A fast reversing device and a fast track reversing device

Abstract

The present invention is applicable to the technical field of track robots, and provides a rapid reversal device and a rapid track reversal device, comprising a frame, on which a walking mechanism is rotatably connected; a walking mechanism, which at least comprises a rotating wheel system, a driving device and a fixed frame, the rotating wheel system is installed on the fixed frame, the rotating wheel system comprises a first direction walking wheel and a second direction walking wheel, the driving device is used to drive the rotating wheel system to rotate, and the first direction walking wheel and the second direction walking wheel rotate in opposite directions; and a reversal mechanism, which is connected to the frame and the walking mechanism and is used to change the moving direction of the walking mechanism on the walking plane by driving the walking mechanism to swing relative to the walking plane and switching the first direction walking wheel or the second direction walking wheel to contact the walking plane, thereby solving the problems of the track robot's untimely response during reverse movement, large kinetic energy loss, and easy damage to the motor caused by the friction between the driving wheel and the track.

Description

Technical Field

[0001] The invention belongs to the technical field of track robots, and in particular relates to a rapid reversal device and a rapid track reversal device. Background Art

[0002] The rail robot is erected or suspended on the track through the walking wheel assembly. With the development of information and automation technology, the rail robot can replace the traditional manual inspection and manual recording inspection method, effectively solving the contradiction between insufficient production personnel and increased inspection workload.

[0003] At present, when the track robot needs to move in the reverse direction, the prior art often slows down the driving wheel that is in direct contact with the track to zero first, and then makes the driving wheel rotate in the reverse direction, so as to achieve the purpose of the track robot's reverse movement.

[0004] However, there are problems such as the track robot's slow response during reverse motion, large kinetic energy loss, and the friction between the driving wheel and the track that easily damages the motor. Summary of the invention

[0005] The purpose of the embodiment of the present invention is to provide a rapid reversal device, which aims to solve the problems of the rail robot's untimely response during reverse motion, large kinetic energy loss, and easy damage to the motor due to friction between the driving wheel and the track.

[0006] The embodiment of the present invention is implemented as follows: a fast reverse device comprises:

[0007] A frame, to which a traveling mechanism is rotatably connected, and the frame is used to support the traveling mechanism;

[0008] A traveling mechanism, the traveling mechanism at least comprises a rotating wheel train, a driving device and a fixed frame, the rotating wheel train is mounted on the fixed frame, the rotating wheel train comprises a first direction traveling wheel and a second direction traveling wheel, the driving device is used to drive the rotating wheel train to rotate, and the first direction traveling wheel rotates in opposite directions to the second direction traveling wheel; and

[0009] The reverse mechanism is connected to the frame and the walking mechanism, and is used to change the moving direction of the walking mechanism on the walking plane by driving the walking mechanism to swing relative to the walking plane and switching the first direction walking wheel or the second direction walking wheel to contact the walking plane.

[0010] Another object of an embodiment of the present invention is to provide a fast track reversal device, comprising:

[0011] A frame, to which a traveling mechanism is rotatably connected, and the frame is used to support the traveling mechanism;

[0012] The walking mechanism at least comprises a rotating wheel train, a driving device and a fixed frame. The rotating wheel train is mounted on the fixed frame. The rotating wheel train comprises a first direction walking wheel and a second direction walking wheel. The driving device is used to drive the rotating wheel train to rotate. The first direction walking wheel rotates in opposite directions to the second direction walking wheel.

[0013] A reversing mechanism connected to the frame and the walking mechanism, and used to change the moving direction of the walking mechanism on the walking plane by driving the walking mechanism to swing relative to the walking plane and switching the first direction walking wheel or the second direction walking wheel to contact the walking plane; and

[0014] Tracks, on which the frame is slidably arranged, provide a set movement route for the traveling mechanism.

