An adaptive obstacle-crossing power transmission line inspection robot

Abstract

This invention belongs to the technical field of power transmission line inspection operations, and specifically relates to an adaptive obstacle-crossing power transmission line inspection robot. It includes a center of gravity adjustment mechanism, a clamping device, a front dual-arm mechanism, a rear dual-arm mechanism, and a control box. The clamping device includes a front clamping mechanism and a rear clamping mechanism, both located on the top of the control box. The front and rear dual-arm mechanisms are connected to the front and rear clamping mechanisms respectively via the center of gravity adjustment mechanism. The front and rear clamping mechanisms are used to drive the front and rear dual-arm mechanisms to clamp or release the power transmission line, and the front and rear dual-arm mechanisms are used to move along the power transmission line. The center of gravity adjustment mechanism is used to adjust the robot's center of gravity. This invention changes the robot's center of gravity position through the center of gravity adjustment mechanism, reducing the range of jump line changes, improving obstacle-crossing efficiency, and reducing obstacle-crossing difficulty.

Description

Technical Field

[0001] This invention belongs to the field of power transmission line inspection technology, and specifically relates to an adaptive obstacle-crossing power transmission line inspection robot. Background Technology

[0002] As my country's high-voltage transmission lines are affected by natural environmental factors, human activities, operational conditions, equipment defects, and aging, regular inspections and maintenance are necessary to ensure safe operation. The inspection, repair, addition, and removal of overhead high-voltage power lines without power outages is receiving increasing attention. High-voltage transmission lines differ from ordinary transmission lines; due to the high voltage, they possess electromagnetic fields, making them inherently more dangerous. Problems with high-voltage transmission lines directly result in difficulties in repair, a critical issue primarily due to the high risk of personnel safety during maintenance. This necessitates the use of science and technology to address these challenges. Inspection robots have emerged, effectively replacing manual labor in inspecting high-voltage transmission lines to ensure their better operation. However, these robots still suffer from limitations such as inflexible center-of-gravity adjustment, poor operational stability, and limited obstacle-crossing ability. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide an adaptive obstacle-crossing power line inspection robot, thereby solving the problems of inflexible centroid position adjustment, poor operational stability, and poor obstacle-crossing ability of existing inspection robots.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] An adaptive obstacle-crossing power line inspection robot includes a center of gravity adjustment mechanism, a clamping device, a front dual-arm mechanism, a rear dual-arm mechanism, and a control box. The clamping device includes a front clamping mechanism and a rear clamping mechanism, both located on the top of the control box. The front dual-arm mechanism and the rear dual-arm mechanism are connected to the front clamping mechanism and the rear clamping mechanism, respectively, through the center of gravity adjustment mechanism. The front clamping mechanism and the rear clamping mechanism are used to drive the front dual-arm mechanism and the rear dual-arm mechanism to clamp or release the power transmission line, respectively. The front dual-arm mechanism and the rear dual-arm mechanism are used to walk on the power transmission line. The center of gravity adjustment mechanism is used to adjust the robot's center of gravity.

[0006] The front clamping mechanism and the rear clamping mechanism have the same structure, both including a ball screw, a locking coupling, a bearing housing, a slider, a pulley, a pulley shaft, a drive motor, and a belt. The two ends of the pulley shaft are connected to two ball screws with reverse threads via the locking coupling. The two ends of each ball screw are connected to two bearing housings via angular contact ball bearings. The bearing housings are mounted on the top of the control box. The two ball screws are threadedly connected to two sliders, and the two sliders are connected to two of the center-of-gravity adjustment mechanisms. The drive motor is located on the top of the control box and has a motor shaft. Two pulleys are mounted on both the motor shaft and the pulley shaft, and the two pulleys are connected by a belt drive.

[0007] The front double-arm mechanism and the rear double-arm mechanism have the same structure, both including two sets of walking wheel mechanisms. The two sets of walking wheel mechanisms are respectively connected to the two center of gravity adjustment mechanisms, and the clamping or loosening of the power transmission line is realized through the two sets of walking wheel mechanisms.

