Patent Publication Number: US-2022234661-A1

Title: Caterpillar changing apparatus

Description:
This application claims the benefit of Korean Patent Application No. 10-2021-0009095, filed on Jan. 22, 2021, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference in its entirety. 
     BACKGROUND 
     1. Field 
     Embodiments of the present disclosure relate to a caterpillar changing apparatus, and more particularly, to a caterpillar changing apparatus for removing a caterpillar from a vehicle or installing a caterpillar on a vehicle. 
     2. Description of Related Art 
     In consideration of the operability and maintainability of rubber caterpillars, rubber caterpillars are being applied to mobile vehicles. Rubber caterpillars have a smaller weight than iron caterpillars and generate less vibration. Further, even if the rubber caterpillar is damaged by an interpersonal mine or the like, damage caused by scattering fragments can be relatively reduced. 
     On the other hand, in order to change the rubber caterpillar installed on the vehicle, a separate equipment such as a forklift may be used. Since such equipment is not a dedicated equipment for changing the rubber caterpillar, the replacement time and installation risk may vary depending on the work skill level by the operator. 
     Accordingly, there is a need for the emergence of an invention that makes it possible to remove the rubber caterpillar installed on the vehicle and install a new rubber caterpillar. 
     SUMMARY 
     A problem to be solved by embodiments of the present disclosure is to provide a caterpillar changing apparatus for removing a caterpillar from a vehicle or installing a caterpillar on a vehicle. 
     However, embodiments of the present disclosure are not restricted to those set forth herein. Embodiments of the present disclosure will become more apparent to one of ordinary skill in the art to which the present disclosure pertains by referencing the detailed description of the present disclosure given below. 
     According to one or more embodiments, a caterpillar changing apparatus is provided. The caterpillar changing apparatus includes: a floor frame; a moving fame movable with respect to the floor frame; and a supporting unit including at least one body, the supporting unit provided on the moving frame and configured to support a caterpillar to maintain a shape of the caterpillar that the caterpillar has when installed on a vehicle. 
     According to an embodiment, the floor frame includes: a first floor frame including a first rail providing a moving path of the moving frame; and a second floor frame detachable from the first floor frame and including a second rail connected to the first rail to provide the moving path of the moving frame. 
     According to an embodiment, the floor frame includes: a body frame; a caster provided on the body frame, the caster configured to reduce friction between a ground and the body frame; and a fixing unit including at least one body, the fixing unit configured to fix the body frame to the ground. 
     According to an embodiment, the moving frame includes: a base frame movably coupled with respect to the floor frame such as to be configured to move in a moving direction; an extension frame extending from the base frame in a direction different from the moving direction of the base frame; and two wing frames rotatably coupled to two opposite side surfaces of the base frame, respectively. 
     According to an embodiment, the base frame includes a base roller that is configured to reduce friction with the floor frame. 
     According to an embodiment, the at least one body of the supporting unit includes: an upper supporting unit configured to support an upper portion of the caterpillar; a lower supporting unit configured to support a lower portion of the caterpillar; and a side supporting unit configured to support a side portion of the caterpillar. 
     According to an embodiment, the upper supporting unit includes: a main supporting unit; and a sub supporting unit couplable or detachably coupled to the main supporting unit in a longitudinal direction of the main supporting unit. 
     According to an embodiment, the main supporting unit includes: a main bar elongated in a longitudinal direction of the caterpillar; and a plurality of main rods elongated in a same direction as each other, provided at different points of the main bar, and configured to support the upper portion of the caterpillar. 
     According to an embodiment, the upper supporting unit includes a lug that is configured to be connected to a hook or a wire. 
     According to an embodiment, the upper supporting unit is coupled to the moving frame so as to be movable in a vertical direction with respect to a ground. 
     According to an embodiment, the upper supporting unit is coupled to the moving frame so as to be movable in a longitudinal direction of the caterpillar. 
     According to an embodiment, the upper supporting unit is detachable from the moving frame. 
     According to an embodiment, the lower supporting unit is coupled to the moving frame so as to be movable in a vertical direction with respect to a ground. 
     According to an embodiment, the side supporting unit includes: a coupling unit coupled to the moving frame; a posture adjusting unit coupled to the coupling unit and configured to enable posture adjustment of the side supporting unit; and a tension unit provided with the posture adjusting unit and configured to apply pressure to the side portion of the caterpillar in a longitudinal direction of the caterpillar. 
     According to an embodiment, the tension unit includes: a tension body coupled to the posture adjusting unit; and a plurality of tension rods elongated in a same direction as each other, provided at different points of the tension body, and configured to apply the pressure to the side portion of the caterpillar. 
     According to an embodiment, the plurality of tension rods are arranged on the tension body with a predetermined curvature so as to correspond to a shape of the side portion of the caterpillar. 
     According to an embodiment, the tension unit is rotatably coupled to the posture adjusting unit. 