[0015] A quick reversal device provided in an embodiment of the present application, by setting a walking mechanism, enables the device to move stably in one direction, thereby reducing the loosening of parts caused by the shaking of the device; by setting a walking wheel with opposite direction, the second motor can keep rotating in one direction without changing the direction, thereby extending the service life of the motor, and different walking wheels are used for different moving directions, thereby avoiding the problem of frequent replacement of walking wheels caused by repeated friction with the walking surface during the reversal process of a single walking wheel; by switching the walking wheel in contact with the walking plane through the reversal mechanism, the walking direction can be changed quickly, thereby reducing the action response time; through the coordinated work of the above-mentioned structures, the problems of the track robot's untimely response during reverse movement, large kinetic energy loss, and easy damage to the motor caused by the friction between the driving wheel and the track are solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A structural diagram of a rapid reversal device and a rapid track reversal device provided in an embodiment of the present invention;

[0017] Figure 2 A three-dimensional structural diagram of a rapid reverse device provided by an embodiment of the present invention;

[0018] Figure 3 A front view of a quick reverse device provided by an embodiment of the present invention;

[0019] Figure 4 A rear view of a quick reverse device provided by an embodiment of the present invention;

[0020] Figure 5 A front view of a quick reverse device provided by an embodiment of the present invention;

[0021] Figure 6 A top view of a quick reverse device provided by an embodiment of the present invention;

[0022] Figure 7A fast reversal device and a track structure diagram of a fast track reversal device provided in an embodiment of the present invention.

[0023] In the attached drawings: 1. walking plane; 2. first motor; 3. second motor; 4. second panel; 5. first panel; 6. first connecting rod; 7. second connecting rod; 8. frame; 9. first direction walking wheel; 10. driving gear; 11. second direction walking wheel; 12. driven gear; 13 aluminum column; 14. plug bolt; 15 driven gear center axis; 16. second motor fixing plate; 17. track. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0026] like Figure 1 As shown, it is a structural diagram of a fast reversal device and a fast track reversal device provided by an embodiment of the present invention, including:

[0027] A frame 8, to which a traveling mechanism is rotatably connected, and the frame 8 is used to support the traveling mechanism;

[0028] A traveling mechanism, which at least comprises a rotating wheel train, a driving device and a fixed frame, wherein the rotating wheel train is mounted on the fixed frame, the rotating wheel train comprises a first direction traveling wheel 9 and a second direction traveling wheel 11, and the driving device is used to drive the rotating wheel train to rotate, wherein the first direction traveling wheel 9 rotates in opposite directions to the second direction traveling wheel 11; and

[0029] The reversing mechanism is connected to the frame 8 and the walking mechanism, and is used to change the moving direction of the frame 8 on the walking plane 1 by driving the walking mechanism to swing relative to the walking plane 1 and switching the first direction walking wheel 9 or the second direction walking wheel 11 to contact the walking plane 1.

[0030] In the embodiment of the present invention, a walking mechanism is provided so that the quick reverse device can stably move in one direction, thereby reducing the looseness of parts caused by shaking; by providing a walking wheel with opposite direction, the second motor 3 can keep rotating in one direction without changing the direction, thereby extending the service life of the motor, and different walking wheels are used for different moving directions, thereby avoiding the problem of frequent replacement of the walking wheel caused by repeated friction between a single walking wheel and the walking plane 1 during the reverse process; by switching the walking wheel in contact with the walking plane 1 through the reversing mechanism, the walking direction can be changed quickly, thereby reducing the action response time.

[0031] In one embodiment of the present invention, the rapid reversal device can be arranged on a rail robot, or in a place where rapid reciprocation is required, such as a storage material.

[0032] In one embodiment of the present invention, the frame 8 moves together with the traveling mechanism to provide a rotation support point for the traveling mechanism. The frame 8 maintains a constant height during the movement, and the frame 8 and the traveling mechanism jointly support the quick reversal device.

[0033] In one embodiment of the present invention, the walking mechanism drives the quick reverse device to move, and the device can be driven to move by a rotating wheel or by sliding; the walking power can be self-generated or driven by other structures; the walking mechanism is rotatably connected to the frame 8, and the rotating connection point is located on the center line of the walking mechanism, so that the walking mechanism can swing like a seesaw, and when the walking mechanism does not need to reverse, the walking mechanism does not swing; illustratively, the walking mechanism moves by driving the rotating wheel to rotate.

[0034] In one example of the present invention, the rotating wheel train is the movement mode of the walking mechanism, and the rotating wheel train has at least one rotating wheel. The rotating wheels can be of different sizes and have different rotation directions. The rotating wheel train can rotate at a fixed position in the walking mechanism or change the rotation position in the walking mechanism. The rotating wheel train can maintain the rotation angle or change the rotation angle. Exemplarily, the rotating wheel train includes a first direction walking wheel 9 and a second direction walking wheel 11. The first direction walking wheel 9 and the second direction walking wheel 11 rotate at a fixed position in the walking mechanism with opposite rotation directions. The first direction walking wheel 9 and the second direction walking wheel 11 are of the same size and the rotation angle remains unchanged.

