Working method of tractor mechanism

Abstract

The present invention provides a working method of a tractor mechanism, comprising the following steps: when the tractor cylinder is extended, the sliding mechanism slides outwards under the action of a transmission connection block until a first limiting portion on a connection plate abuts against a tractor limiting portion fixed on a chassis; the tractor member is pushed toward a crossbar of a target vehicle body by moving the moving mechanism, and a reaction force generated by the crossbar of the target vehicle body pushes the tractor portion of the push-pull member to rotate in the direction of a limiting connecting rod until the crossbar is separated from the push-pull portion of the push-pull member, at which time the tractor member is reset, and the tractor mechanism completes the connection action with the crossbar of the target vehicle body; the present invention has the advantage that a towing hook can be quickly locked or unlocked, thereby quickly rescuing the target vehicle body.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a working method of a tractor mechanism. Background Art

[0002] As technology advances with each passing day, the research and development of robots is also developing rapidly. A remote-controlled robot is a remote-controlled device that can replace humans to complete certain tasks in environments that are harmful to humans or inaccessible to humans. It is these dangerous, harsh, and harmful environments that have driven the development of robots.

[0003] Because it is difficult for people to approach environments that are harmful to people or inaccessible to people, the difficulty of supplying, rescuing and repairing people or machines is greatly increased. If robots can be used for supply and rescue, the risk of casualties in environments that are harmful to people or inaccessible to people will be greatly reduced, and the robots will have higher work efficiency.

[0004] There are also some tractor mechanisms for rescue robots in the prior art, but the prior art, such as Chinese patent application No. CN202022102002.5, published on June 18, 2021, discloses a movable tractor mechanism for a docking type garbage compression box, specifically including a fixed component and a movable component; the fixed component includes a first fixed seat and a second fixed seat fixedly connected to the body of the garbage docking box; the first fixed seat and the second fixed seat are parallel and spaced apart; the movable component includes a traction member and a locking member; the traction member is hingedly connected to the first fixed seat and the second fixed seat, and the locking member is used to lock the traction member to the first fixed seat and the second fixed seat. The utility model avoids the influence of the tractor mechanism on the dump truck dumping garbage, and also avoids the garbage being piled up on the tractor mechanism; when the garbage docking box needs to be dragged to the transport vehicle, the dragging member can be rotated upward along the hinge and locked on the first fixed seat and the second fixed seat by the locking member, which is easy to use. However, the tractor mechanism realizes the locking and unlocking functions, but the locking structure is relatively complicated, and for the robot towing heavy objects, the stability of the structure needs to be improved. Summary of the invention

[0005] The invention provides a working method of a towing mechanism. By utilizing the solution of the invention, a towing hook can be quickly locked or unlocked, thereby quickly rescuing a target vehicle body.

[0006] To achieve the above-mentioned purpose, the technical solution of the present invention is: a working method of a tractor mechanism, including a vehicle body, the vehicle body including a moving mechanism for driving the vehicle body to move and a tractor mechanism for dragging a target vehicle body cross bar; the moving mechanism includes a chassis, and the tractor mechanism is arranged on the chassis.

[0007] The tractor mechanism comprises more than one towing hook, which comprises a U-shaped fixing seat, a towing cylinder, two connecting plates arranged opposite to each other, a transmission connecting block, a towing limiter, a sliding mechanism, a limiter connecting rod and a towing member.

[0008] The two ends of the U-shaped fixing seat are fixedly connected to the chassis respectively; the transmission connecting block is arranged between the two connecting plates, and the transmission connecting block is fixedly connected to the two connecting plates respectively; one end of the pulling cylinder is connected to the chassis, and the other end of the pulling cylinder is fixedly connected to the transmission connecting block; the middle position of the limit connecting rod is hinged between the two connecting plates, and one end of the pulling member is hinged between the two connecting plates, and is located at the end of the connecting plate away from the transmission connecting block; the end of the pulling member hinged to the connecting plate abuts against the limit connecting rod; a reset torsion spring is connected between the pulling member and the two connecting plates; under the elastic force of the reset torsion spring, the end of the pulling member away from the limit connecting rod is vertically downward.

