 180° and connected to the first intermediate unit body 12, and the subsequent intermediate unit body 12 is the same. At this time, it first passes through the two pulley modules II on the front side of the first intermediate unit body 12, and then passes through the second middle unit body 12. There are two pulley modules II on the rear side of the unit body 12, the rear side here is equivalent to the position before turning over), the two pulley modules II on the front side of the end unit body II11, and the other end is fixed on the end unit body II11 on the front hoisting module II reel; one end of the traction rope II-II422 is fixed on the rear hoisting module II reel of the end unit body I10, and passes through the end unit body I10 in a certain order Two pulley modules II on the side, two pulley modules II on the rear or front side of the middle unit body 12 and two pulley modules II on the rear side of the end unit body II11, and the other end is fixed on the rear side of the end unit body II11 Winch Module II on reel.

Wherein, the pulley module 1 is provided with a support frame 2060, a pulley shaft I-I2000 and a pulley; the number of pulleys is a positive integer greater than or equal to 4, preferably within 10, and the pulley is coaxially installed on the pulley shaft I-I2000 On the support frame 2060, a pulley I-I2010, a pulley I-II2020, a pulley I-III2030 and a pulley I-IV2040 are included.

Specifically, the pulley module 1 includes a support frame 2060, a pulley shaft I-I2000 and a pulley, and the number of the pulleys is 4, which are coaxially installed on the support frame 2060 through the pulley shaft I-I2000; the pulley I-I2010 (the first pulley ) and pulley I-II2020 (the second pulley) as a group, installed on the right side of the pulley shaft I-I2000; pulley I-III2030 (third pulley) and pulley I-IV2040 (fourth pulley) as a group, install At the left position of the pulley shaft I-I2000; the outer edge of the pulley is provided with a groove for restraining the rope, and each pulley can rotate independently; the support frame 2060 is provided with a beam 2050 to release the restraining rope from the groove of the pulley.

The pulley module II is provided with a pulley shaft II-I3000, a pulley and a pulley cover; the number of pulleys is a positive integer greater than or equal to 2, preferably within 4, and the pulleys are coaxially installed on the pulley shaft II-I3000, including pulleys II-I3010 and pulleys II-II3020; the number of pulley covers is equal to the number of pulleys, and each pulley cover is individually fitted with a pulley on the pulley shaft II-I3000, including pulley cover II-I3030 and pulley cover II-II3040 ; The outer edge of the pulley is provided with a groove for restraining the rope, and each pulley can rotate independently; the pulley cover is provided with restraining teeth, such as the pulley cover II-I3030 is provided with the restraining teeth II-I3031, and the rope is limited by the restraining teeth in the groove of the pulley to prevent the rope from falling out of the groove of the pulley.

Specifically, the pulley module II includes the pulley shaft II-I3000, pulleys and pulley covers; the number of pulleys is 2, coaxially installed on the pulley shaft II-I3000; the number of pulley covers is 2, coaxially installed on the pulley shaft II- On the I3000, the pulley cover II-I3030 (the first pulley cover) is installed on the side close to the pulley II-I3010 (the first pulley), and the pulley cover II-II3040 (the second pulley cover) is installed on the side close to the pulley II-II3020 (the first pulley) Two pulleys) on one side.

Exemplarily, the number of pulleys in the pulley module 1 is greater than or equal to four, and when the traction rope 1 continuously passes through the pulley modules 1 of two adjacent units, it adopts multiple reciprocating windings according to the number of pulleys in the pulley module 1 .