     According to an embodiment, the at least one body of the supporting unit includes an inclined supporting unit that is configured to support an inclined portion of the caterpillar. 
     According to an embodiment, the inclined supporting unit includes: a coupling unit coupled to the moving frame; and a main posture adjusting unit coupled to the coupling unit and configured to enable posture adjustment of the inclined supporting unit and support the inclined portion of the caterpillar. 
     According to an embodiment, the main posture adjusting unit is coupled to the coupling unit such as to enable the posture adjustment, and the inclined supporting unit further includes a sub posture adjusting unit that is configured to support the inclined portion of the caterpillar. 
     Other features and embodiments of the present disclosure may be apparent from the following detailed description, the drawings, and the claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These and/or other aspects will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings in which: 
         FIG. 1  is a first view showing a caterpillar changing apparatus according to an embodiment of the present disclosure; 
         FIG. 2  is a second view showing the caterpillar changing apparatus according to the embodiment of the present disclosure; 
         FIG. 3  is a third view showing the caterpillar changing apparatus according to the embodiment of the present disclosure; 
         FIG. 4  is a view showing a caterpillar supported by a caterpillar changing apparatus; 
         FIG. 5  is a view for describing the caterpillar shown in  FIG. 4 ; 
         FIG. 6  is a perspective view of a floor frame according to an embodiment of the present disclosure; 
         FIG. 7  is a side view of the floor frame according to the embodiment of the present disclosure; 
         FIG. 8  is a view for describing that a moving frame moves with respect to the floor frame; 
         FIG. 9  is a perspective view of a moving frame according to an embodiment of the present disclosure; 
         FIG. 10  is a side view of the moving frame with a base roller according to the embodiment of the present disclosure; 
         FIG. 11  is a perspective view of the moving frame with the base roller according to the embodiment of the present disclosure; 
         FIG. 12  is a first view for describing movement of the lower supporting unit with respect to the moving frame; 
         FIG. 13  is a second view for describing the movement of the lower supporting unit with respect to the moving frame; 
         FIG. 14  is a perspective view of an upper supporting unit according to an embodiment of the present disclosure; 
         FIG. 15  is a perspective, exploded view of the upper supporting unit according to the embodiment of the present disclosure; 
         FIG. 16  is a perspective view of a moving supporting unit according to an embodiment of the present disclosure; 
         FIG. 17  is a view for describing a coupling relationship between the upper supporting unit and the moving supporting unit; 
         FIG. 18  is a first view for describing movement of an upper supporting unit with respect to a moving frame; 
         FIG. 19  is a second view for describing movement of the upper supporting unit with respect to the moving frame; 
         FIG. 20  is a perspective view of a side supporting unit according to an embodiment of the present disclosure; 
         FIG. 21  is a first view for describing operation of the side supporting unit; 
         FIG. 22  is a second view for describing operation of the side supporting unit; 
         FIG. 23  is a first perspective view of an inclined supporting unit according to an embodiment of the present disclosure; 
         FIG. 24  is a second perspective view of the inclined supporting unit according to the embodiment of the present disclosure; 
         FIG. 25  is a view for describing operation of the inclined supporting unit; 
         FIG. 26  is a view for describing that a wing frame is unfolded; 
         FIG. 27  is a first view for describing movement of the moving frame to the position of the caterpillar; 
         FIG. 28  is a second view for describing the movement of the moving frame to the position of the caterpillar; 
         FIG. 29  is a view for describing movement of the caterpillar by the moving frame; 
         FIG. 30  is a view for describing that a separation preventing unit is installed on a sub supporting unit; and 
         FIG. 31  is a view for describing that the caterpillar is lifted. 
     
    
    
     DETAILED DESCRIPTION 
     Hereinafter, non-limiting example embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Advantages and features of embodiments of the present disclosure, and methods of achieving them will be apparent with reference to the non-limiting example embodiments described below in detail together with the accompanying drawings. However, embodiments of present disclosure are not limited to the embodiments to be described below, and may be implemented in various different forms, and these embodiments are only provided to make the disclosures of the present disclosure complete, and to fully inform the scope of the disclosure to those of ordinary skill in the technical field to which the present disclosure belongs. The same reference numerals refer to the same components throughout the specification. 
     It will be understood that when an element is referred to as being “over,” “above,” “on,” “below,” “under,” “beneath,” “connected to” or “coupled to” another element, it can be directly over, above, on, below, under, beneath, connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being “directly over,” “directly above,” “directly on,” “directly below,” “directly under,” “directly beneath,” “directly connected to” or “directly coupled to” another element, there are no intervening elements present. 
     Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may have meanings that can be commonly understood by those of ordinary skill in the art to which the present disclosure belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically. 
       FIGS. 1 to 3  are views showing a caterpillar changing apparatus according to an embodiment of the present disclosure. 
