An adaptive and deformable robot mobile platform

Abstract

The present invention relates to a robot moving mechanism, specifically, an adaptive deformable robot moving platform, wherein the head module, the middle module and the tail module are all covered with tracks, the two ends of the head module are respectively provided with a driving device and a pitch device, the driving device of the head module drives the track of the head module to move, and the output end of the pitch device of the head module is connected to the middle module; the two ends of one side of the middle module are respectively provided with a driving device and a pitch device, the two ends of the other side are respectively provided with a driving device and a driven device, the two ends of the tail module are respectively provided with a driving device and a driven device, and a locking device is installed on the tail module, the driving devices on both sides of the middle module drive the track of the middle module to move, the driving device of the tail module drives the track of the tail module to move, and the output end of the pitch device of the middle module is connected to the locking shaft in the locking device. The present invention has the characteristics of being deformable, modular, highly adaptable, easy to install and precisely controlled.

Description

Technical Field

[0001] The invention relates to a robot moving mechanism, in particular to an adaptive deformable robot moving platform. Background Art

[0002] At present, with the continuous reform and innovation in mechanical mechanism design, especially the rapid development of robotics in recent years, its working environment may be a structured environment or an unknown unstructured environment; therefore, the requirements for the variability of robot mobile platforms are getting higher and higher, and they need to adapt to various complex terrains and environments. This requires the design of a highly adaptable robot mobile platform to meet the requirements of complex and changing environments. Summary of the invention

[0003] In order to meet the requirements of robots adapting to different complex environments and improve the adaptability of robots in unstructured environments, the purpose of the present invention is to provide an adaptive deformable robot mobile platform for realizing the variable mobile platform capabilities.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] The present invention comprises a head module, a middle module and a tail module, wherein the head module, the middle module and the tail module are all covered with crawlers for movement, the two ends of the head module are respectively provided with a driving device and a pitch device, the driving device of the head module drives the crawlers of the head module to move, and the output end of the pitch device of the head module is connected to the middle module; the two ends of one side of the middle module are respectively provided with a driving device and a pitch device, and the two ends of the other side are respectively provided with a driving device and a driven device, and the two ends of the tail module are respectively provided with a driving device and a driven device Device, a locking device is installed on the tail module, the driving devices on both sides of the middle module drive the tracks of the middle module to move, the driving device of the tail module drives the tracks of the tail module to move, the output end of the pitch device of the middle module is connected to the locking shaft in the locking device; the pitch device of the head module drives the middle module to achieve the pitch freedom, the pitch device of the middle module drives the tail module to achieve the pitch freedom, and the locking shaft of the locking device between the middle module and the tail module has the freedom of relative rotation around the locking shaft.

[0006] Wherein: the head module also includes a middle box and side panels, the middle box of the head module is fixedly connected to side panels on both sides, the driving device of the head module is installed between one ends of the side panels on both sides, and the pitch device of the head module is installed between the other ends, the driving device of the head module and the pitch device of the head module are respectively located outside the middle box of the head module, and the track of the head module is completely surrounded by the driving device of the head module and the pitch device of the head module.

[0007] The middle module also includes an intermediate box, side plates, front driven wheels and rear driven wheels. Side plates are fixedly connected to both sides of the middle box of the middle module. Two driving devices of the middle modules are symmetrically installed at one end of the side plates on both sides, and the pitch device and the driven device of the middle module are installed on both sides of the other end respectively. The middle module has two tracks, one of which is completely surrounded between the pitch device of the middle module and the driving device of one of the middle modules, and the other is completely surrounded between the driven device of the middle module and the driving device of another middle module; a plurality of front driven wheels are evenly rotated and installed on the front side of the middle box of the middle module along the length direction, and a plurality of bottom driven wheels are evenly rotated and installed on the bottom surface of the middle box of the middle module along the length direction, and the front driven wheels and the bottom driven wheels are both located between the two tracks of the middle module.

[0008] Cameras are installed at both ends of the middle box of the middle module.

[0009] The tail module also includes a middle box and a side panel, and the side panels are fixedly connected to both sides of the middle box of the tail module. The driving device of the tail module is installed between one ends of the side panels on both sides, and the driven device of the tail module is installed between the other ends. The driving device of the tail module and the driven device of the tail module are respectively located outside the middle box of the tail module, and the track of the tail module is fully surrounded by the driving device of the tail module and the driven device of the tail module; the locking device is installed on the side panel on either side.