[0008] The walking wheel mechanism includes a walking wheel frame, walking wheel axles, walking wheels, a walking motor, and a synchronous belt drive mechanism. The lower end of the walking wheel frame is connected to the center of gravity adjustment mechanism. Three walking wheel axles are mounted on the top of the walking wheel frame through angular contact ball bearings of the walking axles. The three walking wheel axles are evenly spaced along the circumference and are respectively connected to three walking wheel keys.

[0009] The travel motor is located at the center of the travel wheel frame, and the travel motor shaft is connected to the three travel wheel shafts via a synchronous belt drive mechanism.

[0010] The synchronous belt transmission mechanism includes a drive wheel, a clamping wheel, a travel shaft pulley, and a synchronous belt. The drive wheel is mounted on the shaft of the travel motor. The three travel wheel shafts are keyed to the three travel shaft pulleys respectively. The drive wheel is connected to the three travel shaft pulleys via the synchronous belt. The synchronous belt is tensioned by two clamping wheels mounted on the travel wheel frame.

[0011] The walking motor is a brushless motor and is fixed at the rotation center of the walking wheel frame by the upper cover of the walking wheel frame.

[0012] The outer side of the walking wheel is provided with a walking rubber wheel, and the outer circumference of the walking rubber wheel has a V-shaped groove.

[0013] The walking wheel frame includes a column and a wheel frame set on top of the column. The wheel frame includes a motor base plate and three support plates that are equally spaced along the circumferential direction on the edge of the motor base. The three walking wheel axles are set at the ends of the three support plates.

[0014] The center of gravity adjustment mechanism includes a connecting sleeve, a connecting sleeve bushing, and a connecting sleeve angular contact ball bearing. The connecting sleeve is connected to the lower end of the traveling wheel frame via the connecting sleeve angular contact ball bearing. The bottom of the connecting sleeve is fixedly connected to the clamping device. The connecting sleeve is sleeved on the lower end of the traveling wheel frame and is used to axially limit the connecting sleeve angular contact ball bearing.

[0015] The connecting sleeve is a split structure, comprising two half-connecting sleeves. The two half-connecting sleeves are fastened to the lower end of the walking wheel frame and connected by internal hex bolts.

[0016] The advantages and beneficial effects of the present invention are as follows: The present invention provides an adaptive obstacle-crossing power line inspection robot that combines wheel movement and step climbing. By adjusting the center of mass of the robot through a center of mass adjustment mechanism, the robot can cross obstacles, ensuring a certain movement speed. The robot has significant overall rigidity, good posture stability, and strong obstacle-crossing ability. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of an adaptive obstacle-crossing power transmission line inspection robot according to the present invention;

[0018] Figure 2 This is a front view of an adaptive obstacle-crossing power line inspection robot according to the present invention.

[0019] Figure 3 This is a top view of an adaptive obstacle-crossing power line inspection robot according to the present invention.

[0020] Figure 4 This is a schematic diagram of the front and rear clamping mechanism in this invention;

[0021] Figure 5 This is a partial cross-sectional view of the front and rear clamping mechanism in this invention;

[0022] Figure 6 This is a schematic diagram of the walking mechanism in this invention;

[0023] Figure 7 This is a cross-sectional view of the walking mechanism in this invention;

[0024] Figure 8 This is a cross-sectional view of the assembly of parts on the traveling shaft in this invention;

[0025] Figure 9 This is a schematic diagram of the center-of-gravity adjustment mechanism in this invention;

[0026] Figure 10 This is a cross-sectional view of the center-of-gravity adjustment mechanism in this invention;

[0027] Figure 11This is a schematic diagram illustrating the movement of the walking mechanism across the jumper obstacle in this invention;