[0035] In one example of the present invention, the driving device provides power for the walking mechanism, driving the rotating wheel system to rotate. The power of the driving device can be the rotation of the motor, or the movement of the telescopic rod. The driving method can be gear meshing, a crank slider, a chain, or a threaded screw. There is no specific limitation. For example, the power of the driving device is a motor, and the driving method is gear meshing.

[0036] In one embodiment of the present invention, the fixed frame constitutes the main part of the walking mechanism, and the rotating gear train and the driving device are installed on the fixed frame. The fixed frame does not affect the rotation of the rotating gear train. The specific shape is not limited, and exemplarily, it is a steel structure plate.

[0037] In one example of the present invention, the reversing mechanism is used to make the walking mechanism move in the opposite direction. The reversing mechanism can change the moving direction of the walking mechanism by selecting one of the mutually reverse walking wheels in the walking mechanism to contact the walking plane 1. For example, the moving direction of the walking mechanism on the walking plane 1 can be changed by switching the first direction walking wheel 9 or the second direction walking wheel 11 to contact the walking plane 1.

[0038] In an example of the present invention, the walking plane 1 can be the ground, a wall, or a set track, and is not specifically limited. Exemplarily, the walking plane 1 is a track.

[0039] like Figure 3 As shown, as a preferred embodiment of the present invention, the driving device includes:

[0040] The second motor 3 and the transmission assembly, the transmission assembly connects the second motor 3 and the rotating gear train and is used to transmit power to the rotating gear train. The second motor 3 is fixedly mounted on the fixed frame.

[0041] In one embodiment of the present invention, the second motor 3 is a M3508 motor, and the second motor 3 is installed on a fixed frame on a side away from the frame 8. The output end of the second motor 3 is inside the fixed frame, and is rotatably connected to the rotating gear train. A part of the second motor coil end is outside the fixed frame and is electrically connected to the cable. The countersunk arrangement of the second motor 3 effectively reduces the overall volume of the device, making its structure more compact and increasing its scope of use.

[0042] In one embodiment of the present invention, the transmission assembly can be a gear meshing transmission, a belt transmission, or a threaded screw transmission, and in this embodiment, the gear meshing transmission is used. The gear transmission has a stable transmission and high transmission accuracy.

[0043] like Figure 2 As shown, as a preferred embodiment of the present invention, the reverse mechanism includes:

[0044] The first connecting rod 6, one end of the first connecting rod 6 is rotatably connected to the output shaft of the first motor 2, and the other end of the first connecting rod 6 is rotatably connected to the second connecting rod 7; one end of the second connecting rod 7 away from the first connecting rod 6 is rotatably connected to the frame 8; the first motor 2 is fixedly installed on the fixed frame, and is used to drive the first connecting rod 6 to rotate.

[0045] In one embodiment of the present invention, the first motor 2 is of model M2006, and the first motor 2 is installed on the inner side of the fixed frame near the frame 8. The output end of the first motor 2 passes through the fixed frame and is fixedly connected to one end of the first connecting rod 6. The end of the first connecting rod 6 away from the first motor 2 is rotatably connected to one end of the second connecting rod 7, and the other end of the second connecting rod 7 away from the first connecting rod 6 is rotatably connected to the frame 8. Because the fixed frame is part of the walking mechanism, and the walking mechanism is rotatably connected to the frame 8, the rotation of the first connecting rod 6 and the second connecting rod 7 can cause the walking mechanism to swing around the rotation axis.

[0046] In one embodiment of the present invention, the shapes of the first connecting rod 6 and the second connecting rod 7 can be rectangular or fan-shaped, and are not specifically limited. The lengths of the first connecting rod 6 and the second connecting rod 7 are also not specifically limited. The first connecting rod 6 can rotate one circle or rotate back and forth within a set angle. In this embodiment, the first connecting rod 6 is fan-shaped and shorter than the second connecting rod 7. The second connecting rod 7 is rectangular. The first connecting rod 6 rotates between two parallel positions of the straight line where the first connecting rod 6 is located and the straight line where the second connecting rod 7 is located. The first connecting rod 6 and the second connecting rod 7 are located on the same straight line, which can effectively support the walking mechanism and ensure that the walking wheels are in close contact with the ground.

