CN108974162A - A kind of adjustable crawler belt running method of terrain clearance - Google Patents

Abstract

A kind of adjustable crawler belt running method of terrain clearance, implement crawler belt traveling terrain clearance using the adjustable crawler travel device of terrain clearance to adjust, chassis assembly one end of appearing on the stage of the adjustable crawler travel device of terrain clearance is provided with driving wheel, the chassis assembly other end of appearing on the stage is provided with the track tension adjustor for connecting with rear support wheel assembly, load-bearing wheel assembly is arranged on leave from office chassis assembly, bogie frame bracket assembly and hydraulic cylinder, which are separately positioned on, appears on the stage between chassis assembly and leave from office chassis assembly, crawler belt is sleeved on driving wheel, on rear support wheel assembly and load-bearing wheel assembly；In crawler travel device lifting process, height of crawler changes, and crawler belt encirclement perimeter is constant, and the real-time adjust automatically in rear support wheel position can effectively prevent crawler belt to fall off；Vehicle frame of appearing on the stage is driven to go up and down with lower bogie frame using hydraulic cylinder lifting simultaneously, the relative position of carrying roller and lower bogie frame is constant, and relative motion component is few, and height of crawler adjusts simple, high reliablity.

Description

A crawler driving method with adjustable height from the ground

technical field

The invention relates to the technical field of crawler equipment, in particular to a crawler driving method with adjustable height from the ground.

Background technique

Tracked vehicles have a large grounding area and low grounding specific pressure, and can work in relatively harsh environments. However, the ground clearance and center of gravity height of tracked vehicles have a great impact on their passability and safety. The ground clearance is low, and the passage of tracked vehicles If the performance is poor, the advantages of tracked vehicles cannot be fully utilized; if the ground clearance is large, the center of gravity of tracked vehicles will be high, and rollover will easily occur when driving on slopes or turning quickly, which will affect driving safety. At the same time, due to the complex structure of the crawler driving system, the tracked vehicle mainly adopts the direct drive shaft transmission mode, and the track and the tracked vehicle are not directly provided with a suspension, which makes it difficult to adjust the height of the tracked vehicle. The mass of the system is very large, and the unsprung mass is high after the suspension is set, which leads to poor transmission effect, and it is difficult to achieve height adjustment if elastic or semi-rigid elastic devices are installed inside the crawler system.

Contents of the invention

The technical problem to be solved by the present invention is to provide a crawler belt driving method with adjustable height from the ground, so as to solve the above-mentioned shortcomings in the background technology.

The technical problem solved by the present invention adopts following technical scheme to realize:

A crawler belt driving method with adjustable ground clearance, which adopts a crawler belt driving device with adjustable ground clearance to adjust the ground clearance height of the crawler belt, and the specific steps are as follows:

When it is necessary to increase the ground clearance, operate the hydraulic system of the crawler driving device with adjustable ground clearance to make the hydraulic cylinder extend the hydraulic rod under the action of hydraulic pressure, and the three support frames rotate counterclockwise around their respective lower support shafts, and then go to the stage The relative height of the frame assembly and the lower frame assembly increases, and the circumference of the raised track increases; at the same time, the adjustment lever connected to the lower frame assembly through the lower frame pin rotates counterclockwise around the lever fulcrum pin, and the rear support wheel The connecting rod moves forward under the action of the adjustment lever, and then drives the rear support wheel assembly to move forward, so that the circumference of the crawler track decreases. At this time, the relative position of the upper frame and the lower frame rises. The circumference of the crawler track that is reduced by the movement of the support wheel is close to ensure that the height of the crawler travel device changes when the crawler travel device rises, and the circumference of the crawler track remains unchanged, which can effectively prevent the track from falling off; under the action of the spring, the rear support wheel The components support the track at all times to ensure the normal tension of the track;

When it is necessary to reduce the ground clearance, under the action of the weight of the vehicle, the hydraulic cylinder shrinks slowly, and the three support frames rotate clockwise around their respective lower support shafts. The relative height difference between the upper frame assembly and the lower frame assembly Shrunken, the circumference of the lowered track is reduced; at the same time, the adjustment lever connected to the lower frame assembly through the lower frame pin and the lower frame assembly rotates clockwise around the lever fulcrum pin, and the rear support wheel connecting rod moves backward under the action of the adjustment lever. Then drive the rear support wheel assembly to move backward, so that the perimeter of the crawler belt increases. At this time, the relative position of the upper frame and the lower frame decreases. During the rising process of the traveling device, the height of the crawler traveling device changes, and the perimeter of the crawler remains unchanged, which can effectively prevent the crawler from falling off; under the action of the spring, the rear support wheel assembly always supports the crawler to ensure the normal tension of the crawler;