[0009] The dragging limiter is installed on the chassis and is located on the side of the U-shaped fixing seat away from the dragging cylinder; a first limiter is extended upward from the upper end of the connecting plate and is located on the side close to the dragging cylinder, and the height of the uppermost end of the first limiter is lower than the highest point of the groove formed by the U-shaped fixing seat; a second limiter is extended upward from the upper end of the connecting plate and is located on the side away from the dragging cylinder; the dragging limiter is used to limit the first limiter and the second limiter.

[0010] The pulling member comprises a pulling portion and a bending portion, the pulling portion and the bending portion are connected obliquely, and the pulling member is hinged to the connecting plate at one end where the pulling portion and the bending portion are connected.

[0011] The working method of the tractor mechanism comprises the following steps:

[0012] S1. When the pulling cylinder is extended, the sliding mechanism slides outward under the action of the transmission connection block until the first limiting portion on the connecting plate abuts against the pulling limiting member fixed on the chassis; the pulling limiting member limits the clockwise rotation of the limiting link.

[0013] S2. Move the moving mechanism to push the pulling member toward the cross bar of the target vehicle body. The reaction force generated by the cross bar of the target vehicle body pushes the pulling part of the push-pull member to overcome the elastic force of the reset spring and rotate in the direction of the limit connecting rod until the cross bar is separated from the push-pull part of the push-pull member. Then the pulling member is reset under the elastic force of the reset spring, and the pulling mechanism completes the connection action with the cross bar of the target vehicle body.

[0014] S3. One end of the limit link abuts against the bent portion of the towing piece, and the other end of the limit link abuts against the towing limit piece; the moving mechanism is started to move in the direction away from the target vehicle body, and the cross bar of the target vehicle body approaches the towing piece along the direction of the towing part away from the limit link, and generates a force to drive the towing piece to rotate in the direction away from the limit link; the limited limit link is rotated clockwise to limit the counterclockwise rotation of the towing piece; the limit link limits the rotation tendency of the towing link, thereby preventing the cross bar of the target vehicle body from separating from the towing part of the towing piece.

[0015] S4, the moving mechanism drives the trolley to continue to move in the direction away from the target vehicle body, and the tractor mechanism pulls the target vehicle body to move through the traction member.

[0016] S5. After completing the towing of the target vehicle body, the towing cylinder contracts, driving the connecting plate to contract until the second limit portion abuts against the towing limit piece, and the towing limit piece no longer restricts the clockwise rotation of the limit link, and the limit link no longer restricts the counterclockwise rotation of the towing member; when the vehicle body continues to move away from the target vehicle body; the cross bar of the target vehicle body drives the towing member to rotate in the direction away from the limit link, thereby realizing the separation of the cross bar of the target vehicle body from the tractor mechanism.

[0017] The above method is that the dragging slide block is fixedly connected to the chassis through the U-shaped mounting seat; the dragging slide rail is fixedly connected to the connecting plate; the dragging slide rail is slidably arranged on the dragging slide block; the transmission connecting block connects the movable end of the dragging cylinder and the connecting plate; when the dragging cylinder is extended, the connecting plate is driven to move through the transmission connecting block, and the dragging slide rail slides on the dragging slide block; the connecting plate simultaneously drives the limit connecting rod and the dragging member to move relative to the dragging slide rail; until the first limit portion on the connecting plate abuts against the dragging limit member fixed on the chassis; the dragging limit member limits the movement of the connecting plate; at this time, the dragging limit member is located above the end of the limit connecting rod away from the dragging member.

[0018] The moving mechanism moves and pushes the pulling member toward the cross bar set on the target vehicle body. The reaction force generated by the cross bar on the target vehicle body pushes the pulling part of the push-pull member to overcome the elastic force of the reset spring and rotate in the direction of the limit connecting rod until the cross bar is separated from the push-pull part of the push-pull member. Then the pulling member is reset under the elastic force of the reset spring, and the pulling mechanism completes the connection action with the cross bar of other robots.

[0019] When the tractor mechanism pulls the target vehicle body through the towing member, the vehicle body moves in the direction away from the target vehicle body to achieve towing; the cross bar of the target vehicle body approaches the towing member along the direction of the towing portion away from the limit link, and generates a force that drives the towing member to rotate in the direction away from the limit link; however, since one end of the limit link abuts against the bent portion of the towing member and the other end of the limit link abuts against the towing limit member, when the limit link cannot rotate in the direction close to the limit link, the towing member also cannot rotate in the direction away from the limit link; thereby limiting the rotation tendency of the towing link, so that the vehicle body can tow the target vehicle body through the towing member.