[0047] like Figure 2 As shown, as a preferred embodiment of the present invention, the parallel position of the straight line where the first connecting rod 6 is located and the straight line where the second connecting rod 7 is located is the extreme position, there are two extreme positions, and the first connecting rod 6 and the second connecting rod 7 are configured as follows: when the first connecting rod 6 rotates to one extreme position, the first direction walking wheel 9 contacts the walking plane 1, and when the first connecting rod 6 rotates to another extreme position, the second direction walking wheel 11 contacts the walking plane 1.

[0048] In one embodiment of the present invention, the first connecting rod 6, the second connecting rod 7, the fixed frame and the frame 8 together form a hinged four-bar mechanism, the first connecting rod 6 is equivalent to the connecting rod in the hinged four-bar mechanism, the second connecting rod 7 is equivalent to the rocker of the hinged four-bar mechanism, the frame 8 is equivalent to the frame in the hinged four-bar mechanism, and the fixed frame is equivalent to another rocker of the hinged four-bar mechanism. An extreme position is a position where the straight line where the first connecting rod 6 is located and the straight line where the second connecting rod 7 is located are parallel but not overlapped. In order to facilitate the understanding of the extreme position, the first connecting rod and the second connecting rod are projected into the same plane, then the extreme position is the projection of the first connecting rod 6 and the projection of the second connecting rod 7 are in the same straight line position, at this time the first direction of walking The wheel 9 contacts the walking plane 1, so that the walking mechanism moves in the first direction. The other extreme position is the position where the straight line where the first connecting rod 6 and the straight line where the second connecting rod 7 are located are parallel and overlapped. At this time, the second direction walking wheel 11 contacts the walking plane 1, so that the walking mechanism moves in the second direction. When the walking mechanism needs to move in the opposite direction, the first motor 2 rotates, driving the first connecting rod 6 to rotate from one extreme position to another extreme position, thereby driving the second connecting rod 7 to rotate, thereby changing the distance between the first motor 2 and the frame 8, so that the walking mechanism swings. The swing of the walking mechanism makes the first direction walking wheel 9 or the second direction walking wheel 11 contact the walking plane 1, thereby making the walking mechanism move in the opposite direction. When in the extreme position, the parallelism of the first connecting rod 6 and the second connecting rod 7 helps to support the walking mechanism to maintain a certain angle, which is used to ensure that the wheel train is in close contact with the track. When the first motor does not output torque, the first connecting rod 6 and the second connecting rod 7 can maintain a parallel state for a long time, thereby ensuring the stable contact between the wheel train and the track, avoiding the active wheel from slipping or even idling, and ensuring the normal movement of the track robot on the track.

[0049] like Figure 5 As shown, as a preferred embodiment of the present invention, the transmission assembly includes:

[0050] The driving gear 10, the center of which is rotatably connected to the output shaft of the second motor 3, rotates synchronously with the output shaft,

[0051] The driven gear 12 is rotatably connected to the fixed frame and meshes with the driving gear 10 for rotation. The driving gear 10 and the driven gear 12 rotate in opposite directions.

[0052] In one embodiment of the present invention, the driving gear 10 and the driven gear 12 are of the same size, the center of the driving gear 10 is fixedly connected to the output shaft of the second motor 3, the driving gear 10 rotates synchronously with the output shaft of the second motor 3, and the driving gear 10 meshes with the driven gear 12 to drive the driven gear 12 to rotate in the opposite direction. The two gears are directly meshed, which reduces the intermediate transmission parts, reduces the transmission loss, and makes the transmission more stable.

[0053] like Figure 6As shown, as a preferred embodiment of the present invention, the number of the first direction walking wheel 9 and the second direction walking wheel 11 are both one, the first direction walking wheel 9 is fixedly connected to the driving gear 10, and the rotation direction is the same as the gear, the second direction walking wheel 11 is fixedly connected to the driven gear 12, and the outer edge of the walking wheel is in contact with the walking plane 1, and the walking plane 1 is a flat surface.