The crawler traveling device with adjustable ground clearance includes crawler belts, driving wheels, upper frame components, hydraulic cylinders, track adjusters, rear support wheel components, platform frame support frame components, lower frame components and load-bearing wheel components, wherein, One end of the upper frame assembly is provided with a drive wheel, the other end of the upper frame assembly is provided with a track adjuster for connecting with the rear support wheel assembly, the load-bearing wheel assembly is arranged on the lower frame assembly, and the platform support frame assembly is arranged on the upper Between the frame assembly and the lower frame assembly, one end of the hydraulic cylinder is connected to the upper frame assembly, the other end of the hydraulic cylinder is connected to the lower frame assembly, and the track is set on the driving wheel, rear support wheel assembly and load-bearing wheel assembly; each part The specific structure is as follows:

The upper frame assembly includes the driving wheel bearing seat, the upper frame support frame bearing seat, the upper frame hydraulic cylinder support seat, the upper frame, the track adjuster bracket and the lever fulcrum, and one end of the upper frame is provided with a drive for installing the driving wheel. The other end of the upper frame is provided with two track adjuster brackets for installing the track adjuster, and the upper frame support frame bearing seats for installing the support frame assembly of the platform frame are arranged on both sides of the upper frame. The two upper frame hydraulic cylinder support seats for installing the hydraulic cylinder are arranged inside the upper frame, and a lever fulcrum is arranged on the upper frame;

The lower frame assembly includes the lower frame support frame bearing seat, the load-bearing wheel shaft, the lower frame hydraulic cylinder support seat, the lower frame and the lower frame lever frame, wherein the lower frame support for installing the lower frame support frame assembly The frame bearing seat is set on both sides of the lower frame, the load-bearing wheel shaft is set on the lower frame, and runs through the lower frame, and the two lower frame hydraulic cylinder support seats and the lower frame lever frame for installing the hydraulic cylinder are set on the lower frame above the frame;

The support frame assembly of the trolley frame includes a support frame, an upper support shaft end cover, an upper support shaft and a lower support shaft. One end of the support frame is provided with an upper support shaft, and the other end of the support frame is provided with a lower support shaft. The same is symmetrical about the support frame, the structure of the left and right ends of the lower support shaft is the same, and the structure is symmetrical about the support frame. On the bearing seat of the support frame of the lower platform, the two ends of the lower support shaft are fixed by snap rings;

The load-bearing wheel assembly includes a load-bearing wheel and a load-bearing wheel end cover. The load-bearing wheel connected with the support frame assembly of the trolley frame is installed on the lower support shaft, and the load-bearing wheel not connected with the support frame assembly of the trolley frame is installed on the load-bearing wheel shaft. The end of the load-bearing wheel The cover is installed on the load wheel;

The track adjuster includes a pair of adjustment levers and a rear support wheel link connected with the adjustment lever and a spring. The adjustment lever is symmetrically arranged up and down with respect to the upper frame, and the adjustment lever is provided with a pin for supporting the relative sliding of the rear support wheel link pin. The first chute and the second chute used to support the relative sliding of the lower frame pin, the adjustment lever is connected with the lower frame lever frame through the lower frame pin, the adjustment lever is installed on the lever fulcrum through the lever fulcrum pin, and the adjustment lever passes through The connecting rod pin of the rear supporting wheel is connected with the connecting rod of the rear supporting wheel, and a spring is arranged at the front end of the connecting rod of the rear supporting wheel, one end of the spring is in contact with the adjustment lever, and the other end is in contact with the bracket of the track adjuster, and the spring is in a compressed state;

The rear support wheel assembly includes a rear support wheel shaft bracket, a rear support wheel and a rear support wheel shaft, the rear support wheel shaft bracket is connected with the rear support wheel connecting rod, the rear support wheel is fixed on the rear support wheel shaft, and the rear support wheel shaft is fixed on the rear support wheel shaft bracket .

In the present invention, the crawler belt includes a crawler belt stop tooth, a crawler track main body and a ground driving tooth, and the crawler track main body is provided with a crawler belt stop tooth for limiting the degree of freedom of the crawler track main body through the driving wheel, the rear support wheel assembly and the bearing wheel assembly. Grounding driving teeth are arranged outside the main body.