[0010] The driving device includes a driving fixed cylinder, a driving motor, a driving output disk, a driving support and a pulley, wherein the driving fixed cylinder is installed on the intermediate box, the pulley is rotatably installed on the driving fixed cylinder, the driving support is fixed on the side plate, the driving motor is installed inside the driving fixed cylinder, the output motor shaft is connected to the driving output disk, the outer edge of one end of the driving output disk is fixedly connected to the pulley, and the other end of the driving output disk is rotatably connected to the driving support; the driving motor drives the pulley to rotate through the driving output disk, and then drives the crawler to move through the pulley.

[0011] The two sides of the pulley are rotatably connected to the driving fixed cylinder through support bearings respectively. Bearing retaining rings are installed on both sides of the pulley, and the support bearings on each side are limited by the bearing retaining ring on the same side.

[0012] The pitch device includes a pulley, a pitch fixing cylinder, a pitch support plate, a pitch motor, an output shaft, an output support member and an output connecting rod. One side of the pitch fixing cylinder is installed on the middle box, and the other end is fixed to the two sides of the side plate with the pitch support plate respectively. The pitch motor is installed inside the pitch fixing cylinder, the output motor shaft is connected to one end of the output shaft, and the other end of the output shaft is connected to the output connecting rod installed on the output support member. The output support member is rotatably installed inside the pitch support plate, and the pulley is rotatably installed on the pitch fixing cylinder.

[0013] A tension sleeve is installed in the output support member, and the output motor shaft of the pitch motor is connected to one end of the output shaft through the tension sleeve; the two sides of the pulley are rotatably connected to the pitch fixed cylinder through support bearings respectively, and bearing retaining rings are installed on both sides of the pulley, and the support bearing on each side is limited by the bearing retaining ring on the same side.

[0014] The driven device includes a pulley, a support bearing, a bearing retaining ring and a driven fixed cylinder. The two sides of the driven fixed cylinder are respectively installed on the middle box and the side plate. The two sides of the pulley are rotatably connected to the driven fixed cylinder through the support bearings. Bearing retaining rings are installed on both sides of the pulley, and the support bearing on each side is limited by the bearing retaining ring on the same side.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The robot mobile platform of the present invention is composed of three modular joints. Through the action of the pitch device, the locking device and other mechanisms, it can transform into different configurations to achieve the goal of adaptive deformation to adapt to different external environments; and the robot mobile platform is symmetrical up and down and can move in complex environments.

[0017] 2. The robot mobile platform of the present invention has a symmetrical structure on the front and bottom surfaces, so that the entire robot can run normally after overturning without affecting its function.

[0018] 3. The driving device and pitch device of each modular joint of the present invention adopt a motor embedded design, which has a compact structure and effectively controls the overall dimensions of the robot.

[0019] 4. The robot mobile platform of the present invention is lightweight, modular, has strong environmental adaptability, is easy to install and convenient to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the front side of the side-by-side configuration of the present invention;

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the bottom surface of the side-by-side configuration of the present invention;

[0022] Figure 3It is a schematic diagram of the three-dimensional structure of the front side of the triangular configuration of the present invention;

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the bottom surface of the triangular configuration of the present invention;

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of the front side of the D-shaped configuration of the present invention;

[0025] Figure 6 It is a schematic diagram of the three-dimensional structure of the bottom surface of the D-shaped configuration of the present invention;

[0026] Figure 7 It is a schematic diagram of the three-dimensional structure of the head module of the present invention;

[0027] Figure 8 This is one of the three-dimensional structural schematic diagrams of the middle module of the present invention;

[0028] Fig. 9 This is the second schematic diagram of the three-dimensional structure of the middle module of the present invention;

[0029] Fig.10 It is a schematic diagram of the three-dimensional structure of the tail module of the present invention;

[0030] Fig.11 It is a schematic diagram of the three-dimensional structure of the driving device of the present invention;

[0031] Fig.12 It is a schematic diagram of the three-dimensional structure of the pitch device of the present invention;

[0032] Fig.13 It is a three-dimensional structural schematic diagram of the driven device of the present invention;