Specifically, the winding path of the traction rope I-I411 is: the reel of the hoisting module I-I-I111 of the end unit body I10→the first pulley of the pulley module I-I-II122 of the end unit body I10→the end The first pulley of the pulley module I-I-I121 of the unit body I10→the fourth pulley of the pulley module II-I-I221 of the middle unit body I1201→the second pulley of the pulley module I-I-I121 of the end unit body I10→ The third pulley of the pulley module II-I-I221 of the intermediate unit body I1201 → the second pulley of the pulley module II-I-II222 of the intermediate unit body II1202 → the pulley module II-I-I221 of the intermediate unit body III1203 The third pulley → the first pulley of the pulley module II-I-II222 of the intermediate unit body II1202 → the fourth pulley of the pulley module II-I-I221 of the intermediate unit body III1203 → the pulley module II- of the intermediate unit body IV1204 The first pulley of I-II222 → the fourth pulley of the pulley module III-I-I321 of the end unit body II11 → the second pulley of the pulley module II-I-II222 of the intermediate unit body IV1204 → the end unit body II11 The third pulley of the pulley module III-I-I321 → the third pulley of the pulley module III-I-II322 of the end unit body II11 → the coil of the hoisting module III-I-I311 of the end unit body II11 Tube; the winding path of the traction rope I-II412 is symmetrical to the winding path of the traction rope I-I411 with respect to the front and rear neutral symmetry planes of the unit body (including the end unit body I10 or the middle unit body 12 or the end unit body II11).

Exemplarily, the number of pulleys in the pulley module II is greater than or equal to two, and when the traction rope II continuously passes through the pulley modules II of two adjacent units, it adopts multiple reciprocating windings according to the number of pulleys in the pulley module II .

Specifically, the winding path of the traction rope II-I421 is: the reel of the hoisting module I-II-I113 of the end unit body I10 → the second coil of the pulley module I-II-II132 of the end unit body I10. Pulley → the second pulley of the pulley module I-II-I131 of the end unit body I10 → the second pulley of the pulley module II-II-I231 of the middle unit body I1201 → the pulley module I- of the end unit body I10 The first pulley of II-I131 → the first pulley of the pulley module II-II-I231 of the intermediate unit body I1201 → the first pulley of the pulley module II-II-II232 of the intermediate unit body I1201 → the pulley of the intermediate unit body II1202 The first pulley of the module II-II-III233 → the pulley of the intermediate unit body I1201 The second pulley of the module II-II-II232 → the second pulley of the pulley module II-II-III233 of the intermediate unit body II1202 → the intermediate unit The second pulley of the pulley module II-II-IV234 of the body II1202 → the second pulley of the pulley module II-II-I231 of the intermediate unit body III1203 → the first pulley of the pulley module II-II-IV234 of the intermediate unit body II1202 Pulley→the first pulley of the pulley module II-II-I231 of the intermediate unit III1203→the first pulley of the pulley module II-II-II232 of the intermediate unit III1203→the pulley module II-II- of the intermediate unit IV1204 The first pulley of III233 → the second pulley of the pulley module II-II-II232 of the intermediate unit III1203 → the second pulley of the pulley module II-II of the intermediate unit IV1204 → the second pulley of the intermediate unit IV1204 Second pulley of II-II-IV234 → second pulley of pulley module III-II-I331 of end unit body II11 → first pulley of pulley module II-II-IV234 of intermediate unit body IV1204 → end unit The first pulley of the pulley module III-II-I331 of the body II11 → the first pulley of the pulley module III-II-II332 of the end unit body II11 → the hoisting module III-II-I313 of the end unit body II11 The reel; the winding path of the traction rope II-II422 is symmetrical to the winding path of the traction rope II-I421 with respect to the front and rear neutral symmetry planes of the unit body (including the end unit body I10 or the middle unit body 12 or the end unit body II11).

In this embodiment, the number of suspension ropes is 4, and the suspension rope I includes a suspension rope I-I431 and a suspension rope I-II432, which are respectively set in the pulleys of the left end pulley module I on the upper side of the end unit body I10 Suspension rope II includes suspension rope II-I441 and suspension rope II-II442, which are respectively set in the pulley of the right end pulley module I on the upper side of the end unit body II11. The chain track is suspended by four suspension ropes. When the traction rope I is not pulled or under a small tension and the traction rope II is under a large enough tension, all hinge structures of the chain track are at 180° or -180°. The chain track is in a folded state; when the traction rope I is not subject to tension or a small tension, the traction rope II is not subject to tension or a small tension, and the chain track is in a curved state under the action of gravity; when the traction rope I is subject to a large enough Pulling force, while the traction rope II has no pulling force or a small pulling force, all hinge structures of the chain track are at 0° position, and the chain track is in a straight line state; when all hinge structures of the chain track are at 0° position, that is, the chain track is in a straight line In the normal state, the track pieces of each unit body are spliced into a continuous straight track.