[0028] In the diagram: 1 is the control box cover, 2 is the ball screw, 3 is the locking coupling, 4 is the angular contact ball bearing housing, 5 is the bearing housing, 6 is the ball screw shaft end retaining ring, 7 is the slider, 8 is the pulley shaft sleeve, 9 is the pulley, 10 is the pulley shaft, 11 is the ordinary type A flat key, 12 is the drive motor, 13 is the motor housing, 14 is the motor shaft, 15 is the control box, 16 is the belt, 17 is the drive wheel, 18 is the travel wheel frame, 19 is the travel wheel frame top cover, 20 is the clamping wheel, 21 is the travel shaft retaining ring I, 22 is the travel wheel... 23 is the traveling wheel axle, 24 is the traveling rubber wheel, 25 is the long flat key of the traveling axle, 26 is the short flat key of the traveling axle, 27 is the traveling wheel axle sleeve, 28 is the traveling axle pulley, 29 is the synchronous belt, 30 is the connecting sleeve, 31 is the connecting sleeve, 32 is the hex socket head cap screw, 33 is the cable, 34 is the traveling motor axle, 35 is the traveling motor, 36 is the traveling pulley axle retaining ring, 37 is the clamping wheel angular contact ball bearing, 38 is the traveling axle angular contact ball bearing, 39 is the traveling axle retaining ring II, and 40 is the connecting sleeve angular contact ball bearing. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1-3 As shown, this invention provides an adaptive obstacle-crossing power line inspection robot, including a center of gravity adjustment mechanism, a clamping device, a front dual-arm mechanism, a rear dual-arm mechanism, and a control box. The control box includes a control box body 15 and a control box cover 1 disposed on the top of the control box body 15. The clamping device includes a front clamping mechanism and a rear clamping mechanism, both disposed on the control box cover 1. The front dual-arm mechanism and the rear dual-arm mechanism are respectively connected to the front clamping mechanism and the rear clamping mechanism through the center of gravity adjustment mechanism. The front clamping mechanism is used to drive the front dual-arm mechanism to clamp or release the power line, and the rear clamping mechanism is used to drive the rear dual-arm mechanism to clamp or release the power line. The front dual-arm mechanism and the rear dual-arm mechanism are used to walk on the power line after clamping it. The center of gravity adjustment mechanism is used to adjust the robot's center of gravity.

[0031] like Figure 4-5As shown in the embodiment of the present invention, the front clamping mechanism and the rear clamping mechanism have the same structure and are symmetrically arranged. Both the front clamping mechanism and the rear clamping mechanism include a ball screw 2, a locking coupling 3, a bearing seat 4, a slider 7, a pulley 9, a pulley shaft 10, a drive motor 12, and a belt 16. The two ends of the pulley shaft 10 are respectively connected to two ball screws 2 with reverse threads through the locking coupling 3. The pulley shaft 10 is coaxially installed with the ball screws 2 on both sides. The two ends of each ball screw 2 are connected to the bearing seat angular contact ball shaft. Bearing 4 is connected to two bearing seats 5 respectively. The end of the ball screw 2 is axially limited by the ball screw shaft end retaining ring 6. The bearing seat 5 is mounted on the control box cover 1. The two ball screws 2 are threadedly connected to two sliders 7 respectively. The two sliders 7 are connected to two center-of-gravity adjustment mechanisms respectively. The drive motor 12 is located on the top of the control box. The drive motor 12 has a motor shaft 14 located inside and a motor housing 13 located outside the drive motor 12. The motor housing 13 is bolted to the control box cover 1. The motor shaft 14 and the pulley shaft 10 are respectively provided with two pulleys 9. The two pulleys 9 are connected by a belt 16. The pulleys 9 on the pulley shaft 10 are axially limited by the pulley shaft sleeve 8. The two pulleys 9 are connected by the belt 16 to realize the transmission of power. When the drive motor 12 is powered, the pulley 9 on the motor shaft 14 transmits power to the pulley 9 on the pulley shaft 10 via the belt 16, causing the pulley shaft 10 and the ball screws 2 on both sides to rotate simultaneously. This achieves the opposite movement of the sliders 7 on both sides, thereby driving the front double-arm mechanism or the rear double-arm mechanism to clamp and release the power transmission line. The clamping device uses a screw drive mechanism that can transmit a large axial force and has a self-locking drive screw.

[0032] like Figure 1 , Figure 3 As shown in the embodiments of the present invention, the front double-arm mechanism and the rear double-arm mechanism have the same structure, both including two sets of walking wheel mechanisms. The two sets of walking wheel mechanisms are respectively connected to two center of gravity adjustment mechanisms, and the clamping or loosening of the power transmission line is realized through the two sets of walking wheel mechanisms.