[0033] Among them: 1 is the head module, 2 is the middle module, 3 is the tail module, 4 is the middle box, 5 is the side plate, 6 is the crawler, 7 is the front driven wheel, 8 is the driving device, 9 is the pitch device, 10 is the driven device, 11 is the locking device, 12 is the driving fixed cylinder, 13 is the driving motor, 14 is the driving output disk, 15 is the driving support, 16 is the output bearing, 17 is the pulley, 18 is the support bearing, 19 is the bearing retaining ring, 20 is the pitch fixed cylinder, 21 is the pitch support disk, 22 is the pitch motor, 23 is the tensioning sleeve, 24 is the output shaft, 25 is the output support, 26 is the output connecting rod, 27 is the driven fixed cylinder, 28 is the locking shaft, 29 is the camera, and 30 is the bottom driven wheel. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the accompanying drawings.

[0035] like Figures 1 to 6As shown, the present invention comprises a head module 1, a middle module 2 and a tail module 3, wherein the head module 1, the middle module 2 and the tail module 3 are all provided with tracks 6 for movement, and the two ends of the head module 1 are respectively provided with a driving device 8 and a pitch device 9, and the driving device 8 of the head module 1 drives the tracks 6 of the head module 1 to move, and the output end of the pitch device 9 of the head module 1 is connected to the middle module 2; the two ends of one side of the middle module 2 are respectively provided with a driving device 8 and a pitch device 9, and the two ends of the other side are respectively provided with a driving device 8 and a driven device 10, and the two ends of the tail module 3 are respectively provided with a driving device 8 and a driven device Arrangement 10, a locking device 11 is installed on the tail module 3, the driving devices 8 on both sides of the middle module 2 drive the tracks 6 of the middle module 2 to move, the driving device 8 of the tail module 3 drives the tracks 6 of the tail module 3 to move, the output end of the pitch device 9 of the middle module 2 is connected to the locking shaft 28 in the locking device 11; the pitch device 9 of the head module 1 drives the middle module 2 to achieve the pitch freedom, the pitch device 9 of the middle module 2 drives the tail module 3 to achieve the pitch freedom, and the middle module 2 and the tail module 3 have the freedom of relative rotation around the locking shaft 28 through the locking shaft 28 of the locking device 11.

[0036] like Figures 1 to 6 and Figure 7 As shown, the head module 1 of this embodiment includes an intermediate box 4, side panels 5, tracks 6, a driving device 8 and a pitch device 9. The side panels 5 are divided into two pieces. The side panels 5 are fixedly connected to both sides of the intermediate box 4 of the head module 1. The driving device 8 of the head module 1 is installed between one ends of the side panels 5 on both sides, and the pitch device 9 of the head module 1 is installed between the other ends. The driving device 8 of the head module 1 and the pitch device 9 of the head module 1 are respectively located outside the intermediate box 4 of the head module 1, and the tracks 6 of the head module 1 are completely surrounded by the driving device 8 of the head module 1 and the pitch device 9 of the head module 1.

[0037] like Figures 1 to 6 and Figures 8-9As shown, the middle module 2 of this embodiment includes an intermediate box 4, a side plate 5, a crawler 6, a front driven wheel 7, a driving device 8, a pitch device 8, a driven device 10, a camera 29 and a rear driven wheel 30. The side plates 5 are two pieces, the crawler 6 is two, and the driving device 8 is two; both sides of the intermediate box 4 of the middle module 2 are fixedly connected with side plates 5, and one end of the side plates 5 on both sides is symmetrically installed with two driving devices 8 of the middle module 2, and the pitch devices 9 and the driven device 10 of the middle module 2 are respectively installed on both sides of the other end. The two crawler 6 One of the two fully surrounds the pitch device 9 of the middle module 2 and the driving device 8 of one middle module 2, and the other fully surrounds the driven device 10 of the middle module 2 and the driving device 8 of another middle module 2; the front of the middle box 4 of the middle module 2 is evenly rotated along the length direction and equipped with a plurality of front driven wheels 7, and the bottom of the middle box 4 of the middle module 2 is evenly rotated along the length direction and equipped with a plurality of bottom driven wheels 30, and the front driven wheels 7 and the bottom driven wheels 30 are both located between the two crawlers 6 of the middle module 2. A camera 29 is installed at the front and rear ends of the middle box 4 of the middle module 2.