In the present invention, the upper frame is a square steel with holes on one side or a U-shaped channel steel.

In the present invention, the lower frame is a square steel with holes on one side or a U-shaped channel steel.

In the present invention, a snap ring groove for bearing positioning is opened in the bearing seat of the support frame of the lower platform frame.

In the present invention, the upper support shaft is installed on the bearing seat of the upper frame support frame through the deep groove ball seal bearing, and the lower support shaft is installed on the bearing seat of the lower frame support frame through the deep groove ball seal bearing.

In the present invention, the load-bearing wheels connected with the support frame assembly of the trolley frame are installed on the lower support shaft through deep groove ball sealed bearings.

In the present invention, there are three load-bearing wheels connected with the support frame assembly of the trolley frame.

In the present invention, there are two load-bearing wheels that are not connected to the support frame assembly of the trolley frame.

In the present invention, the left and right ends of the bearing wheel axle have the same structure and are symmetrical about the lower frame.

In the present invention, a dust-proof ring is installed between the rear support wheel axle bracket and the rear support wheel.

Beneficial effect:

1) During the lifting process of the crawler running device with adjustable height from the ground in the present invention, the height of the crawler running device changes, and the circumference of the crawler belt remains unchanged, which can effectively prevent the crawler belt from falling off;

2) The crawler track driving device of the present invention adopts hydraulic cylinder lifting to drive the upper frame and the lower frame to lift up and down, the relative position of the load-bearing wheels and the lower frame remains unchanged, there are few relative moving elements, the height of the track is easy to adjust, and the reliability is high;

3) The position of the rear support wheel is automatically adjusted in real time when the crawler belt of the crawler traveling device of the present invention is raised and lowered, the operation is simple, and the working stability is strong.

Description of drawings

Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.

Fig. 2 is a schematic diagram of the track structure in a preferred embodiment of the present invention.

Fig. 3 is a schematic structural diagram of the upper frame assembly in a preferred embodiment of the present invention.

Fig. 4 is a schematic structural diagram of the lower platform frame assembly in a preferred embodiment of the present invention.

Fig. 5 is a sectional view at A-A in Fig. 1 .

Fig. 6 is a sectional view at B-B in Fig. 1 .

Fig. 7 is a sectional view at C-C in Fig. 1 .

Fig. 8 is a schematic diagram of the rising state of the crawler traveling device in a preferred embodiment of the present invention.

Fig. 9 is a schematic diagram of the lowering state of the crawler traveling device in a preferred embodiment of the present invention.

Fig. 10 is a schematic diagram of the structure of the upper support shaft in a preferred embodiment of the present invention.

Fig. 11 is a schematic diagram of the structure of the lower support shaft in a preferred embodiment of the present invention.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with specific illustrations.

Referring to Fig. 1 to Fig. 11, a crawler belt driving method with adjustable height from the ground, adopts a crawler belt driving device with an adjustable height from the ground to adjust the height of the crawler belt driving from the ground, and the crawler belt driving device with an adjustable height from the ground includes crawler belts 1, Drive wheel 2, upper platform frame assembly 3, hydraulic cylinder 4, track adjuster 5, rear support wheel assembly 6, platform frame support frame assembly 7, lower platform frame assembly 8 and load-bearing wheel assembly 9, wherein the drive wheel 2 is set At one end of the upper frame assembly 3, the other end of the upper frame assembly 3 is provided with a crawler adjuster 5 for connecting with the rear support wheel assembly 6, and the load-bearing wheel assembly 9 is installed on the lower frame assembly 8, and on the upper frame assembly 3 and the lower frame assembly 8 are provided with a platform support frame assembly 7, one end of the hydraulic cylinder 4 is connected to the upper frame assembly 3, the other end of the hydraulic cylinder 4 is connected to the lower frame assembly 8, and the track 1 is set on the driving wheel 2. On the rear supporting wheel assembly 6 and the bearing wheel assembly 9; the specific structure of each part is as follows:

The crawler belt 1 includes a crawler belt stop tooth 11, a crawler belt main body 12 and a grounding drive tooth 13. The crawler belt stop tooth 11 provided in the crawler belt main body 12 limits the left and right sides of the crawler belt main body 12 through the driving wheel 2, the rear support wheel assembly 6 and the bearing wheel assembly 9. Move to prevent the crawler belt 1 from falling off, and the crawler belt main body 12 is provided with grounding drive teeth 13;