[0033] like Figure 6-8 As shown, in an embodiment of the present invention, the traveling wheel mechanism includes a traveling wheel frame 18, traveling wheel axles 22, traveling wheels 23, a traveling motor 35, and a synchronous belt drive mechanism. The lower end of the traveling wheel frame 18 is connected to a center-of-gravity adjustment mechanism. Three traveling wheel axles 22 are mounted on the top of the traveling wheel frame 18 via traveling axle angular contact ball bearings 38. The three traveling wheel axles 22 are evenly spaced circumferentially and connected to the three traveling wheels 23 via traveling axle long flat keys 25. The two ends of each traveling wheel axle 22 are axially limited by traveling axle retaining rings I 21 and II 39, respectively. The traveling motor 35 is located at the center of the traveling wheel frame 18, and its traveling motor shaft 34 is connected to the three traveling wheel axles 22 via a synchronous belt drive mechanism.

[0034] In an embodiment of the present invention, the synchronous belt drive mechanism includes a drive wheel 17, a clamping wheel 20, a travel shaft pulley 28, and a synchronous belt 29. The drive wheel 17 is mounted on the travel motor shaft 34. Three travel wheel shafts 22 are connected to three travel shaft pulleys 28 respectively via short flat keys 26. The travel shaft pulleys 28 are axially limited by travel wheel shaft sleeves 27 fitted on the travel wheel shafts 22. The drive wheel 17 is driven by the synchronous belt 29, which is tensioned by two clamping wheels 20 mounted on the travel wheel frame 18. Specifically, the travel wheel frame 18 is provided with two support columns, and the clamping wheels 20 are mounted on the support columns via angular contact ball bearings 37.

[0035] In an embodiment of the present invention, the clamping wheel 20 is located at the middle position below the two traveling shaft pulleys 28, and both the traveling wheel 23 and the clamping wheel 20 are located in the longitudinal traveling plane. The traveling motor 35 is a brushless DC motor and is fixed to the rotation center of the traveling wheel frame 18 by the traveling wheel frame cover 19. The traveling wheel frame 18 includes a column and a wheel frame disposed on the top of the column, wherein the wheel frame includes a motor base plate and three support plates equally spaced along the circumferential direction on the edge of the motor base, and three traveling wheel axles 22 are disposed at the ends of the three support plates. Preferably, the brushless DC motor control system is a discrete closed-loop control system.

[0036] Furthermore, walking rubber wheels 24 are provided on the outer side of the walking wheel 23. Considering the adaptability to different types of power transmission lines, each walking rubber wheel 24 has a V-shaped groove on its outer circumference. The walking rubber wheels 24 increase the static friction between the walking wheel 23 and the overhead line. The walking rubber wheels 24 themselves use friction with the conductor as a driving force to propel the robot forward.

[0037] In this embodiment of the invention, the walking wheel mechanism is driven by a brushless motor mounted on the walking wheel frame 18. When the brushless motor is energized, it drives the drive wheel 17 connected to the motor to rotate, thereby driving the three walking shaft pulleys 28 to rotate in the same direction. The walking wheel 23 is connected to the walking shaft pulley 28 via the walking wheel axle 22 and also rotates in the same direction, thus driving the robot to move forward or backward along the power grid line. The walking wheel 23, clamping wheel 20, and walking shaft pulley 28 of the walking wheel mechanism share a single motor. Power is transmitted to the walking wheel 23 through the meshing of the synchronous belt 29 with the walking shaft pulley 28. The meshing transmission between the synchronous belt 29 and the walking shaft pulley 28 gives the mechanism an accurate transmission ratio, no slippage, a constant speed ratio, smooth transmission, vibration absorption, low noise, and a wide transmission ratio range.

[0038] like Figure 9-10As shown, in an embodiment of the present invention, the center of gravity adjustment mechanism includes a connecting sleeve 30, a connecting sleeve 31, and a connecting sleeve angular contact ball bearing 40. The connecting sleeve 30 is connected to the lower end of the traveling wheel frame 18 through the connecting sleeve angular contact ball bearing 40. The bottom of the connecting sleeve 30 is fixedly connected to the clamping device. The connecting sleeve 31 is sleeved on the lower end of the traveling wheel frame 18 and is used to axially limit the connecting sleeve angular contact ball bearing 40.