[0038] like Figures 1 to 6 and Fig.10 As shown, the tail module 3 of this embodiment includes an intermediate box 4, a side panel 5, a track 6, a driving device 8, a driven device 10 and a locking device 11. The side panel 5 is divided into two pieces. The side panels 5 are fixedly connected to both sides of the intermediate box 4 of the tail module 3. The driving device 8 of the tail module 3 is installed between one ends of the side panels 5 on both sides, and the driven device 10 of the tail module 3 is installed between the other ends. The driving device 8 of the tail module 3 and the driven device 10 of the tail module 3 are respectively located outside the intermediate box 4 of the tail module 3, and the track 6 of the tail module 3 is fully surrounded by the driving device 8 of the tail module 3 and the driven device 10 of the tail module 3; the locking device 11 is installed on the side panel 5 on any side. The locking device 11 of this embodiment is a prior art and can adopt the "A precise multi-angle locking mechanism" disclosed on October 30, 2020 with the publication number CN111846021A.

[0039] like Figures 1 to 11As shown, the driving device 8 of this embodiment includes a driving fixed cylinder 12, a driving motor 13, a driving output disk 14, a driving support 15, a pulley 17, a supporting bearing 18 and a bearing retaining ring 19. The driving fixed cylinder 12 is installed on the middle box 4. Both sides of the pulley 17 are respectively rotatably installed on the driving fixed cylinder 12 through the supporting bearings 18. The bearing retaining rings 19 are installed on both sides of the pulley 17. The supporting bearings 18 on each side are limited by the bearing retaining rings 19 on the same side. The driving support 15 is fixed on the side plate 5. The driving motor 13 is installed inside the driving fixed cylinder 12. The output motor shaft is connected to the driving output disk 14. The outer edge of one end of the driving output disk 14 is fixedly connected to the pulley 17. The other end of the driving output disk 14 is rotatably connected to the driving support 15. The driving motor 13 drives the pulley 17 to rotate through the driving output disk 14, and then drives the crawler 6 to move through the pulley 17.

[0040] like Figures 1 to 9 and Fig.12 As shown, the pitch device 9 of this embodiment includes a pulley 17, a support bearing 18, a bearing retaining ring 19, a pitch fixing cylinder 20, a pitch support plate 21, a pitch motor 22, a tensioning sleeve 23, an output shaft 24, an output support member 25 and an output connecting rod 26. One side of the pitch fixing cylinder 20 is installed on the middle box 4, and the other end and the pitch support plate 21 are respectively fixed to the two sides of the side plate 5. The pitch motor 22 is installed inside the pitch fixing cylinder 20, and the output motor shaft is connected to the output shaft through the tensioning sleeve 23. The output shaft 24 is connected to one end thereof, the tensioning sleeve 23 is installed inside the output support member 25, the other end of the output shaft 24 is connected to the output connecting rod 26 installed on the output support member 25, the output support member 25 is rotatably installed inside the pitch support plate 21 through two support bearings 18, the two sides of the pulley 17 are rotatably connected to the pitch fixing cylinder 20 through the support bearings 18 respectively, the two sides of the pulley 17 are installed with bearing retaining rings 19, and the support bearings 18 on each side are limited by the bearing retaining rings 19 on the same side.

[0041] like Figures 1 to 9 and Fig.13 As shown, the driven device 10 of this embodiment includes a pulley 17, a supporting bearing 18, a bearing retaining ring 19 and a driven fixed cylinder 27. The two sides of the driven fixed cylinder 27 are respectively installed on the middle box 4 and the side plate 5. The two sides of the pulley 17 are rotatably connected to the driven fixed cylinder 27 through the supporting bearings 18. Bearing retaining rings 19 are installed on both sides of the pulley 17, and the supporting bearings 18 on each side are limited by the bearing retaining ring 19 on the same side.

[0042] The middle module 2 of this embodiment is covered by two tracks 6, front driven wheels 7 and bottom driven wheels 30, and a camera 29 is installed on each of the front and rear sides (other loads can be added if necessary), so that the middle module 2, like the other two modules, also has a symmetrical structure on the front and bottom.

[0043] The head module 1, the middle module 2 and the tail module of the present invention can be transformed into different configuration platforms as required, such as a side-by-side configuration, a triangular configuration or a D-shaped configuration.