     Referring to  FIGS. 1 to 3 , the caterpillar changing apparatus  10  according to an embodiment of the present disclosure includes a floor frame  100 , a moving frame  200 , and a supporting unit  300 . 
     The floor frame  100  may be installed on the ground to support the moving frame  200 . The moving frame  200  may move with respect to the floor frame  100 . The moving frame  200  may be seated on the floor frame  100  and move linearly along a path provided by the floor frame  100 . 
     The supporting unit  300  may be provided on the moving frame  200  to support the caterpillar. In embodiments of the present disclosure, the caterpillar may be installed on a vehicle or for installation on a vehicle. The supporting unit  300  may support the caterpillar so that the shape of the caterpillar installed on the vehicle is maintained. To this end, the supporting unit  300  may include an upper supporting unit  310 , a lower supporting unit  320 , a side supporting unit  330 , and an inclined supporting unit  340 . The upper supporting unit  310  may support the upper portion of the caterpillar, the lower supporting unit  320  may support the lower portion of the caterpillar, the side supporting unit  330  may support the side portion of the caterpillar, and the inclined supporting unit  340  may support the inclined portion of the caterpillar. As the upper supporting unit  310 , the lower supporting unit  320 , the side supporting unit  330 , and the inclined supporting unit  340  support different points of the caterpillar, the shape of the caterpillar can be maintained constant. 
     The upper supporting unit  310 , the lower supporting unit  320 , the side supporting unit  330 , and the inclined supporting unit  340  may be deformed within a certain range. The upper supporting unit  310 , the lower supporting unit  320 , the side supporting unit  330 , and the inclined supporting unit  340  can be deformed according to the shape of the caterpillar installed on the vehicle, thereby separating the caterpillar from the vehicle or installing the caterpillar on the vehicle can be performed more easily. 
     In embodiments of the present disclosure, the caterpillar changing apparatus  10  may have a long shape in one direction. Hereinafter, the longitudinal direction of the caterpillar changing apparatus  10  is referred to as a first direction (X), and a direction perpendicular to the first direction (X) and in which the supporting unit  300  is exposed with respect to the moving frame  200  is referred to as a second direction (Y), and a direction perpendicular to the first direction (X) and the second direction (Y) is referred to as a third direction (Z). For example, the first direction (X) and the second direction (Y) may be parallel to the ground, and the third direction (Z) may be perpendicular to the ground. 
       FIG. 4  is a view for describing that the caterpillar is supported by the caterpillar changing apparatus, and  FIG. 5  is a view for describing the caterpillar shown in  FIG. 4 . 
     Referring to  FIG. 4 , the caterpillar changing apparatus  10  may support the caterpillar  20 . 
     In embodiments of the present disclosure, the caterpillar  20  may be a rubber caterpillar, but the caterpillar  20  is not limited to the rubber caterpillar. 
     The caterpillar changing apparatus  10  may support the caterpillar  20  while maintaining the caterpillar  20  in a certain shape. The shape of the caterpillar  20  supported by the caterpillar changing apparatus  10  may be the same as or similar to the shape of the caterpillar  20  installed on the vehicle. 
     Referring to  FIG. 5 , the caterpillar  20  may include a plurality of portions. 
     Hereinafter, the upper portion of the caterpillar  20  is referred to as the caterpillar upper portion  21 , the lower portion of the caterpillar  20  is referred to as the caterpillar lower portion  22 , both edge portions of the caterpillar  20  are referred to as the caterpillar side portion  23 , and a portion inclined with respect to the ground at both edges of the caterpillar  20  is referred to as the caterpillar inclined portion  24 . 
       FIGS. 6 and 7  are views for describing a floor frame. 
     Referring to  FIGS. 6 and 7 , the floor frame  100  may include a first floor frame  110  and a second floor frame  120 . 
     The first floor frame  110  may include a first rail  112  providing a moving path of the moving frame  200 . The second floor frame  120  may include a second rail  122  providing a moving path of the moving frame  200 . The first rail  112  and the second rail  122  may be formed to be elongated in the moving direction of the moving frame  200 . 
     The second floor frame  120  may be detachable from the first floor frame  110 . When the second floor frame  120  is attached to the first floor frame  110 , the second rail  122  may be connected to the first rail  112 . The first rail  112  and the second rail  122  may be connected to each other to provide a moving path of the moving frame  200 . That is, the moving frame  200  may move along the first rail  112  and then move along the second rail  122 , or move along the second rail  122  and then move along the first rail  112 . 
     The floor frame  100  may include body frames. Each of the first floor frame  110  and the second floor frame  120  may include body frames. Hereinafter, the body frame provided in the first floor frame  110  is referred to as a first body frame  111 , and the body frame provided in the second floor frame  120  is referred to as a second body frame  121 . 