[0039] Specifically, the connecting sleeve 30 is a split structure, including two half-connecting sleeves. The two half-connecting sleeves are fastened to the lower outer side of the walking wheel frame 18, and the two half-connecting sleeves are connected by hexagonal socket head cap screws 32. This split structure is easy to install and disassemble, and is not easy to slip.

[0040] In the embodiments of the present invention, the center of gravity adjustment mechanism is the main component for adjusting the position of the robot's own center of gravity. The center of gravity adjustment mechanism is connected to the slider 7 of the clamping device through the connecting sleeve angular contact ball bearing 40, so that it can rotate around the rotation center of the walking wheel frame 18 to adjust the position of the robot's center of gravity, so that the robot always keeps horizontal, reduces the range of jump line changes, improves obstacle crossing efficiency, and reduces obstacle crossing difficulty.

[0041] The present invention provides an adaptive obstacle-crossing power line inspection robot, the working principle of which is as follows:

[0042] like Figure 1 , Figure 11 As shown, before operation, the walking mechanism is opened to facilitate robot mounting on the power line, making it easier to install the robot on the power grid. The control drive motor 12, via belt 16, transmits power to the ball screws 2 on both sides of the pulley shaft 10. This causes the ball screws 2 to drive the two sliders 7 and the two connected walking mechanisms closer together, causing the walking wheels 23 of the two walking mechanisms to move towards each other and clamp the power grid line. The walking wheels 23 are driven by brushless motors within the walking mechanism, providing rotational power. During operation, the robot's front and rear arms are suspended on the power grid line. With the help of the center of gravity adjustment mechanism, the robot's body can remain horizontal, thereby improving stability when navigating obstacles. When encountering a jumper wire obstacle, the robot stops in front of the obstacle, and the front wheel 23 of the front dual-arm mechanism is firmly clamped to the power grid line to ensure safety. Then the control box slides forward, causing the wheel frame 18 of the front dual-arm mechanism to rotate around the rotation center, so that the other two wheels 23 of the front dual-arm mechanism cross the jumper wire obstacle. After the wheel 23 closest to the power grid line clamps the jumper wire, it continues to move forward. The rear dual-arm mechanism crosses the jumper wire obstacle in the same way.

[0043] This invention provides an adaptive obstacle-crossing power line inspection robot that combines wheel movement and step-climbing. When the robot's wheels roll along the jumper wire, a center-of-gravity adjustment mechanism adjusts the robot's center-of-gravity to mitigate jumper wire deformation and increase stability and reliability when traversing obstacles. As the robot rolls along the jumper wire, the wire's posture changes significantly, increasing the difficulty of obstacle crossing and reducing efficiency. This invention uses a center-of-gravity adjustment mechanism to change the robot's center-of-gravity, reducing the range of jumper wire changes, improving obstacle-crossing efficiency, and reducing obstacle-crossing difficulty. During obstacle-crossing, the center-of-gravity adjustment mechanism can adjust the robot's center-of-gravity to reduce jumper wire deformation, lower the difficulty of obstacle crossing, and improve crossing efficiency.

[0044] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. An adaptive obstacle-crossing power transmission line inspection robot, characterized in that, The robot includes a center of gravity adjustment mechanism, a clamping device, a front dual-arm mechanism, a rear dual-arm mechanism, and a control box. The clamping device includes a front clamping mechanism and a rear clamping mechanism, both located on the top of the control box. The front and rear dual-arm mechanisms are connected to the front and rear clamping mechanisms respectively via the center of gravity adjustment mechanism. The front and rear clamping mechanisms are used to drive the front and rear dual-arm mechanisms to clamp or release the power grid lines, and the front and rear dual-arm mechanisms are used to move on the power grid lines. The center of gravity adjustment mechanism is used to adjust the robot's center of gravity. The front clamping mechanism and the rear clamping mechanism have the same structure, both including a ball screw (2), a locking coupling (3), a bearing seat (4), a slider (7), a pulley (9), a pulley shaft (10), a drive motor (12), and a belt (16). The two ends of the pulley shaft (10) are connected to two ball screws (2) with reverse threads respectively through the locking coupling (3). The two ends of each ball screw (2) are connected to two bearing seats (5) respectively through angular contact ball bearings (4) in the bearing seats. The bearing seats (5) are installed on the top of the control box. The two ball screws (2) are threadedly connected to two sliders (7) respectively. The two sliders (7) are threadedly connected to two centroids respectively. The adjustment mechanism is connected; the drive motor (12) is located on the top of the control box. The drive motor (12) has a motor shaft (14). The motor shaft (14) and the pulley shaft (10) are respectively provided with two pulleys (9). The two pulleys (9) are connected by a belt (16). When the drive motor (12) is powered, the pulley (9) on the motor shaft (14) transmits the power to the pulley (9) on the pulley shaft (10) through the belt (16), so that the pulley shaft (10) and the ball screws (2) on both sides rotate at the same time, so as to realize the opposite movement of the sliders (7) on both sides, thereby driving the front double arm mechanism or the rear double arm mechanism to clamp and release the power transmission line.