[0044] The working principle of the present invention is:

[0045] The head module 1, the middle module 2 and the tail module 3 are powered by their own drive devices 8 respectively. The drive motor 13 in the drive device 8 provides a torsional torque to the pulley 17 through the drive output disk 14, thereby driving the track 6 meshing with the pulley 17 to move, thereby achieving the purpose of driving the entire module.

[0046] The pitch device 9 in the head module 1 and the middle module 2 provides power for the conversion between the side-by-side configuration and the triangular configuration. The pitch motor 22 in the pitch device 9 provides a torsional torque to the output connecting rod 26 through the tension sleeve 23 and the output shaft 24, thereby driving each module to achieve a flipping motion and achieve the purpose of configuration conversion. Among them, the pitch support plate 21 ensures that the output connecting rod 26 does not deviate in the radial direction through the joint action of the two support bearings 18 and the output support member 25, and the motor shaft of the pitch motor 22 is not subjected to external forces in the radial direction.

[0047] The locking device 11 in the tail module 3 provides power for the conversion between the triangular configuration and the D-shaped configuration. The locking shaft 28 in the locking device 11 is connected to the output connecting rod 26 in the middle module 2. Under the drive of the locking device 11, the tail module 3 can rotate around the locking shaft 28 to achieve the purpose of configuration conversion.

[0048] The symmetrical structure of the front and bottom surfaces of the entire robot mobile platform ensures that the robot can still drive normally even if it rolls over in special circumstances without affecting its functions.

[0049] The mutual conversion between various configurations of the entire robot mobile platform improves the robot platform's ability to pass through various complex environments and achieves the purpose of adapting to different external environments.

Claims

1. An adaptive and deformable robot mobile platform, Features: The invention comprises a head module (1), a middle module (2) and a tail module (3), wherein the head module (1), the middle module (2) and the tail module (3) are all provided with crawlers (6) for movement, and the two ends of the head module (1) are respectively provided with a driving device (8) and a pitch device (9), and the driving device (8) of the head module (1) drives the crawlers (6) of the head module (1) to move, and the output end of the pitch device (9) of the head module (1) is connected to the middle module (2); the two ends of one side of the middle module (2) are respectively provided with a driving device (8) and a pitch device (9), and the two ends of the other side are respectively provided with a driving device (8) and a driven device (10), and the two ends of the tail module (3) are respectively provided with a driving device (8) and a driven device (10), and the A locking device (11) is installed on the tail module (3); the driving devices (8) on both sides of the middle module (2) drive the crawler tracks (6) of the middle module (2) to move; the driving device (8) of the tail module (3) drives the crawler tracks (6) of the tail module (3) to move; the output end of the pitch device (9) of the middle module (2) is connected to the locking shaft (28) in the locking device (11); the pitch device (9) of the head module (1) drives the middle module (2) to achieve the pitch freedom; the pitch device (9) of the middle module (2) drives the tail module (3) to achieve the pitch freedom; the middle module (2) and the tail module (3) have the freedom of relative rotation around the locking shaft (28) through the locking shaft (28) of the locking device (11); The middle module (2) further comprises an intermediate box (4), a side plate (5), a front driven wheel (7) and a rear driven wheel (30). The middle box (4) of the middle module (2) is fixedly connected to the side plates (5) on both sides. Two driving devices (8) of the middle module (2) are symmetrically mounted on one end of the side plates (5) on both sides, and the pitch device (9) and the driven device (10) of the middle module (2) are respectively mounted on both sides of the other end. The middle module (2) has two crawlers (6), one of which fully surrounds the pitch device (9) and the rear driven wheel (10) of the middle module (2). The middle module (2) has a plurality of driven wheels (7) mounted on the front surface of the intermediate box (4) so ​​as to rotate evenly along the length direction, and the middle module (2) has a plurality of bottom driven wheels (30) mounted on the bottom surface of the intermediate box (4) so ​​as to rotate evenly along the length direction. The front driven wheels (7) and the bottom driven wheels (30) are both located between the two crawler tracks (6) of the middle module (2).