[0020] When the towing cylinder contracts, the transmission connecting block slides toward the chassis through the cooperation of the sliding mechanism until the second limit part on the connecting plate abuts against the towing limit piece fixed on the chassis. At this time, the towing limit piece no longer restricts the end of the limit link away from the towing piece, so that the limit link can rotate toward the limit link under the action of force; and then when the vehicle body continues to move away from the target vehicle body, the cross bar of the target vehicle body drives the towing piece to rotate away from the limit link, so that the cross bar of the target vehicle body is separated from the tractor mechanism, thereby completing the folding action of the tractor mechanism.

[0021] Furthermore, the sliding mechanism includes a dragging slide rail and a dragging slider; the dragging slide rail is arranged on a side surface of the connecting plate away from the other connecting plate, the dragging slider is fixedly installed on the inner wall of the groove formed by the U-shaped fixing seat, and a slide groove is arranged on the dragging slider corresponding to the dragging slide rail, and the dragging slide rail is slidably arranged on the dragging slider; with the above arrangement, when the dragging cylinder is driven, the dragging slide rail and the dragging slider cooperate to drive the connecting plate to slide.

[0022] Furthermore, the moving mechanism also includes wheels arranged on the chassis, and the wheels are provided with motors for driving the wheels; the tractor mechanism is arranged on one side of the chassis.

[0023] Furthermore, the wheels are Mecanum wheels, and each wheel is correspondingly provided with a motor; thus, the vehicle body can be moved flexibly and conveniently.

[0024] Furthermore, the chassis is provided with an inwardly recessed mounting groove corresponding to the tractor structure; thus, the structure of the vehicle body is more compact and reasonable.

[0025] Furthermore, the cross section of the dragging limiter is inverted U-shaped, and the two ends of the dragging limiter are respectively fixedly connected to the two sides of the mounting groove; in this way, the connection strength between the dragging limiter and the chassis is good, and the limiting effect on the second limiting portion is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0027] Figure 2 for Figure 1 A local enlarged schematic diagram of point A in the middle.

[0028] Figure 3 It is a schematic diagram of the three-dimensional structure of the towing hook in the present invention.

[0029] Figure 4 It is a schematic diagram of the side structure of the towing hook in the present invention.

[0030] Figure 5 It is a cross-sectional schematic diagram of the towing hook in the towing cylinder extended state in the present invention.

[0031] Figure 6 It is a cross-sectional schematic diagram of the towing hook in the towing cylinder retracted state in the present invention. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] like Figure 1-Figure 6 As shown, a working method of a tractor mechanism includes a vehicle body 1, the vehicle body 1 includes a moving mechanism for driving the vehicle body to move and a tractor mechanism 2 for dragging a crossbar 3 of a target vehicle body (not shown in the figure); the moving mechanism includes a chassis 11, and the tractor mechanism 2 is arranged on the chassis 11; the moving mechanism also includes wheels 12 arranged on the chassis, and the wheels are provided with motors 13 for driving the wheels; the tractor mechanism 2 is arranged on one side of the chassis.

[0034] The wheels are Mecanum wheels, and each wheel is provided with a motor.

[0035] The chassis is provided with an inwardly recessed mounting groove corresponding to the tractor structure.

[0036] The cross section of the dragging and limiting member is in an inverted U shape, and the two ends of the dragging and limiting member are respectively fixedly connected to the two sides of the installation groove.

[0037] The tractor mechanism 2 includes two towing hooks, which include a U-shaped fixing seat 21, a towing cylinder 22, two relatively arranged connecting plates 23, a transmission connecting block 24, a towing limiter 25, a towing slide rail 26, a towing slider 27, a limiter connecting rod 28 and a towing member 29.

[0038] The two ends of the U-shaped fixing seat 21 are fixedly connected to the chassis 11 respectively; the transmission connecting block 24 is arranged between the two connecting plates 23, and the transmission connecting block 24 is fixedly connected to the chassis 11 respectively; the fixed end of the pulling cylinder 22 is connected to the chassis 11, and the movable end of the pulling cylinder 22 is fixedly connected to the transmission connecting block 24; the middle position of the limit link 28 is hinged between the two connecting plates 23, and one end of the pulling member 29 is hinged between the two connecting plates 23, and is located at the end of the connecting plate 23 away from the transmission connecting block 24; the end of the pulling member 29 hinged to the connecting plate 23 abuts against the limit link 28; in this embodiment, a reset torsion spring (not shown in the figure) is connected between the pulling member 29 and the two connecting plates 23; under the elastic force of the reset torsion spring, the end of the pulling member 29 away from the limit link 28 is vertically downward.