The upper platform frame assembly 3 includes a drive wheel bearing seat 31, an upper platform frame support frame bearing seat 32, an upper platform frame hydraulic cylinder support seat 33, an upper platform frame 34, a track adjuster bracket 35 and a lever fulcrum 36, wherein the upper platform frame 34 is a square steel with holes on one side or a U-shaped channel steel. One end of the upper frame 34 is provided with a drive wheel bearing seat 31 for installing the drive wheel 2. For installing the track adjuster bracket 35 of the track adjuster 5, the upper frame support frame bearing seat 32 for installing the platform frame support frame assembly 7 is arranged on both sides of the upper frame 34, and is used for installing two hydraulic cylinders 4 The hydraulic cylinder support seat 33 of the upper platform frame is arranged inside the upper platform frame 34 at a certain interval, and a lever fulcrum 36 is arranged on the upper platform frame 34 at the same time;

The lower platform frame assembly 8 includes the lower platform frame support frame bearing seat 81, the load-bearing wheel shaft 82, the lower platform frame hydraulic cylinder support seat 83, the lower platform frame 84 and the lower platform frame lever frame 85, wherein the lower platform frame 84 is one side with a The square steel of the hole or the channel steel of U-shaped structure are used to install the lower platform frame support frame bearing seat 81 of the platform frame support frame assembly 7 to be arranged on the lower platform frame 84 both sides, and the lower platform frame support frame bearing seat 81 There is a snap ring groove for bearing positioning inside, the load-bearing wheel shaft 82 is set on the lower frame 84, and runs through the lower frame 84, and the left and right ends of the load-bearing wheel shaft 82 have the same structure and are symmetrical with respect to the lower frame 84, and are used for installing hydraulic cylinders 4, the two lower frame hydraulic cylinder support seats 83 and the lower frame lever frame 85 are arranged above the lower frame 84;

The trolley frame support frame assembly 7 includes a support frame 71, a shaft sleeve X1, a deep groove ball seal bearing X2, an upper support shaft end cover 72, an upper support shaft 73, a screw X3, a lower support shaft 74 and a snap ring X4, wherein the support One end of the frame 71 is provided with an upper support shaft 73, and the other end of the support frame 71 is provided with a lower support shaft 74. The left and right ends of the upper support shaft 73 have the same structure and are symmetrical about the support frame 71, and the left and right ends of the lower support shaft 74 have the same structure. Symmetrical, the upper support shaft 73 and the lower support shaft 74 are equipped with a shaft sleeve X1, the upper support shaft 73 is installed on the bearing seat 32 of the upper frame support frame through the deep groove ball seal bearing X2, and the two ends of the upper support shaft 73 pass through the upper support The shaft end cover 72 is fixed with the screw X3, the lower support shaft 74 is installed on the bearing seat 81 of the lower platform frame support frame through the deep groove ball seal bearing X2, and the two ends of the lower support shaft 74 are fixed by the snap ring X4;

The load-bearing wheel assembly 9 includes a load-bearing wheel 91, a load-bearing wheel end cover 92, a gasket X5, a spring piece X6, a fastening nut X7, a screw X3 and a deep groove ball sealed bearing X2, and the load-bearing wheel connected with the trolley frame support frame assembly 7 91 is installed on the lower support shaft 74 through two deep groove ball seal bearings X2, the outer side of the lower support shaft 74 is fixed by the gasket X5, the spring piece X6 and the fastening nut X7, and the outermost end is installed with the load wheel end cover 92 by the screw X3 On the load-bearing wheel 91; the load-bearing wheel 91 that is not connected with the trolley frame support frame assembly 7 is installed on the load-bearing wheel shaft 82 through two deep groove ball seal bearings X2, and the outer side of the load-bearing wheel shaft 82 is passed through the gasket X5, the spring piece X6 and the tight The solid nut X7 is fixed, and the outermost end is installed on the load wheel 91 with the load wheel end cover 92 by the screw X3;

The track adjuster 5 includes a pair of adjustment levers 51, a first chute 511, a second chute 512, a rear support wheel link 52, an outer fastening nut 53, an inner fastening nut 54, a spacer X5, a spring T, and a step down The frame pin P1, the lever fulcrum pin P2 and the rear support wheel link pin P3, the adjustment lever 51 is arranged symmetrically up and down with respect to the upper frame 34, and the adjustment lever 51 at the upper end of the upper frame 34 is used as an example for illustration:

The adjustment lever 51 is provided with a first chute 511 for supporting the relative sliding of the rear support wheel link pin P3 and a second chute 512 for supporting the relative sliding of the lower frame pin P1, and the adjustment lever 51 passes through the lower frame pin P1. , the outer fastening nut 53, the inner fastening nut 54, the spacer X5 are connected with the lower frame lever frame 85, and the adjustment lever 51 is installed through the lever fulcrum pin P2, the outer fastening nut 53, the inner fastening nut 54, and the spacer X5 On the lever fulcrum 36, the adjustment lever 51 is connected with the rear support wheel link 52 through the rear support wheel link pin P3, the outer fastening nut 53, the inner side fastening nut 54, the spacer X5, and the rear support wheel link 52 The front end is provided with a spring T, one end of the spring T is in contact with the adjustment lever 51, and the other end is in contact with the track adjuster bracket 35, and the spring T is in a compressed state; the lower frame pin P1, the fulcrum pin P2 and the rear support wheel link pin P3 pass through The double nuts are fastened so that there is an appropriate gap between the adjustment lever 51 and the upper frame 34 and the lower frame 84, which can make the adjustment lever 51 rotate flexibly and prevent loosening;

When the hydraulic rod is stretched under the action of the hydraulic pressure, the upper frame 34 and the lower frame 84 will move away from each other under the action of the hydraulic rod. Clockwise rotation, the rear support wheel link pin P3 slides relative to the adjustment lever 51 in the first chute 511, and the lower platform frame pin P1 slides relative to the adjustment lever 51 in the second chute 512, so that the adjustment lever 51 passes through the rear support wheel. The rod pin P3 pulls the rear support wheel connecting rod 52 to move in the shrinking direction relative to the crawler belt 1, and thus causes the shrinkage generated by the crawler belt 1 to compensate for the expansion caused by the distance between the upper frame 34 and the lower frame 84; otherwise, when the hydraulic pressure When the rod shrinks under the action of the hydraulic pressure, a relative approaching movement occurs between the upper frame 34 and the lower frame 84 under the action of the hydraulic rod. During this process, the adjustment lever 51 rotates clockwise around the lever fulcrum pin P2, The rear support wheel link pin P3 slides relative to the adjustment lever 51 in the first chute 511, and the lower platform frame pin P1 slides relative to the adjustment lever 51 in the second chute 512, so that the adjustment lever 51 passes through the rear support wheel link pin P3 Push the rear support wheel link 52 to move relative to the expansion direction of the track 1, and thus cause the expansion amount produced by 1 to come from the release amount produced by the approach of the upper frame 34 relative to the lower frame 84;

The rear support wheel assembly 6 includes fastening nut X7, spring sheet X6, spacer X5, rear support wheel shaft bracket 61, dustproof ring 62, rear support wheel 63, deep groove ball bearing X8, snap ring X4 and rear support wheel shaft 64, Wherein, the rear support wheel shaft bracket 61 is connected with the rear support wheel connecting rod 52, the rear support wheel 63 is fixed on the rear support wheel shaft 64 through the deep groove ball bearing X8 and the snap ring X4, and the rear support wheel shaft 64 two ends are connected by fastening nuts X7, The spring sheet X6 and the gasket X5 are fixed on the rear support wheel shaft support 61 , and a dustproof ring 62 is installed between the rear support wheel shaft support 61 and the rear support wheel 63 .

The working principle of crawler lifting:

During normal driving, the relative height difference between the upper frame assembly 3 and the lower frame assembly 8 is H0 (as shown in Figure 1). When it is necessary to increase the ground clearance (as shown in Figure 8), the hydraulic system is operated to make the hydraulic cylinder 4. Under the action of the hydraulic pressure, the hydraulic rod is extended, and the three support frames 71 rotate counterclockwise around the respective lower support shafts 74, and the relative height difference between the upper frame assembly 3 and the lower frame assembly 8 increases to H1, raising The perimeter of the rear crawler belt 1 increases; at the same time, the adjustment lever 51 connected to the lower frame assembly 8 through the lower frame pin P1 rotates counterclockwise around the lever fulcrum pin P2, and the rear support wheel link 52 plays the role of the adjustment lever 51. The bottom moves forward, and then drives the rear support wheel assembly 6 to move forward, so that the circumference of the crawler belt 1 is reduced. At this time, the relative positions of the upper platform frame 34 and the lower platform frame 84 are raised. The increased crawler belt circumference and the rear support wheel 63 move The reduced perimeter of the crawler belt 1 is close to ensure that the height of the crawler traveling device changes during the ascent of the crawler belt traveling device, and the perimeter of the crawler belt remains unchanged, which can effectively prevent the crawler belt 1 from falling off; under the action of the spring T, the rear support wheel The component 6 supports the track 1 at all times to ensure the normal tension of the track 1;