     The first rail  112  described above may be provided on the first body frame  111 , and the second rail  122  may be provided on the second body frame  121 . As the first body frame  111  and the second body frame  121  are coupled to each other, the first rail  112  and the second rail  122  may be connected. 
     The floor frame  100  may include casters  113  and  123  and a fixing unit  114 . The casters  113  and  123  are provided on the first body frame  111  and the second body frame  121 , respectively, and serve to reduce friction between the ground and the first body frame  111  and the second body frame  121 . The user can move the caterpillar changing apparatus  10  on the ground by using the casters  113  and  123  provided on the floor frame  100 . 
     The fixing unit  114  serves to fix the first body frame  111  and the second body framer  121  to the ground. For example, the fixing unit  114  may be screwed to the first body frame  111  and the second body frame  121 . The length of the fixing unit  114  exposed from the first body frame  111  and the second body frame  121  may vary according to the rotation of the fixing unit  114  with respect to the first body frame  111  and the second body frame  121 . The first body frame  111  and the second body frame  121  are supported by the fixing unit  114  and may be arranged in a state spaced apart from the ground by a predetermined distance. When the fixing unit  114  rotates and its lower end is lower than the casters  113  and  123 , the first body frame  111  and the second body frame  121  can be fixed to the ground through the fixing unit  114 . 
       FIG. 8  is a view for describing that the moving frame moves with respect to the floor frame. 
     Referring to  FIG. 8 , the moving frame  200  may move with respect to the floor frame  100 . 
     As described above, the floor frame  100  may include a rail providing a moving path of the moving frame  200 . The moving frame  200  may move along a moving path provided by the rail. As the moving frame  200  moves, the supporting unit  300  provided in the moving frame  200  may also move together. 
     In embodiments of the present disclosure, the moving path of the moving frame  200  relative to the floor frame  100  may be a straight line. For example, the moving frame  200  may linearly move in a direction parallel to the second direction (Y). On the other hand, it is an example that the moving path of the moving frame  200  relative to the floor frame  100  is a straight line, and according to some embodiments of the present disclosure, the moving path of the moving frame  200  relative to the floor frame  100  may be a curved line, and may be a combination of a straight line and a curved line. Hereinafter, it will be described mainly that the moving path of the moving frame  200  relative to the floor frame  100  is a straight line. 
       FIGS. 9 to 11  are views for describing a moving frame. 
     Referring to  FIGS. 9 to 11 , the moving frame  200  includes a base frame  210 , an extension frame  220 , and a wing frame  230 . 
     The base frame  210  may be coupled to be movable with respect to the floor frame  100 . Specifically, the base frame  210  may move along the rail of the floor frame  100 . 
     The extension frame  220  may be extended from the base frame  210  in a direction different from the moving direction of the base frame  210 . For example, the extension frame  220  may be extended in a direction parallel to the third direction (Z) from the base frame  210 . 
     The wing frame  230  may be rotatably coupled to two opposite side surfaces of the base frame  210 . Referring to  FIG. 10 , the wing frame  230  rotates with respect to the base frame  210  to be erected with respect to the ground or may be arranged parallel to the ground. 
     When the wing frame  230  is erected with respect to the ground, the wing frame  230  may be coupled to the extension frame  220 . In this case, the moving frame  200  may have a hexahedral shape as a whole, and the caterpillar changing apparatus  10  may be transported or stored with the moving frame  200  having this shape. 
     Referring to  FIGS. 10 and 11 , the base frame  210  may include a base roller  211  for reducing friction with the floor frame  100 . 
     The base roller  211  may be arranged at a position corresponding to the rail provided in the floor frame  100 . Since the base roller  211  is used, the movement of the moving frame  200  relative to the floor frame  100  may be performed more easily. For example, the user may apply a force to the moving frame  200  to move the moving frame  200  with respect to the floor frame  100 . 
       FIGS. 12 and 13  are views for describing the movement of the lower supporting unit with respect to the moving frame. 
     Referring to  FIG. 12 , the moving frame  200  may be provided with a first moving guide  410  and a first power transmission unit  420  for moving the lower supporting unit  320 . Specifically, a first moving guide  410  and a first power transmission unit  420  may be provided on the extension frame  220  of the moving frame  200 . 
     The first moving guide  410  may provide a moving path of the lower supporting unit  320 . The lower supporting unit  320  may move vertically with respect to the ground along the first moving guide  410 . The first power transmission unit  420  serves to transmit power to the lower supporting unit  320 . 
     The user may input power to the first power transmission unit  420  by magnetic force or by using a separate power device (not shown). The first power transmission unit  420  may transmit the input power to the lower supporting unit  320 . 
     The first power transmission unit  420  is configured to include a first power transmission body  421  and a first power transmission rod  422 . The first power transmission body  421  may rotate the first power transmission rod  422  with power input from a user. 
     The first power transmission rod  422  may be screwed to the lower supporting unit  320 . As the first power transmission rod  422  rotates, a force for moving vertically with respect to the ground may be transmitted to the lower supporting unit  320 . 