2. The adaptive deformable robot mobile platform according to claim 1, Features: The head module (1) also includes an intermediate box (4) and side panels (5), and the side panels (5) are fixedly connected to both sides of the intermediate box (4) of the head module (1), and the driving device (8) of the head module (1) is installed between one end of the side panels (5) on both sides, and the pitch device (9) of the head module (1) is installed between the other ends. The driving device (8) of the head module (1) and the pitch device (9) of the head module (1) are respectively located outside the intermediate box (4) of the head module (1), and the crawler (6) of the head module (1) is completely surrounded by the driving device (8) of the head module (1) and the pitch device (9) of the head module (1).

3. The adaptive deformable robot mobile platform according to claim 1, Features: Cameras (29) are installed at both ends of the middle box (4) of the middle module (2).

4. The adaptive deformable robot mobile platform according to claim 1, Features: The tail module (3) further comprises an intermediate box (4) and a side plate (5), the middle box (4) of the tail module (3) being fixedly connected to the side plates (5) on both sides, the driving device (8) of the tail module (3) being installed between one end of the side plates (5) on both sides, and the driven device (10) of the tail module (3) being installed between the other ends, the driving device (8) of the tail module (3) and the driven device (10) of the tail module (3) being respectively located outside the middle box (4) of the tail module (3), and the crawler track (6) of the tail module (3) being completely surrounded between the driving device (8) of the tail module (3) and the driven device (10) of the tail module (3); the locking device (11) being installed on the side plate (5) on either side.

5. The adaptive deformable robotic mobile platform according to claim 1, 2 or 4, Features: The driving device (8) comprises a driving fixed cylinder (12), a driving motor (13), a driving output disk (14), a driving support member (15) and a pulley (17); the driving fixed cylinder (12) is mounted on the intermediate box (4); the pulley (17) is rotatably mounted on the driving fixed cylinder (12); the driving support member (15) is fixed on the side plate (5); the driving motor (13) is mounted inside the driving fixed cylinder (12); the output motor shaft is connected to the driving output disk (14); the outer edge of one end of the driving output disk (14) is fixedly connected to the pulley (17); the other end of the driving output disk (14) is rotatably connected to the driving support member (15); the driving motor (13) drives the pulley (17) to rotate through the driving output disk (14), and then drives the crawler (6) to move through the pulley (17).

6. The adaptive deformable robot mobile platform according to claim 5, Features: Both sides of the pulley (17) are rotatably connected to the driving fixed cylinder (12) via support bearings (18), and bearing retaining rings (19) are installed on both sides of the pulley (17). The support bearing (18) on each side is limited by the bearing retaining ring (19) on the same side.

7. The adaptive deformable robot mobile platform according to claim 1 or 2, Features: The pitch device (9) comprises a pulley (17), a pitch fixing cylinder (20), a pitch support disk (21), a pitch motor (22), an output shaft (24), an output support member (25) and an output connecting rod (26); one side of the pitch fixing cylinder (20) is mounted on the middle box (4), and the other end and the pitch support disk (21) are respectively fixed on the two sides of the side plate (5); the pitch motor (22) is mounted inside the pitch fixing cylinder (20); the output motor shaft is connected to one end of the output shaft (24); the other end of the output shaft (24) is connected to the output connecting rod (26) mounted on the output support member (25); the output support member (25) is rotatably mounted inside the pitch support disk (21); and the pulley (17) is rotatably mounted on the pitch fixing cylinder (20).

8. The adaptive deformable robot mobile platform according to claim 7, Features: A tension sleeve (23) is installed in the output support member (25), and the output motor shaft of the pitch motor (22) is connected to one end of the output shaft (24) through the tension sleeve (23); both sides of the pulley (17) are rotatably connected to the pitch fixing cylinder (20) through support bearings (18), and both sides of the pulley (17) are installed with bearing retaining rings (19), and the support bearing (18) on each side is limited by the bearing retaining ring (19) on the same side.

9. The adaptive deformable robot mobile platform according to claim 1 or 4, Features: The driven device (10) comprises a pulley (17), a support bearing (18), a bearing retaining ring (19) and a driven fixed cylinder (27). The two sides of the driven fixed cylinder (27) are respectively mounted on the middle box (4) and the side plate (5). The two sides of the pulley (17) are rotatably connected to the driven fixed cylinder (27) via the support bearings (18). The two sides of the pulley (17) are both mounted with bearing retaining rings (19). The support bearings (18) on each side are limited by the bearing retaining rings (19) on the same side.

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