The working principle of crawler lowering:

During normal driving, the relative height difference between the upper frame assembly 3 and the lower frame assembly 8 is H0 (as shown in Figure 1), and when it is necessary to reduce the ground clearance (as shown in Figure 9), operate the hydraulic system to make the hydraulic pressure Rod oil pressure unloading, under the action of vehicle weight, hydraulic cylinder 4 shrinks slowly, three support frames 71 rotate clockwise around their respective lower support shafts 74, the relative height of upper frame assembly 3 and lower frame assembly 8 The difference is reduced to H2, and the surrounding circumference of the lowered track 1 is reduced; at the same time, the adjustment lever 51 connected to the lower frame assembly 8 through the lower frame pin P1 rotates clockwise around the lever fulcrum pin P2, and the rear support wheel connecting rod 52 Move backward under the effect of adjusting lever 51, and then drive rear support wheel assembly 6 to move backward, make crawler belt 1 surround perimeter increase, at this moment upper platform vehicle frame 34, lower platform vehicle frame 84 relative positions reduce the caterpillar belt surrounding perimeter of reduction and The surrounding perimeter of the crawler belt 1 increased by the movement of the rear support wheel 63 is very close to ensure that the height of the crawler traveling device changes while the crawler belt surrounding perimeter remains unchanged during the rising process of the crawler traveling device, which can effectively prevent the crawler belt 1 from falling off; Under the action, the rear support wheel assembly 6 supports the crawler belt 1 at all times to ensure the normal tension of the crawler belt 1 .