     Referring to  FIG. 13 , the lower supporting unit  320  may be coupled to the moving frame  200  so as to be movable in a vertical direction with respect to the ground. 
     The lower supporting unit  320  may move vertically with respect to the ground by the first moving guide  410  and the first power transmission unit  420  provided in the moving frame  200 . 
     As the force input by the user is transmitted to the lower supporting unit  320  by the first power transmission unit  420 , the lower supporting unit  320  may move upward or downward direction with respect to the moving frame  200 . The user may adjust the position of the lower supporting unit  320  in consideration of the position of the caterpillar lower portion  22  of the caterpillar  20  to be supported. 
       FIGS. 14 and 15  are views for describing an upper supporting unit. 
     Referring to  FIGS. 14 and 15 , the upper supporting unit  310  includes a main supporting unit  311  and a sub supporting unit  312 . 
     The main supporting unit  311  includes a main bar  311   a  and a main rod  311   b . The main bar  311   a  may be formed to be elongated in the longitudinal direction of the caterpillar  20 , that is, in the first direction (X). A plurality of the main rod  311   b  may be provided. The plurality of the main rod  311   b  may be formed to be elongated in the same direction at different points of the main bar  311   a  to support the caterpillar upper portion  21  of the caterpillar  20 . 
     The sub supporting unit  312  may be coupled to the main supporting unit  311  in the longitudinal direction of the main supporting unit  311  or may be separated from the main supporting unit  311 . The length of the upper supporting unit  310  may be extended as the sub supporting unit  312  is coupled to the main supporting unit  311 , and the length of the upper supporting unit  310  may be shortened as the sub supporting unit  312  is separated from the main supporting unit  311 . 
     The sub supporting unit  312  includes a sub bar  312   a , a sub rod  312   b , and a separation preventing unit  312   c . The sub bar  312   a  may be formed to be elongated in the longitudinal direction of the caterpillar  20 , that is, the first direction (X). At least one sub rod  312   b  may be provided. At least one sub rod  312   b  may be formed to be elongated in the same direction at different points of the sub bar  312   a  to support the caterpillar upper portion  21  of the caterpillar  20 . 
     The separation preventing unit  312   c  may prevent the caterpillar  20  from being separated from the upper supporting unit  310 . As the separation preventing unit  312   c  is coupled to the sub rod  312   b , the caterpillar  20  may be prevented from being separated from the upper supporting unit  310 . In order to prevent separation of the caterpillar  20 , a step may be formed between the sub rod  312   b  and the separation preventing unit  312   c.    
     The upper supporting unit  310  may include a lug  313  capable of connecting a hook or wire. For example, the lug  313  may be provided on the main bar  311   a  and the separation preventing unit  312   c . As described later, the caterpillar  20  may be supported by the upper supporting unit  310  and lifted. A plurality of the lug  313  arranged at different points are used so that the upper supporting unit  310  is lifted, thereby enabling the stable lifting of the caterpillar  20 . 
       FIG. 16  is a view for describing the moving supporting unit, and  FIG. 17  is a view for describing the coupling relationship between the upper supporting unit and the moving supporting unit. 
     Referring to  FIG. 16 , the moving frame  200  may be provided with a moving supporting unit  500  for the movement of the upper supporting unit  310 . Specifically, the moving supporting unit  500  may be provided on the extension frame  220  of the moving frame  200 . 
     The moving supporting unit  500  includes a moving body  510 , a second moving guide  520 , and a second power transmission unit  530 . 
     The moving body  510  may directly contact the upper supporting unit  310  to support the upper supporting unit  310 . Specifically, the moving body  510  may support the main supporting unit  311  of the upper supporting unit  310 . 
     The second moving guide  520  may provide a moving path of the moving body  510 . The moving body  510  may move vertically with respect to the ground along the second moving guide  520 . The second power transmission unit  530  serves to transmit power to the moving body  510 . 
     The user may input power to the second power transmission unit  530  by magnetic force or by using a separate power device (not shown). The second power transmission unit  530  may transmit the input power to the moving body  510 . 
     The second power transmission unit  530  is configured to include a second power transmission body  531  and a second power transmission rod  532 . The second power transmission body  531  may rotate the second power transmission rod  532  with power input from a user. 
     The second power transmission rod  532  may be screwed to the moving body  510 . 
     As the second power transmission rod  532  rotates, a force for moving vertically with respect to the ground may be transmitted to the moving body  510 . 
     Referring to  FIG. 17 , the upper supporting unit  310  may be supported by the moving body  510 . 