[0039] The dragging limiter 25 is installed on the chassis 11 and is located on the side of the U-shaped fixing seat 21 away from the dragging cylinder 22; a first limiter 231 is extended upward from the upper end of the connecting plate 23 and is located on the side close to the dragging cylinder 22, and the height of the uppermost end of the first limiter 231 is lower than the highest point of the groove formed by the U-shaped fixing seat 21; a second limiter 232 is extended upward from the upper end of the connecting plate 23 and is located on the side away from the dragging cylinder 22; the dragging limiter 35 is used to limit the first limiter 231 and the second limiter 232.

[0040] The dragging rail 26 is arranged on a side surface of the connecting plate 23 away from the other connecting plate 23, and the dragging slider 27 is fixedly installed on the inner wall of the groove formed by the U-shaped fixing seat 21. A sliding groove is arranged on the dragging slider 27 corresponding to the dragging rail 26, and the dragging rail 26 is slidably arranged on the dragging slider 27; the dragging member 29 includes a dragging portion 291 and a bending portion 292, and the dragging portion 291 and the bending portion 292 are obliquely connected. The dragging member 29 is hinged to the connecting plate 23 at one end where the dragging portion 291 and the bending portion 292 are connected.

[0041] Reference Figure 5 shown; Figure 5 The arrow direction L in the figure is the direction of the force exerted on the limit link 28 and the towing limit member 35; the arrow direction K is the direction of the force exerted on the towing member 29 when it contacts the crossbar of other robots; the dotted line part is the position of the crossbar 3 of the target vehicle body when the tractor mechanism tows the target vehicle body; when the tractor mechanism tows the target vehicle body, the towing hook hooks the crossbar 3 of the target vehicle body.

[0042] The working method of the tractor mechanism comprises the following steps:

[0043] S1. When the pulling cylinder is extended, the sliding mechanism slides outward under the action of the transmission connection block until the first limiting portion on the connecting plate abuts against the pulling limiting member fixed on the chassis; the pulling limiting member limits the clockwise rotation of the limiting link.

[0044] S2. Move the moving mechanism to push the pulling member toward the cross bar of the target vehicle body. The reaction force generated by the cross bar of the target vehicle body pushes the pulling part of the push-pull member to overcome the elastic force of the reset spring and rotate in the direction of the limit connecting rod until the cross bar is separated from the push-pull part of the push-pull member. Then the pulling member is reset under the elastic force of the reset spring, and the pulling mechanism completes the connection action with the cross bar of the target vehicle body.

[0045] S3. One end of the limit link abuts against the bent portion of the towing piece, and the other end of the limit link abuts against the towing limit piece; the moving mechanism is started to move in the direction away from the target vehicle body, and the cross bar of the target vehicle body approaches the towing piece along the direction of the towing part away from the limit link, and generates a force to drive the towing piece to rotate in the direction away from the limit link; the limited limit link is rotated clockwise to limit the counterclockwise rotation of the towing piece; the limit link limits the rotation tendency of the towing link, thereby preventing the cross bar of the target vehicle body from separating from the towing part of the towing piece.

[0046] S4, the moving mechanism drives the trolley to continue to move away from the target vehicle body, and the tractor mechanism pulls the target vehicle body to move through the traction member;

[0047] S5. After completing the towing of the target vehicle body, the towing cylinder contracts, driving the connecting plate to contract until the second limit portion abuts against the towing limit piece, and the towing limit piece no longer restricts the clockwise rotation of the limit link, and the limit link no longer restricts the counterclockwise rotation of the towing member; when the vehicle body continues to move away from the target vehicle body; the cross bar of the target vehicle body drives the towing member to rotate in the direction away from the limit link, thereby realizing the separation of the cross bar of the target vehicle body from the tractor mechanism.