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention will also have other functions without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. An adjustable crawler belt driving method, characterized in that, adopting an adjustable crawler belt driving device to adjust the ground clearance height adjustment, the concrete steps are as follows: When it is necessary to increase the ground clearance, operate the hydraulic system of the crawler driving device with adjustable ground clearance to make the hydraulic cylinder extend the hydraulic rod under the action of hydraulic pressure, and the three support frames rotate counterclockwise around their respective lower support shafts, and then go to the stage The relative height of the frame assembly and the lower frame assembly increases, and the circumference of the raised track increases; at the same time, the adjustment lever connected to the lower frame assembly through the lower frame pin rotates counterclockwise around the lever fulcrum pin, and the rear support wheel The connecting rod moves forward under the action of the adjustment lever, and then drives the rear support wheel assembly to move forward; under the action of the spring, the rear support wheel assembly supports the track at all times to ensure the normal tension of the track; When it is necessary to reduce the ground clearance, under the action of the weight of the vehicle, the hydraulic cylinder shrinks slowly, and the three support frames rotate clockwise around their respective lower support shafts. The relative height difference between the upper frame assembly and the lower frame assembly Shrunken, the circumference of the lowered track is reduced; at the same time, the adjustment lever connected to the lower frame assembly through the lower frame pin and the lower frame assembly rotates clockwise around the lever fulcrum pin, and the rear support wheel connecting rod moves backward under the action of the adjustment lever. Then drive the rear support wheel assembly to move backward; under the action of the spring, the rear support wheel assembly supports the track at all times to ensure the normal tension of the track; The crawler driving device with adjustable ground clearance includes crawler belts, driving wheels, upper frame components, hydraulic cylinders, track adjusters, rear support wheel components, platform frame support frame components, lower frame components and load-bearing wheel components, upper trolley One end of the frame assembly is provided with a drive wheel, the other end of the upper frame assembly is provided with a track adjuster for connecting with the rear support wheel assembly, the load-bearing wheel assembly is arranged on the lower frame assembly, and the platform support frame assembly is arranged on the upper frame Between the component and the lower frame assembly, one end of the hydraulic cylinder is connected to the upper frame assembly, the other end of the hydraulic cylinder is connected to the lower frame assembly, and the track is set on the driving wheel, rear support wheel assembly and load-bearing wheel assembly; the specific structure of each part as follows: In the upper frame assembly, one end of the upper frame is provided with a driving wheel bearing seat for installing the driving wheel, and the other end of the upper frame is provided with a track adjuster bracket for installing the track adjuster, which is used for installing the support frame assembly of the platform. The upper frame support frame bearing seats are arranged on both sides of the upper frame, the upper frame hydraulic cylinder support seat for installing the hydraulic cylinder is arranged inside the upper frame, and a lever fulcrum is arranged on the upper frame; In the lower frame assembly, the bearing seats of the lower frame support frame for installing the lower frame support frame assembly are arranged on both sides of the lower frame, and the load-bearing wheel shafts are arranged on the lower frame and pass through the lower frame; used for installing hydraulic pressure The hydraulic cylinder support seat of the lower frame of the cylinder and the lever frame of the lower frame are arranged above the lower frame; In the support frame assembly of the trolley frame, one end of the support frame is provided with an upper support shaft, and the other end of the support frame is provided with a lower support shaft. The frame is symmetrical, the upper support shaft is installed on the bearing seat of the support frame of the upper frame, and the lower support shaft is installed on the bearing seat of the support frame of the lower frame; In the load-bearing wheel assembly, the load-bearing wheel connected with the trolley frame support frame assembly is installed on the lower support shaft, the load-bearing wheel not connected with the trolley frame support frame assembly is installed on the load-bearing wheel shaft, and the load-bearing wheel end cover is installed on the load-bearing wheel; In the track adjuster, a pair of adjustment levers symmetrical up and down with respect to the upper frame are provided, and the first chute for supporting the relative sliding of the connecting rod pin of the rear support wheel and the relative sliding groove for supporting the relative sliding of the pin of the lower frame are arranged on the adjusting lever. The second chute, the adjustment lever is connected with the lower frame lever frame through the lower frame pin, the adjustment lever is installed on the lever fulcrum through the lever fulcrum pin, the adjustment lever is connected with the rear support wheel link through the rear support wheel link pin, and A spring is arranged at the front end of the connecting rod of the rear support wheel, one end of the spring is in contact with the adjustment lever, and the other end is in contact with the bracket of the track adjuster, and the spring is in a compressed state; In the rear support wheel assembly, the rear support wheel shaft support is connected with the rear support wheel connecting rod, the rear support wheel is fixed on the rear support wheel shaft, and the rear support wheel shaft is fixed on the rear support wheel shaft support. 2. The crawler belt driving method with adjustable ground clearance according to claim 1, characterized in that the crawler belt comprises crawler belt limit teeth, a crawler belt main body and ground driving teeth, and the main body of the crawler belt is provided with a drive wheel, rear The supporting wheel assembly and the load-bearing wheel assembly are crawler limit teeth that limit the degree of freedom of the crawler main body, and ground driving teeth are arranged outside the crawler main body. 3 . The crawler belt driving method with adjustable ground clearance according to claim 1 , wherein the upper frame is a square steel or U-shaped channel steel with holes on one side. 4 . 4. A crawler belt driving method with adjustable ground clearance according to claim 1, characterized in that the lower frame is a square steel or U-shaped channel steel with holes on one side. 5 . The crawler belt driving method with adjustable height from the ground according to claim 1 , wherein a snap ring groove for bearing positioning is opened in the bearing seat of the support frame of the lower platform frame. 6 . 6. A crawler belt driving method with adjustable height from the ground according to claim 1, characterized in that the upper support shaft is installed on the bearing seat of the support frame of the upper frame through a deep groove ball seal bearing, and the lower support shaft passes through the deep groove ball seal bearing. The groove ball seal bearing is installed on the bearing seat of the support frame of the lower platform frame. 7. A crawler driving method with adjustable height from the ground according to claim 1, characterized in that the load-bearing wheels connected with the support frame assembly of the trolley frame are mounted on the lower support shaft through deep groove ball sealed bearings. 8 . The crawler belt driving method with adjustable height from the ground according to claim 1 , wherein there are three load-bearing wheels connected with the support frame assembly of the trolley frame. 9 . 9 . The crawler track driving method with adjustable height from the ground according to claim 1 , wherein there are two load-bearing wheels not connected to the support frame assembly of the trolley frame. 10 . 10 . The crawler track driving method with adjustable ground clearance according to claim 1 , characterized in that the left and right ends of the load-bearing wheel axle have the same structure and are symmetrical with respect to the lower frame. 11 .