     The moving body  510  may include a recessed space (SP) that is recessed from the top to the bottom. As the main bar  311   a  of the upper supporting unit  310  is inserted into the recessed space (SP), the upper supporting unit  310  may be supported on the moving body  510 . Further, a separation preventing body  540  for preventing the main bar  311   a  from being separated from the recessed space (SP) may be coupled to the moving body  510 . After the main bar  311   a  is inserted into the recessed space (SP), as the separation preventing body  540  is coupled to the moving body  510 , the main bar  311   a  is prevented from being separated from the moving body  510 , and the upper supporting unit  310  may be stably supported on the moving body  510 . 
     The upper supporting unit  310  may move in a vertical direction with respect to the ground. As the moving body  510  moves in the vertical direction with respect to the ground, the upper supporting unit  310  supported on the moving body  510  may move in the vertical direction with respect to the ground. 
     The upper supporting unit  310  can move with respect to the moving body  510 . The moving body  510  may include a moving roller  511  that reduces friction with the upper supporting unit  310 . The moving roller  511  may be used so that the upper supporting unit  310  can be moved more easily with respect to the moving body  510 . For example, the user may apply a force to the upper supporting unit  310  to move the upper supporting unit  310  with respect to the moving body  510 . The moving direction of the upper supporting unit  310  with respect to the moving body  510  may be a longitudinal direction of the caterpillar  20 , that is, a direction parallel to the first direction (X). 
     When the user separates the caterpillar  20  from the vehicle or installs the caterpillar  20  on the vehicle, the user may deform the caterpillar  20  by moving the upper supporting unit  310  with respect to the moving body  510 . Accordingly, separating the caterpillar  20  from the vehicle or installing the caterpillar  20  on the vehicle can be performed more easily. 
     In embodiments of the present disclosure, the upper supporting unit  310  may be separated from the moving frame  200 . It is possible to separate the upper supporting unit  310  from the moving frame  200  by removing the separation preventing body  540  from the moving body  510  and pulling the upper supporting unit  310  upward. 
       FIGS. 18 and 19  are views for describing the movement of an upper supporting unit with respect to the moving frame. 
     Referring to  FIG. 18 , the upper supporting unit  310  may be coupled to the moving frame  200  so as to be movable in the vertical direction with respect to the ground. 
     The upper supporting unit  310  may move vertically with respect to the ground by the moving body  510 , the second moving guide  520 , and the second power transmission unit  530  provided in the moving frame  200 . 
     As the force input by the user is transmitted to the moving body  510  by the second power transmission unit  530 , the upper supporting unit  310  may move in an upward or downward direction with respect to the ground with the moving body  510 . The user may adjust the position of the upper supporting unit  310  in consideration of the position of the caterpillar upper portion  21  of the caterpillar  20  to be supported. 
     Referring to  FIG. 19 , the upper supporting unit  310  may be coupled to the moving frame  200  so as to be movable in the longitudinal direction of the caterpillar  20 . 
     The user may input power to the upper supporting unit  310  by magnetic force or by using a separate power device (not shown). The upper supporting unit  310  may move in the longitudinal direction of the caterpillar  20  while being supported by the moving body  510  by the power input to the upper supporting unit  310 . The user may adjust the position of the upper supporting unit  310  in consideration of the shape of the caterpillar upper portion  21  of the caterpillar  20  to be supported. 
       FIG. 20  is a view for describing a side supporting unit. 
     Referring to  FIG. 20 , the side supporting unit  330  includes a coupling unit  331 , a posture adjusting unit  332 , and a tension unit  333 . 
     The coupling unit  331  may be coupled to the moving frame  200 . Specifically, the coupling unit  331  may be coupled to the wing frame  230  of the moving frame  200 . The user may couple the coupling unit  331  to an appropriate position of the wing frame  230  in consideration of the shape of the caterpillar  20 . 
     The posture adjusting unit  332  may be coupled to the coupling unit  331  to enable the posture adjustment. For example, the posture adjusting unit  332  may be rotatably coupled to the coupling unit  331 . The posture adjusting unit  332  may rotate with respect to the coupling unit  331  based on the rotation axis (Ax) to adjust the posture with respect to the coupling unit  331 . 
     In order to fix the posture of the posture adjusting unit  332  with respect to the coupling unit  331 , a posture fixing means  334  may be provided between the coupling unit  331  and the posture adjusting unit  332 . For example, the posture fixing means  334  may be a turnbuckle, but the posture fixing means  334  of the present disclosure is not limited to the turnbuckle. 
     The tension unit  333  is provided in the posture adjusting unit  332  and serves to apply pressure to the caterpillar side portion  23  of the caterpillar  20  in the longitudinal direction of the caterpillar  20 . The tension unit  333  includes tension bodies (e.g. a first tension body  333   a  and a second tension body  333   b ) and a tension rod  333   c . The tension bodies may be coupled to the posture adjusting unit  332 . A plurality of the tension rod  333   c  may be provided. The plurality of the tension rod  333   c  are formed to be elongated in the same direction at different points of the tension bodies to apply pressure to the caterpillar side portion  23  of the caterpillar  20 . As the posture of the posture adjusting unit  332  with respect to the coupling unit  331  is adjusted, the position of the tension unit  333  is moved, and the tension rod  333   c  can apply pressure to the caterpillar side portion  23  of the caterpillar  20 . 