In the collapsible chain track construction and recycling method:

Step 1: Suspend the folded chain track on the bridge 00 side through the suspension rope II-I441 and suspension rope II-II442 of the end unit body II11, and the suspension rope I-I431 of the end unit body I10 It is connected to the drone with the suspension rope I-II432, and the drone will take it to the other side of the bridge 00;

In the second step, release the suspension rope II-I441, suspension rope II-II442, and retract the suspension rope I-I431, suspension rope I-II432 at the same time, so that the chain track in the folded state moves to the width of the bridge bottom direction middle position;

The third step is to control the hoisting module II of the end unit body I10 and the hoisting module II of the end unit body II11, release the traction rope II-I421 and the traction rope II-II422, and the chain track in the folded state is under the action of gravity The downward expansion is in a curved state;

The fourth step is to control the hoisting module I of the end unit body I10 and the hoisting module I of the end unit body II11, retract the traction rope I-I411 and the traction rope I-II412, and gradually change the chain track in the curved state It is in a straight line state, at this time, the track pieces between adjacent unit bodies are spliced together to form a complete track for the mobile detection platform to pass through;

The recovery process of the chain track is the reverse process of the construction process, that is, control the hoisting module I of the end unit body I10 and the hoisting module I of the end unit body II11, release the traction rope I-I411 and the traction rope I-II412, The chain track in the straight state changes into a curved state under the action of gravity; and then through the control of the end unit body I10 hoisting module II and the end unit body II11 hoisting module II, the traction rope II-I421 and the traction Rope II-II422 makes the chain track in the curved state return to the folded state; the next step simultaneously retracts the suspension rope II-I441, suspension rope II-II442, and releases the suspension rope I-I431 and suspension rope I -II432, make the chain track in the folded state return from the middle position in the width direction of the bridge bottom to the bridge 00 side, and finally pass the end unit body II11 suspension rope II-I441 and suspension rope II-II442 to the folded state The chain track is recovered to the upper side of bridge 00.

In a specific embodiment, the end unit body I10 is provided with a hinge joint I-I-I151 located on the right side of the upper side, and the middle unit body 12 is provided with a hinge joint II-II-I261 located on the left side of the upper side and a joint joint II-I-I261 located on the right side of the lower side. The hinge joint II-I-I251, the end unit body II11 is provided with the hinge joint III-II-I361 located on the left side of the upper side, the hinge joint I-I-I151 is connected with the hinge joint II-II-I261, the hinge joint II-I- I251 is connected with hinge joint III-II-I361.

Specifically, the end unit body I10, the middle unit body 12, and the end unit body II11 include a connecting rod assembly that forms a long rigid body, and the track parts include a track part I and a track part II arranged on the front side of the connecting rod assembly up and down. 1. Track part III and track part IV arranged on the upper and lower sides of the rear side of the connecting rod assembly.

In this embodiment, the hinge joint I5000 and the hinge joint II6000 can be combined into a hinge structure that can freely rotate at a certain angle through the hinge pin 5010 .