[0048] In the above method, since the dragging slider 27 is fixedly connected to the chassis 11 through the U-shaped mounting seat 21; the dragging slide rail 26 is fixedly connected to the connecting plate 23; the dragging slide rail 26 is slidably arranged on the dragging slider 37; the transmission connecting block 24 connects the movable end of the dragging cylinder 22 and the connecting plate 23; when the dragging cylinder 22 is extended, the connecting plate 23 is driven to move by the transmission connecting block 24, and the dragging slide rail 26 slides on the dragging slider 27; the connecting plate 23 simultaneously drives the limiting connecting rod 28 and the dragging member 29 to move relative to the dragging slide rail 26; until the first limiting portion 331 on the connecting plate 23 abuts against the drag limiting member 25 fixed on the chassis 11; the drag limiting member 25 limits the movement of the connecting plate 23; refer to Figure 5 At this time, the dragging limit member 25 is located above the end of the limit link 28 away from the dragging member 29.

[0049] Reference Figure 5 shown; Figure 5The arrow direction L in the figure is the direction of the force exerted on the limit link 28 and the towing limit member 35; the arrow direction K is the direction of the force exerted on the towing member 29 when it contacts the crossbar of other robots; the dotted line part is the position of the crossbar 3 of the target vehicle body when the tractor mechanism tows the target vehicle body; when the tractor mechanism tows the target vehicle body, the towing hook hooks the crossbar 3 of the target vehicle body.

[0050] By moving the moving mechanism 1, the pulling member 29 is pushed toward the cross bar provided on the target vehicle body. The reaction force generated by the cross bar of the target vehicle body pushes the pulling portion 291 of the push-pull member 29 to overcome the elastic force of the reset spring and rotate toward the limit link 25 until the cross bar is separated from the push-pull portion 291 of the push-pull member 29. Then the pulling member 29 is reset under the elastic force of the reset spring, and the pulling mechanism 2 completes the connection action with the cross bar of the target vehicle body.

[0051] Reference Figure 5 As shown; when the tractor mechanism 2 pulls the target vehicle body through the towing member 29, the vehicle body 1 moves away from the target vehicle body to achieve towing, and the cross bar 3 of the target vehicle body approaches the towing member 29 along the J direction, and generates a force to drive the towing member 29 to rotate counterclockwise; but because one end of the limit link 28 abuts against the towing limit member 25; the limit link 28 cannot rotate clockwise; at this time, the other end of the limit link 28 abuts against the bent portion 292 of the towing member 29, so that the towing member 29 cannot rotate counterclockwise; thereby limiting the rotation tendency of the towing link, so that the vehicle body 1 can tow the target vehicle body through the towing member 29.

[0052] When the towing cylinder 22 contracts, the transmission connecting block 24 slides toward the chassis 11 through the cooperation of the towing slide rail 26 and the towing slider 27 until the second limiting portion 232 on the connecting plate 23 abuts against the towing limiting member 25 fixed on the chassis 11. At this time, the towing limiting member 25 no longer restricts the end of the limiting link 28 away from the towing member 29, so that the limiting link 38 can rotate clockwise under the action of force; and then when the vehicle body 1 continues to move away from the target vehicle body; the cross bar 3 of the target vehicle body approaches the towing member 29 along the J direction; and generates a force to drive the towing member 29 to rotate counterclockwise; when the towing member 29 rotates counterclockwise, the cross bar 3 of the target vehicle body is separated from the tractor mechanism; thereby completing the retracting action of the tractor mechanism 2.

[0053] The chassis 11 is provided with an inwardly recessed mounting groove 111 corresponding to the tractor mechanism 2; thus, the structure of the vehicle body is more compact and reasonable.

[0054] The cross section of the dragging limiter 25 is inverted U-shaped, and the two ends of the dragging limiter 25 are respectively fixedly connected to the two sides of the mounting groove 111; thus, the connection strength between the dragging limiter 25 and the chassis 11 is good, and the limiting effect on the second limiting portion 232 is good.