     The tension bodies may include a first tension body  333   a  and a second tension body  333   b . The first tension body  333   a  may be coupled to the posture adjusting unit  332 . The second tension body  333   b  may include a tension rod  333   c . The second tension body  333   b  may be detachable from the first tension body  333   a . Depending on the shape of the caterpillar  20 , the user may couple the second tension body  333   b  in which the tension rod  333   c  is arranged in different shapes to the first tension body  333   a.    
       FIGS. 21 and 22  are views for describing the operation of the side supporting unit. 
     Referring to  FIG. 21 , the tension unit  333  may rotate with respect to the posture adjusting unit  332 . 
     To bring the tension unit  333  into close contact with the caterpillar  20  or remove the tension unit  333  from the caterpillar  20 , the user can rotate the tension unit  333  with respect to the posture adjusting unit  332 . 
     Referring to  FIG. 22 , the plurality of the tension rod  333   c  may be arranged on the first tension body  333   a  and the second tension body  333   b  with a predetermined curvature to correspond to the shape of the side portion of the caterpillar  20 . 
     As the plurality of the tension rod  333   c  are arranged on the tension bodies to correspond to the shape of the caterpillar  20 , it becomes possible for the side supporting unit  330  to support the caterpillar  20  to maintain the shape of the caterpillar  20  installed on the vehicle. 
     Further, the posture adjusting unit  332  may adjust the posture with respect to the coupling unit  331 . As the posture of the posture adjusting unit  332  with respect to the coupling unit  331  is adjusted, the tension unit  333  may move in the longitudinal direction of the caterpillar  20 . For example, in a state, in which two of the caterpillar side portion  23  of the caterpillar  20  are supported on two tension units  333  provided in the caterpillar changing apparatus  10 , both tension units  333  may move outward of the caterpillar  20 . In this case, tension is applied to the caterpillar  20  so that the caterpillar upper portion  21  can maintain a parallel state. When the user wants to install the caterpillar  20  on the vehicle or separate the caterpillar  20  from the vehicle, the user may move the tension units  333  on both sides to the outside of the caterpillar  20  so that the caterpillar upper portion  21  remains in a parallel state. 
       FIGS. 23 and 24  are views for describing the inclined supporting unit, and  FIG. 25  is a view for describing the operation of the inclined supporting unit. 
     Referring to  FIGS. 23 and 24 , the inclined supporting unit  340  includes a coupling unit  341 , a main posture adjusting unit  342 , and a sub posture adjusting unit  343 . 
     The coupling unit  341  may be coupled to the moving frame  200 . Specifically, the coupling unit  341  may be coupled to the wing frame  230  of the moving frame  200 . The user may couple the coupling unit  341  to an appropriate position of the wing frame  230  in consideration of the shape of the caterpillar  20 . 
     The main posture adjusting unit  342  is coupled to the coupling unit  341  to enable the posture adjustment, and may support the caterpillar inclined portion  24  of the caterpillar  20 . For example, the main posture adjusting unit  342  may be rotatably coupled to the coupling unit  341 . The main posture adjusting unit  342  may rotate with respect to the coupling unit  341  based on the rotation shaft (Bx) so that the posture with respect to the coupling unit  341  may be adjusted. 
     In order to fix the posture of the main posture adjusting unit  342  with respect to the coupling unit  341 , a posture fixing means  344  may be provided between the coupling unit  341  and the main posture adjusting unit  342 . For example, the posture fixing means  344  may be a turnbuckle, but the posture fixing means  344  of the present disclosure is not limited to the turnbuckle. 
     The sub posture adjusting unit  343  is coupled to the main posture adjusting unit  342  to enable the posture adjustment, and may support the caterpillar inclined portion  24  of the caterpillar  20 . For example, the sub posture adjusting unit  343  may be rotatably coupled to the main posture adjusting unit  342 . The sub posture adjusting unit  343  may rotate with respect to the main posture adjusting unit  342  based on the rotation axis (Cx) so that the posture with respect to the main posture adjusting unit  342  may be adjusted. 
     In order to fix the posture of the sub posture adjusting unit  343  with respect to the main posture adjusting unit  342 , a posture fixing means  345  may be provided between the main posture adjusting unit  342  and the sub posture adjusting unit  343 . For example, the posture fixing means  345  may be a turnbuckle, but the posture fixing means  345  of the present disclosure is not limited to the turnbuckle. 