The end unit body I10 includes a connecting rod assembly I100, a hinge joint I5000, a pulley module I, a pulley module II, a hoisting module I, a hoisting module II and a track piece; the connecting rod assembly I100 is a long strip rigid body, Hinge joint I-I-I151 (hinge joint I5000) is fixed on the upper right end of the connecting rod assembly I100, pulley module I-I-I121, pulley module I-I-II122, pulley module I-I-III123 (the pulley module I with a quantity of 3) Respectively fixed on the lower right end, lower left end and upper left end of the connecting rod assembly I100, pulley module I-II-I131, pulley module I-II-II132, pulley module I-II-III133, pulley module I -II-IV134 (the pulley module II with a quantity of 4) are respectively fixed on the upper middle part of the connecting rod assembly I100, the lower middle part of the front side, the upper middle part of the rear side and the lower middle part of the rear side, and the hoisting module I-I-I111, winch module I-I-II112 (winch module I with a quantity of 2) are respectively fixed on the front left end and rear left end of the connecting rod assembly I100, winch module I-II-I113, winch module Group I-II-II114 (winch module II with a quantity of 2) is respectively fixed on the left end of the front side and the left end of the rear side of the connecting rod assembly I100; track piece I-I141, track piece I-II142, track piece I-III143, The track pieces I-IV144 (tracks with a quantity of 4) are respectively fixed on the front side of the connecting rod assembly I100, the front side is down, the rear side is up and the rear side is down, and the 4 tracks are parallel to each other.

Intermediate unit body 12 comprises link assembly II200, hinge joint I5000, hinge joint II6000, pulley module I, pulley module II and track piece; Link assembly II200 is elongated rigid body, and hinge joint II-I-I251 (hinge Joint I5000) is fixed on the lower right end of the connecting rod assembly II200, hinge joint II-II-I261 (hinge joint II6000) is fixed on the upper left end of the connecting rod assembly, pulley module II-I-I221, pulley module II-I- II222 (the pulley module I with a quantity of 2) are respectively fixed on the lower left end and the upper right end of the connecting rod assembly II200, pulley module II-II-I231, pulley module II-II-II232, pulley module II-II -III233, pulley module II-II-IV234 (the pulley module II with a quantity of 4) are respectively fixed on the upper middle part of the connecting rod assembly II200, the lower middle part of the front side, the upper middle part of the rear side and the middle part of the rear side In the lower position, track pieces II-I241, track pieces II-II242, track pieces II-III243, and track pieces II-IV244 (4 tracks) are respectively fixed on the front side of the connecting rod assembly II200 on the upper side, the front side on the lower side, The rear side is on the upper side and the rear side is on the lower side, and the four rails are parallel to each other.

The end unit body II11 includes connecting rod assembly III300, hinge joint II6000, pulley module I, pulley module II, hoisting module I, hoisting module II and track parts; the connecting rod assembly III300 is a long strip rigid body, Hinge joint III-II-I361 (hinge joint II6000) is fixed on the upper left end of connecting rod assembly II200, pulley module III-I-I321, pulley module III-I-II322, pulley module III-I-III323 (quantity The pulley module I of 3) is respectively fixed on the lower left end, the lower right end and the upper right end of the connecting rod assembly III300, the pulley module III-II-I331, the pulley module III-II-II332, the pulley module III- II-III333, pulley module III-II-IV334 (the pulley module II with a quantity of 4) are respectively fixed on the upper middle of the front side, the lower middle of the front side, the upper middle of the rear side and the middle of the rear side of the connecting rod assembly III300 At the lower position, hoisting module III-I-I311 and hoisting module III-I-II312 (winching module I with a quantity of 2) are respectively fixed on the right end of the front side and the right end of the rear side of the connecting rod assembly III300. Lifting module III-II-I313 and hoisting module III-II-II314 (winching module II with a quantity of 2) are respectively fixed on the front right end and the rear right end of the connecting rod assembly III300; track piece III-I341, Track pieces III-II342, track pieces III-III343, and track pieces III-IV344 (tracks with a quantity of 4) are respectively fixed on the front side of the link assembly III300, the front side is down, the rear side is up and the rear side is down position and the four tracks are parallel to each other.