[0054] In one example of the present invention, the diameters of the first direction walking wheel 9 and the second direction walking wheel 11 are the same, both larger than the driving gear 10 and the driven gear 12. The first direction walking wheel 9 is fixedly connected to the driving gear 10 and rotates coaxially. The driving gear 10 drives the driven gear 12 to rotate, and the second direction walking wheel 11 rotates synchronously with the driven gear 12. The first direction walking wheel 9 and the second direction walking wheel 11 both rotate in opposite directions. The outer edge of the first direction walking wheel 9 contacts the walking plane 1 to provide rolling friction, so that the walking mechanism moves. At this time, the outer edge of the second direction walking wheel 11 does not contact the walking plane 1; the outer edge of the second direction walking wheel 11 contacts the walking plane 1, and at this time the walking mechanism moves in the opposite direction, while the outer edge of the first direction walking wheel 9 does not contact the walking plane 1. Rapidly switch the walking wheels to reduce the kinetic energy loss during reverse rotation, increase the life of the motor, and improve the efficiency and flexibility of changing direction.

[0055] In one embodiment of the present invention, the walking plane 1 can be a flat surface, without any specific limitation, and can be a wall, a ground, or a glass surface.

[0056] like Figure 5 As shown, as a preferred embodiment of the present invention, the fixed frame includes:

[0057] A first panel 5, a second panel 4, a plurality of aluminum columns 13 and driving bolts 14, the first panel 5 and the second panel 4 are fixed by a plurality of aluminum columns 13, a second motor fixing plate 16 is provided on the second panel 4, and driving bolts 14 are provided through the fixing frame, and the driving bolts 14 are rotatably provided on the frame 8 close to one side of the frame 8 so that the walking mechanism can swing around the driving bolts 14.

[0058] In one embodiment of the present invention, the first panel 5 is close to the frame 8, and the first panel 5 is provided with fixing holes of several aluminum columns 13. The first motor 2 is fixedly installed on the first panel 5. The second panel 4 is provided with fixing holes of several aluminum columns 13 corresponding to the first panel 5. The first panel 5 and the second panel 4 are fixedly connected through the aluminum columns 13 to form a fixed frame. The second panel 4 is also provided with a second motor fixing plate 16. The second motor fixing plate 16 is fixed to the inner side of the frame by bolts to fix the output end of the second motor 3. A driven gear center axis 15 is also provided between the first panel 5 and the second panel 4. The driven gear 12 is rotatably connected to the center axis through a bearing. Both ends of the driven gear center axis 15 are fixed to the first panel 5 and the second panel 4. A plug bolt 14 is also provided between the first panel 5 and the second panel 4. The plug bolt 14 is located on the meshing line of the driving gear 10 and the driven gear 12, and is set at the end away from the walking plane 1. The plug bolt 14 passes through the first panel 5 and is rotatably connected to the frame 8. The fixed frame can rotate around the plug bolt 14. The centers of the driving gear 10 and the driven gear 12 are at the same distance from the plug bolt 14. When the fixed frame swings, the midpoint height of the center line of the driving gear 10 and the driven gear 12 remains unchanged, making the fixed frame swing more smoothly.

[0059] In one embodiment of the present invention, the first direction walking wheel 9 is in contact with the walking plane 1, and the second direction walking wheel 11 is not in contact with the walking plane 1. The second motor 3 keeps working, so that the driving gear 10 and the driven gear 12 keep the opposite rotation directions. The driving gear 10 drives the first direction walking wheel 9 to rotate, and then drives the walking mechanism to move. During the movement, the second direction walking wheel 11 also keeps rotating, and the rotation direction is opposite to that of the first direction walking wheel 9. At the same time, the reversing mechanism and the frame 8 also move with the walking mechanism. The first connecting rod 6 and the second connecting rod 7 in the reversing mechanism are located near an extreme position, and the first motor 2 does not work. When the walking mechanism needs to move in the opposite direction, the first motor 2 works, drives the first connecting rod 6 to rotate to another extreme position, and then the first motor 2 stops working. The distance between the first motor 2 and the frame 8 is shortened, so that the fixed frame swings, and the distance between the fixed frame on the side of the first motor 2 and the walking plane 1 is shortened, so that the second direction walking wheel 11 is in contact with the walking plane 1, and the first direction walking wheel 9 is separated from the walking plane 1. During the switching process, the first direction walking wheel 9 and the second direction walking wheel 11 are both in a rotating state, thereby achieving rapid reversal. Through the small-range mechanical movement of the reversing mechanism, the kinetic energy loss during rapid reversal is reduced, the motor life is extended, and the change-of-direction efficiency and flexibility are improved.