     The main posture adjusting unit  342  and the sub posture adjusting unit  343  may support different portions of the caterpillar  20 . That is, the main posture adjusting unit  342  may support a lower portion of the caterpillar inclined portion  24  of the caterpillar  20 , and the sub posture adjusting unit  343  may support an upper portion of the caterpillar inclined portion  24 . As the posture of the main posture adjusting unit  342  with respect to the coupling unit  341  is adjusted, and the posture of the sub posture adjusting unit  343  with respect to the main posture adjusting unit  342  is adjusted, it becomes possible for the inclined supporting unit  340  to support the caterpillar  20  so that the shape of the caterpillar  20  installed on the vehicle is maintained. 
     Hereinafter, with reference to  FIGS. 26 to 31 , it will be described how the caterpillar  20  is changed in the vehicle. 
       FIG. 26  is a view for describing that the wing frame  230  is unfolded,  FIGS. 27 and 28  are views for describing the movement of the moving frame  200  to the position of the caterpillar  20 , and  FIG. 29  is a view for describing the movement of the caterpillar  20  by the moving frame  200 ,  FIG. 30  is a view for describing that the separation preventing unit  312   c  is installed on the sub supporting unit  312 , and  FIG. 31  is a view for describing that the caterpillar  20  is lifted. 
     Referring to  FIG. 26 , in order to change the caterpillar  20  in a vehicle, the wing frame  230  provided in the caterpillar changing apparatus  10  may be unfolded. 
     As the wing frame  230  is unfolded, the inclined supporting unit  340  may be exposed to the outside. When the wing frame  230  is folded, the tension unit  333  may not be coupled to the wing frame  230 . The tension unit  333  may be coupled to the wing frame  230  after the wing frame  230  is unfolded. 
     Further, when the wing frame  230  is folded, the sub supporting unit  312  may not be coupled to the main supporting unit  311 . The sub supporting unit  312  may be coupled to the main supporting unit  311  after the wing frame  230  is unfolded. In this case, the sub supporting unit  312  may be coupled to the main supporting unit  311  with the separation preventing unit  312   c  removed. 
     Before the wing frame  230  is unfolded, the user may move the caterpillar changing apparatus  10  to be close to the vehicle and fix it to the ground. Casters  113  and  123  provided on the floor frame  100  are used for the movement of the caterpillar changing apparatus  10 , and the fixing unit  114  may be used to fix the caterpillar changing apparatus  10 . 
     Referring to  FIGS. 27 and 28 , the moving frame  200  may move with respect to the floor frame  100  to the position of the caterpillar  20 . 
     Before moving the moving frame  200  to the position of the caterpillar  20 , the user may adjust the position and posture of the upper supporting unit  310 , the lower supporting unit  320 , the side supporting unit  330 , and the inclined supporting unit  340  according to the shape of the caterpillar  20  installed on the vehicle  30 . 
     The upper supporting unit  310 , the lower supporting unit  320 , the side supporting unit  330 , and the inclined supporting unit  340 , having an appropriate position and posture, are close to the caterpillar  20  so that the caterpillar  20  can be supported by the upper supporting unit  310 , the lower supporting unit  320 , the side supporting unit  330 , and the inclined supporting unit  340 . 
     Referring to  FIG. 29 , the moving frame  200  supporting the caterpillar  20  may move with respect to the floor frame  100 . 
     As the moving frame  200  supporting the caterpillar  20  moves in a direction away from the vehicle  30 , the caterpillar  20  may be separated from the vehicle  30 . 
     Referring to  FIG. 30 , a separation preventing unit  312   c  may be installed on the sub supporting unit  312 . 
     As the separation preventing unit  312   c  is installed on the sub supporting unit  312 , it can be prevented that the caterpillar  20  is separated from the upper supporting unit  310 . 
     Referring to  FIG. 31 , the caterpillar  20  supported by the upper supporting unit  310  may be lifted. 
     The upper supporting unit  310  may be provided with a lug  313  capable of connecting a hook or wire  40 . A hook or wire  40  provided in a transport equipment (not shown) such as a crane is coupled to the lug  313 , and the transport equipment pulls up the upper supporting unit  310  so that the caterpillar  20  can be lifted together with the upper supporting unit  310 . 
     In order to lift the upper supporting unit  310 , the separation preventing body  540  may be removed from the moving body  510  of the moving supporting unit  500 . As the separation preventing body  540  is removed from the moving body  510 , the upper portion of the main bar  311   a  is exposed to the outside, and it is possible to separate the upper supporting unit  310  from the moving body  510 . 
     The lifted caterpillar  20  may be seated on the surrounding ground or stored in a separate storage location. 
     Installing a new one of the caterpillar  20  on the vehicle  30  may be performed by performing the operations of  FIGS. 26 to 31  in the reverse order. 
     Although non-limiting example embodiments of the present disclosure have been described with reference to the above and the accompanying drawings, those of ordinary skill in the art, to which the present disclosure pertains, can understand that embodiments of the present disclosure may be implemented in other specific forms without changing the technical spirit or essential features. Therefore, it should be understood that the embodiments described above are illustrative and non-limiting in all respects.