Taking the number of intermediate units 12 as four as an example, including intermediate units I1201, intermediate units II1202, intermediate units III1203, intermediate units IV1204, end units I10, intermediate units I1201, intermediate units II1202, The hinge points of the middle unit body III1203, the middle unit body IV1204 and the end unit body II11 are hinge I10001, hinge II12011, hinge III12021, hinge IV12031 and hinge V11001, and each hinge structure can rotate at an angle of 0° to 180° and is adjacent to each other. The rotation directions of the two hinges are opposite, that is, the rotation angle of the first hinge is 0°~180°, the rotation angle of the second hinge is 0°~-180°, the rotation angle of the third hinge is 0°~180°, and the rotation angle of the fourth hinge is The angle is from 0° to -180°, and the rotation angle of the fifth hinge is from 0° to 180°.

In this embodiment, a specific construction and recovery process is given:

The initial state of the chain track is in the folded state, that is, the hinge I10001 (the first hinge) is at the 180° position, the hinge II12011 (the second hinge) is at the -180° position, the hinge III12021 (the third hinge) is at the 180° position, and the hinge IV12031 ( The fourth hinge) is at -180°, the hinge V11001 (fifth hinge) is at 180°, the traction rope II-I421 and traction rope II-II422 are at the end unit body I10 hoisting module II and the end unit body II11 The hoisting module II is in a stressed state under the joint action, while the traction rope I-I411 and traction rope I-II412 are not affected by the hoisting module I of the end unit body I10 and the hoisting module I of the end unit body II11, in a relaxed state;

The first step is to suspend the folded state chain track on the bridge 00 side through the suspension rope II-I441 and suspension rope II-II442 of the end unit body II11, and the suspension rope I-I431 of the end unit body I10 It is connected to the UAV with the suspension rope I-II432, and the UAV will take it to the other side of the bridge 00, as shown in Figure 14;

In the second step, release the suspension rope II-I441, suspension rope II-II442, and retract the suspension rope I-I431, suspension rope I-II432 at the same time, so that the chain track in the folded state moves to the width of the bridge bottom The middle position of the direction, as shown in Figure 15;

The third step is to control the winch module II of the end unit body I10 and the winch module II of the end unit body II11, release the traction rope II-I421 and the traction rope II-II422, and the chain track in the folded state is under gravity Under the action, it unfolds in a curved state, as shown in Figure 16;

The fourth step is to control the hoisting module I of the end unit body I10 and the hoisting module I of the end unit body II11, retract the traction rope I-I411 and the traction rope I-II412, and gradually change the chain track in the curved state It is in a straight line state. At this time, the track pieces between adjacent unit bodies (including end unit body I10, intermediate unit body 12 and end unit body II11) are spliced together to form a complete track for the mobile detection platform to pass through, that is, the end unit body The track piece I-I141 of the inner unit body I10 and the track piece II-I241 of the middle unit body I1201, the track piece II-IV244 of the middle unit body II1202, the track piece II-I241 of the middle unit body III1203, and the track of the middle unit body IV1204 Part II-IV244, track part III-I341 of end unit body II11 are spliced in sequence to form a straight track; track part I-II142 of end unit body I10 and track part II-II242 of middle unit body I1201, middle unit body II1202 The track piece II-III243 of the middle unit body III1203, the track piece II-II242 of the middle unit body IV1204, the track piece II-III243 of the middle unit body IV1204, and the track piece III-II342 of the end unit body II11 are sequentially spliced into a straight track; the end unit Track piece I-III143 of body I10 and track piece II-III243 of intermediate unit body I1201, track piece II-II242 of intermediate unit body II1202, track piece II-III243 of intermediate unit body III1203, track piece II of intermediate unit body IV1204 -II242, track pieces III-III343 of the end unit body II11 are sequentially spliced into a straight track; the track piece I-IV144 of the end unit body I10, the track piece II-IV244 of the middle unit body I1201, and the track of the middle unit body II1202 Part II-I241, the track part II-IV244 of the middle unit body III1203, the track part II-I241 of the middle unit body IV1204, and the track part III-IV344 of the end unit body II11 are sequentially spliced into a straight track, as shown in Figure 17;