2. The adaptive obstacle-crossing power line inspection robot according to claim 1, characterized in that, The front double-arm mechanism and the rear double-arm mechanism have the same structure, both including two sets of walking wheel mechanisms. The two sets of walking wheel mechanisms are respectively connected to the two center of gravity adjustment mechanisms, and the clamping or loosening of the power transmission line is realized through the two sets of walking wheel mechanisms.

3. The adaptive obstacle-crossing power line inspection robot according to claim 2, characterized in that, The walking wheel mechanism includes a walking wheel frame (18), a walking wheel axle (22), a walking wheel (23), a walking motor (35), and a synchronous belt drive mechanism. The lower end of the walking wheel frame (18) is connected to the center of gravity adjustment mechanism. The top of the walking wheel frame (18) is equipped with three walking wheel axles (22) through a walking axle angular contact ball bearing (38). The three walking wheel axles (22) are arranged at equal intervals along the circumference. The three walking wheel axles (22) are keyed to the three walking wheels (23) respectively. The walking motor (35) is located at the center of the walking wheel frame (18), and the walking motor shaft (34) of the walking motor (35) is connected to the three walking wheel shafts (22) through a synchronous belt transmission mechanism.

4. The adaptive obstacle-crossing power line inspection robot according to claim 3, characterized in that, The synchronous belt drive mechanism includes a drive wheel (17), a clamping wheel (20), a travel shaft pulley (28), and a synchronous belt (29). The drive wheel (17) is mounted on the travel motor shaft (34). The three travel wheel shafts (22) are keyed to the three travel shaft pulleys (28). The drive wheel (17) is connected to the three travel shaft pulleys (28) via the synchronous belt (29). The synchronous belt (29) is tensioned by two clamping wheels (20) mounted on the travel wheel frame (18).

5. The adaptive obstacle-crossing power line inspection robot according to claim 3, characterized in that, The walking motor (35) is a brushless motor and is fixed at the rotation center of the walking wheel frame (18) by the upper cover (19) of the walking wheel frame.

6. The adaptive obstacle-crossing power line inspection robot according to claim 3, characterized in that, The outer side of the walking wheel (23) is provided with a walking rubber wheel (24), and the outer circumference of the walking rubber wheel (24) has a V-shaped groove.

7. The adaptive obstacle-crossing power line inspection robot according to claim 3, characterized in that, The walking wheel frame (18) includes a column and a wheel frame set on the top of the column. The wheel frame includes a motor base plate and three support plates that are equally spaced along the circumference at the edge of the motor base. The three walking wheel axles (22) are set at the ends of the three support plates.

8. The adaptive obstacle-crossing power line inspection robot according to claim 3, characterized in that, The center of gravity adjustment mechanism includes a connecting sleeve (30), a connecting sleeve (31), and a connecting sleeve angular contact ball bearing (40). The connecting sleeve (30) is connected to the lower end of the walking wheel frame (18) through the connecting sleeve angular contact ball bearing (40). The bottom of the connecting sleeve (30) is fixedly connected to the clamping device. The connecting sleeve (31) is sleeved on the lower end of the walking wheel frame (18) and is used to axially limit the connecting sleeve angular contact ball bearing (40).

9. The adaptive obstacle-crossing power line inspection robot according to claim 8, characterized in that, The connecting sleeve (30) is a split structure, including two half connecting sleeves. The two half connecting sleeves are fastened to the lower end of the walking wheel frame (18), and the two half connecting sleeves are connected by internal hex bolts (32).

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