Claims

1. A working method of a tractor mechanism, characterized in that: The vehicle body includes a moving mechanism for driving the vehicle body to move and a tractor mechanism for dragging a crossbar of the target vehicle body; the moving mechanism includes a chassis, and the tractor mechanism is arranged on the chassis; The tractor mechanism includes more than one towing hook, and the towing hook includes a U-shaped fixing seat, a towing cylinder, two oppositely arranged connecting plates, a transmission connecting block, a towing limiter, a sliding mechanism, a limiter connecting rod and a towing member; The two ends of the U-shaped fixing seat are fixedly connected to the chassis respectively; the transmission connecting block is arranged between the two connecting plates, and the transmission connecting block is fixedly connected to the two connecting plates respectively; one end of the pulling cylinder is connected to the chassis, and the other end of the pulling cylinder is fixedly connected to the transmission connecting block; the middle position of the limit connecting rod is hinged between the two connecting plates, and one end of the pulling member is hinged between the two connecting plates and is located at the end of the connecting plate away from the transmission connecting block; the end of the pulling member hinged to the connecting plate abuts against the limit connecting rod; a reset torsion spring is connected between the pulling member and the two connecting plates; under the elastic force of the reset torsion spring, the end of the pulling member away from the limit connecting rod is vertically downward; The dragging limiter is installed on the chassis and is located on the side of the U-shaped fixing seat away from the dragging cylinder; the upper end of the connecting plate and located on the side close to the dragging cylinder extends upward with a first limiter, and the height of the uppermost end of the first limiter is lower than the highest point of the groove formed by the U-shaped fixing seat; the upper end of the connecting plate and located on the side away from the dragging cylinder extends upward with a second limiter; The pulling member comprises a pulling portion and a bending portion, the pulling portion and the bending portion are connected obliquely, and the pulling member is hinged to the connecting plate at one end where the pulling portion and the bending portion are connected; The working method of the tractor mechanism comprises the following steps: S1. When the pulling cylinder is extended, the sliding mechanism slides outward under the action of the transmission connection block until the first limiting portion on the connection plate abuts against the pulling limiting member fixed on the chassis; the pulling limiting member limits the clockwise rotation of the limiting link; S2, the moving mechanism moves to push the towing member toward the crossbar of the target vehicle body, and the reaction force generated by the crossbar of the target vehicle body pushes the towing part of the towing member to overcome the elastic force of the return spring and rotate in the direction of the limit connecting rod until the crossbar is separated from the towing part of the towing member, and then the towing member is reset under the elastic force of the return spring, and the towing mechanism completes the connection action with the crossbar of the target vehicle body; S3, one end of the limit link abuts against the bent portion of the towing member, and the other end of the limit link abuts against the towing limit member; the moving mechanism is started to move in the direction away from the target vehicle body, and the cross bar of the target vehicle body approaches the towing member along the direction in which the towing portion is away from the limit link, and a force is generated to drive the towing member to rotate in the direction away from the limit link; the limited limit link is rotated clockwise to limit the counterclockwise rotation of the towing member; the limit link limits the rotation trend of the towing link, thereby making it impossible for the cross bar of the target vehicle body to separate from the towing portion of the towing member; S4, the moving mechanism drives the trolley to continue to move away from the target vehicle body, and the tractor mechanism pulls the target vehicle body to move through the traction member; S5. After completing the towing of the target vehicle body, the towing cylinder contracts, driving the connecting plate to contract until the second limit portion abuts against the towing limit piece, and the towing limit piece no longer restricts the clockwise rotation of the limit link, and the limit link no longer restricts the counterclockwise rotation of the towing member; when the vehicle body continues to move away from the target vehicle body; the cross bar of the target vehicle body drives the towing member to rotate in the direction away from the limit link, thereby realizing the separation of the cross bar of the target vehicle body from the tractor mechanism.

2. A method for operating a tractor mechanism according to claim 1, characterized in that: The sliding mechanism includes a dragging rail and a dragging slider; the dragging rail is arranged on a side surface of the connecting plate away from the other connecting plate, the dragging slider is fixedly installed on the inner wall of the groove formed by the U-shaped fixing seat, the dragging slider is provided with a sliding groove corresponding to the dragging rail, and the dragging rail is slidably arranged on the dragging slider.

3. A working method of a tractor mechanism according to claim 1, characterized in that: The moving mechanism also includes wheels arranged on the chassis, on which a motor for driving the wheels is arranged; and the tractor mechanism is arranged on one side of the chassis.

4. A method for operating a tractor mechanism according to claim 3, characterized in that: The wheels are Mecanum wheels, and each wheel is correspondingly provided with a motor.

5. A working method of a tractor mechanism according to claim 1, characterized in that: The chassis is provided with an inwardly recessed mounting groove corresponding to the tractor structure.

6. A method for operating a tractor mechanism according to claim 5, characterized in that: The cross section of the dragging and limiting member is in an inverted U shape, and the two ends of the dragging and limiting member are respectively fixedly connected to the two sides of the installation groove.

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