The recovery process of the chain track is the reverse process of the construction process, that is, control the hoisting module I of the end unit body I10 and the hoisting module I of the end unit body II11, release the traction rope I-I411 and the traction rope I-II412, The chain track in the straight state changes into a curved state under the action of gravity; and then through the control of the end unit body I10 hoisting module II and the end unit body II11 hoisting module II, the traction rope II-I421 and the traction Rope II-II422 makes the chain track in the curved state return to the folded state; the next step simultaneously retracts the suspension rope II-I441, suspension rope II-II442, and releases the suspension rope I-I431 and suspension rope I -II432, make the chain track in the folded state return from the middle position in the width direction of the bridge bottom to the bridge 00 side, and finally pass the end unit body II11 suspension rope II-I441 and suspension rope II-II442 to the folded state The chain track is recovered to the upper side of the bridge 00, as shown in Fig. 17 to Fig. 14 .

It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any such relationship between these entities. Actual relationship or sequence.

The foldable chain track provided by the present invention has been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention, and the descriptions of the above embodiments are only used to help understand the method and core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

A foldable chain track is characterized in that it is composed of a plurality of unit bodies hinged together, including end unit body I (10), several intermediate unit bodies (12) and end unit body II (11); any The upper side and the lower side of the unit body are provided with a pulley module I, the front side and/or rear side of any one of the unit bodies is provided with a pulley module II, and any one of the unit bodies is provided with a track piece; The pulley module I on the upper side of the end unit body I (10) and the end unit body II (11) is connected by a suspension rope, and the end unit body I (10) and the end unit body II (11) are connected by a suspension rope. The pulley module I on the lower side of the end unit body II (11) and the pulley module I of the intermediate unit body (12) are connected by a traction rope I, and the end unit body I (10) , the pulley module II of the middle unit body (12) and the end unit body II (11) is connected to the traction rope II, so that when the traction rope I and the traction rope II are relaxed, the The foldable chain track is in a curved state. When the traction rope I is relaxed and the traction rope II is tensioned, the foldable chain track is in a folded state. When the traction rope I is tense and the traction rope II is relaxed The foldable chain track is in a straight line state and the track pieces are spliced on the same straight line.
The foldable chain track according to claim 1, characterized in that, the end unit body I (10) and/or the end unit body II (11) is provided with a connection and drives the traction rope I The winch module I, and/or, the end unit body I (10) and/or the end unit body II (11) is provided with a winch module II that connects and drives the traction rope II .
The foldable chain track according to claim 2, characterized in that, the hoisting module I includes a hoisting module I-I located at the end unit body I (10) and a hoisting module I-I located at the end The hoisting module III-I of the unit body II (11), the hoisting module II includes the hoisting module I-II set at the end unit body I (10) and the hoisting module set at the end The hoisting module III-II of the unit body II (11), the two ends of the traction rope I are connected to the hoisting module I-I and the hoisting module III-I, the two ends of the traction rope II The ends are connected to the hoisting module I-II and the hoisting module III-II.
The foldable chain track according to claim 3, characterized in that, the hoisting module I-I comprises a hoisting module I-I-I (111) and a hoisting module I-I-II (112), and the hoisting module Group III-I includes hoisting module III-I-I (311) and hoisting module III-I-II (312), and the hoisting module I-II includes hoisting module I-II-I (113 ) and hoisting module I-II-II (114), said hoisting module III-II includes hoisting module III-II-I (313) and hoisting module III-II-II (314) , the traction rope I includes a traction rope I-I (411) connected to the hoisting module I-I-I (111) and the hoisting module III-I-I (311), connected to the hoisting module I-I-I- II (112) and the traction rope I-II (412) of the hoisting module III-I-II (312), the traction rope II includes a rope connected to the hoisting module I-II-I (113 ) and the traction rope II-I (421) of the hoisting module III-II-I (313), connected to the hoisting module I-II-II (114) and the hoisting module III - the traction rope II-II (422) of II-II (314), said traction rope I-I (411) and said traction rope I-II (412) are located on the lower side, said traction rope II-I (421) And described traction rope II-II (422) is positioned at front and back both sides.