[0060] like Figure 7 As shown, an embodiment of the present invention also provides a fast track reversal device, comprising: a frame 8, a traveling mechanism is rotatably connected to the frame 8, and the frame 8 is used to support the traveling mechanism;

[0061] A walking mechanism, the walking mechanism at least includes a rotating wheel train, a driving device and a fixed frame, the rotating wheel train is installed on the fixed frame, the rotating wheel train includes a first direction walking wheel 9 and a second direction walking wheel 11, the driving device is used to drive the rotating wheel train to rotate, and the first direction walking wheel 9 and the second direction walking wheel 11 rotate in opposite directions; a reversing mechanism, the reversing mechanism is connected to the frame 8 and the walking mechanism, and is used to change the moving direction of the frame 8 on the walking plane 1 by driving the walking mechanism to swing relative to the walking plane 1, switching the first direction walking wheel 9 or the second direction walking wheel 11 to contact with the walking plane 1; and

[0062] Track 17, frame 8 is slidably arranged on track 17, and track 17 provides a set movement route for the walking mechanism.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A quick reverse device, characterized in that: include: A frame, to which a traveling mechanism is rotatably connected, and the frame is used to support the traveling mechanism; A walking mechanism, the walking mechanism at least comprises a rotating wheel train, a driving device and a fixed frame, the rotating wheel train is mounted on the fixed frame, the rotating wheel train comprises a first direction walking wheel and a second direction walking wheel, the driving device is used to drive the rotating wheel train to rotate, and the first direction walking wheel and the second direction walking wheel rotate in opposite directions; as well as A reversing mechanism, the reversing mechanism is connected to the frame and the walking mechanism, and is used to change the moving direction of the frame on the walking plane by driving the walking mechanism to swing relative to the walking plane and switching the first direction walking wheel or the second direction walking wheel to contact the walking plane; The reverse mechanism comprises: A first motor, which is fixedly mounted on the fixed frame and is used to drive the first connecting rod to rotate; A first connecting rod, one end of which is rotatably connected to the output shaft of the first motor, and the other end of which is rotatably connected to the second connecting rod; One end of the second connecting rod away from the first connecting rod is rotatably connected to the frame; The parallel position of the straight line where the first connecting rod is located and the straight line where the second connecting rod is located is the extreme position, and there are two extreme positions. The first connecting rod and the second connecting rod are configured such that when the first connecting rod rotates to the first extreme position, the first direction walking wheel contacts the walking plane, and when the first connecting rod rotates to the second extreme position, the second direction walking wheel contacts the walking plane; The first extreme position is a position where a straight line where the first connecting rod is located is parallel to a straight line where the second connecting rod is located, and the first connecting rod and the second connecting rod overlap each other; The second extreme position is a position where a straight line where the first connecting rod is located is parallel to a straight line where the second connecting rod is located, and the first connecting rod and the second connecting rod do not overlap.

2. A quick reverse device according to claim 1, characterized in that: The driving device comprises: A second motor and a transmission assembly, wherein the transmission assembly connects the second motor and the rotating gear train and is used to transmit power to the rotating gear train, and the second motor is fixedly mounted on the fixed frame.

3. A quick reverse device according to claim 2, characterized in that: The transmission assembly comprises: A driving gear, the center of which is rotatably connected to the output shaft of the second motor and rotates synchronously with the output shaft, A driven gear is rotatably connected to the fixed frame and meshes with the driving gear for rotation. The driving gear and the driven gear rotate in opposite directions.

4. A quick reversal device according to claim 1, characterized in that: The number of the first direction walking wheel and the number of the second direction walking wheel are both one, the first direction walking wheel is fixedly connected to the driving gear, and the second direction walking wheel is fixedly connected to the driven gear.

5. A quick reversal device according to claim 1, characterized in that: The fixed frame comprises: A first panel, a second panel, a plurality of aluminum columns and driving bolts, the first panel and the second panel are fixed by the plurality of aluminum columns, the second panel is provided with a second motor fixing plate, the fixing frame is penetrated by the driving bolts, the driving bolts are rotatably arranged on the frame close to one side of the frame, so that the walking mechanism swings around the driving bolts.

6. A fast track reversal device, characterized in that: include: A quick reversing device as claimed in any one of claims 1 to 5; as well as A track, on which the frame is slidably arranged, and the track provides a set movement route for the walking mechanism.

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