The foldable chain track according to claim 4, wherein the suspension rope includes a suspension rope I and a suspension rope II, and the pulley module I includes: (10) pulley module I-I-I (121), pulley module I-I-II (122) and pulley module I-I-III (123), described pulley module I-I-II (122) and said pulley module I-I-I (121) is located on the left and right of the lower side, and the pulley module I-I-III (123) is located on the left side of the upper side and is connected with the suspension rope I; the pulley module III located at the end unit body II (11) -I-I (321), pulley module III-I-II (322) and pulley module III-I-III (323), said pulley module III-I-I (321) and said pulley module III-I -II (322) is located on the left and right sides of the lower side, and the pulley module III-I-III (323) is located on the right side of the upper side and is connected with the suspension rope II; the pulley module set on the middle unit body (12) Group II-I-I (221) and pulley module II-I-II (222), said pulley module II-I-I (221) is positioned at the left side of the lower side, and said pulley module II-I-II (222) is positioned at Upper right.
The foldable chain track according to claim 4, wherein the pulley module II comprises: a pulley module I-II-I (131) arranged on the end unit body I (10), Pulley module I-II-II (132), pulley module I-II-III (133) and pulley module I-II-IV (134), said pulley module I-II-I (131) is located at The upper left of the front side, the pulley module I-II-II (132) is located at the lower right of the front side, and the pulley module I-II-III (133) is located at the upper left of the rear side, and the pulley module I-II- IV (134) is located at the lower right of the rear side; the pulley module III-II-I (331), pulley module III-II-II (332), pulley module set at the end unit body II (11) III-II-III (333) and the pulley module III-II-IV (334), the pulley module III-II-I (331) is positioned at the front upper right, and the pulley module III-II-II ( 332) is located at the lower left side of the front side, the pulley module III-II-III (333) is located at the upper right side of the rear side, and the pulley module III-II-IV (334) is located at the lower left side of the rear side; it is located in the middle unit body (12) pulley module II-II-I (231), pulley module II-II-II (232), pulley module II-II-III (233) and pulley module II-II-IV (234 ), the pulley module II-II-I (231) is positioned at the upper right front side, the pulley module II-II-II (232) is positioned at the lower left side of the front side, and the pulley module II-II-III (233 ) is located at the upper right of the rear side, and the pulley module II-II-IV (234) is located at the lower left of the rear side.
The foldable chain track according to claim 5, characterized in that, the number of pulleys in the pulley module I is greater than or equal to four, and the traction rope I continuously passes through all the adjacent two unit bodies. Adopt reciprocating winding when describing the pulley module 1.
The foldable chain track according to claim 6, characterized in that, the number of pulleys in the pulley module II is greater than or equal to two, and the traction rope II continuously passes through all the adjacent two unit bodies. When describing the pulley module II, reciprocating winding is adopted.
According to the foldable chain track according to any one of claims 1 to 8, it is characterized in that, the end unit body I (10) is provided with a hinge joint I-I-I (151) located on the right side of the upper side, and the middle unit The body (12) is provided with a hinge joint II-II-I (261) located on the left side of the upper side and a hinge joint II-I-I (251) located on the right side of the lower side, and the end unit body II (11) is provided with a hinge joint located on the upper side The hinge joint III-II-I (361) on the left side, the hinge joint I-I-I (151) is connected with the hinge joint II-II-I (261), and the hinge joint II-I-I (251) is connected with the hinge joint II-I-I (251) Hinge joint III-II-I (361) connection.
The foldable chain track according to any one of claims 1 to 8, characterized in that, the end unit body I (10), the middle unit body (12) and the end unit body II ( 11) It includes a connecting rod assembly forming a long strip rigid body, and the track member includes a track member I and a track member II arranged on the front side of the connecting rod assembly up and down, and a track member arranged on the upper and lower sides of the rear side of the connecting rod assembly III and track piece IV.