High-speed ultralight stacking machine

Abstract

The invention relates to the field of stackers, in particular to a high-speed ultralight stacker, which is characterized in that a stand column is formed by bending, locking and connecting two metal plates, the process is simple, and a relatively thin steel plate can be adopted to reduce the weight; the strength of the steel plate is greatly enhanced after the steel plate is bent, the bent surface after bending can be used as a guide rail wall or a connecting wall, and additional parts such as a guide rail do not need to be installed. When the operation stability of the stacking machine is guaranteed, the anti-falling devices are arranged on the two sides of the walking assembly, when the stacking machine turns on one side or upwarps, the connecting rods of the anti-falling devices have the movement tendency perpendicular to the rails, and the two anti-falling wheels get close to each other and compress the second elastic elements. At the moment, the second elastic element provides buffering to counteract the inclination trend of the stacking machine, meanwhile, the first elastic element is lengthened, and the buffering capacity is further improved.

Description

Technical Field

[0001] The invention relates to the technical field of stackers, in particular to a high-speed and ultra-light stacker. Background Art

[0002] Stacker is an important equipment in stereoscopic warehouse, which is widely used in various industries to realize intelligent storage of goods. There are many factors affecting the operation efficiency of stacker, among which the stability of main support mechanism and driving mechanism is one of the main factors affecting the operation parameters of stacker.

[0003] In the prior art, the column structure is the main load-bearing structure of the stacker, which is used to support the stacker so that the stacker can extend longitudinally, and also provides guidance and support for the lifting and picking of the cargo platform. At present, the column structure mainly includes rectangular tube (including square tube) structure, steel plate and steel welded structure and aluminum profile molded structure. Among them, the strength of the rectangular tube structure cannot meet the use conditions when the height is super high (up to 30m) and the speed is super fast (up to 240m / min); the steel plate and steel welded structure is suitable for overweight and super high (30m and above) occasions, the manufacturing process is complicated, and its own weight is large, and it is not suitable for ultra-high speed driving occasions; although the aluminum alloy molded structure has a very small mass, it is generally used in occasions below 12m in height, the cost is high, and its length is limited, which makes the use occasions too limited.

[0004] When used in ultra-high and ultra-high-speed situations, the shaking of the column increases, affecting the stability of operation; at the same time, during the acceleration or deceleration process, the "head-lifting" phenomenon is prone to occur, resulting in incomplete contact between the walking wheels and the track, affecting the walking transmission efficiency.

[0005] Therefore, how to increase the height of the column and reduce its own weight while ensuring the bearing capacity of the column and ensuring the stability of the high-speed operation of the stacker is a problem that technical personnel in this field need to consider. Summary of the invention

[0006] The purpose of the present invention is to provide a high-speed ultra-light stacker to solve the problems of unstable high-speed operation of ultra-high and ultra-light column stackers in the prior art.

[0007] The technical solution of the present invention is: a high-speed ultra-light stacker, comprising a column, an upper crossbeam assembly arranged above the column, a lifting assembly connected to the upper crossbeam assembly; a walking assembly arranged below the column, the walking assembly being arranged on a track; The column comprises an upper fixing seat, a column body and a lower fixing seat, wherein the column body is arranged between the upper fixing seat and the lower fixing seat; The column body is formed by a plurality of column groups connected to each other in the length direction, each of the column groups is formed by two vertical plates symmetrically enclosing each other and having a column structure penetrating inside in the length direction; the vertical plate forms a flat wall at the center in the width direction, and two first side grooves symmetrically opened inwardly and two second side grooves symmetrically opened outwardly are arranged on both sides; the first side grooves and the second side grooves are connected in parallel, the bottom surface of the first side groove forms a guide rail wall, and the second side groove forms a connecting wall away from the side wall of the first side groove, and the two vertical plates of each group are connected to each other through the connecting wall; A support frame is arranged inside the column group, and two ends of the support frame are respectively connected to the inner walls of both sides of the vertical plate in the width direction.

[0008] Preferably, the support frame includes a first support rod, and two ends of the first support rod are respectively abutted and connected to the bottom of the second side groove.

[0009] Preferably, the first support rod is connected to the second support rod via a connecting rod, and two ends of the second support rod are respectively connected to the bottom of the first side groove; The second support rod is connected to a third support rod, and one end of the third support rod away from the second support rod is in contact with the flat wall.

[0010] Preferably, the side wall of the first side groove away from the flat plate wall is the first side wall, and the first side groove and the second side groove use the first side wall as a common side wall.

[0011] Preferably, a bolt hole is provided on the connecting wall, and the two vertical plates are connected by bolts provided in the bolt hole.

[0012] Preferably, the vertical plate is an integrally formed structure.

[0013] Preferably, the walking wheels of the walking assembly are arranged at the upper end of the track, and an anti-slip device is connected to the side plate, the anti-slip device includes an anti-slip wheel, the anti-slip wheel is connected to the side of the walking assembly through a connecting rod, and the anti-slip wheel is arranged in the outer groove of the I-shaped track and connected to the lower end surface of the upper wing plate of the I-shaped track.

[0014] Preferably, the anti-slip device further comprises a fixing block fixedly connected to the side plate of the walking assembly, a connecting plate connected above the fixing block, one end of the connecting rod is rotatably connected to the connecting plate, and the other end is rotatably connected to the rotating shaft of the anti-slip wheel; A first elastic element is also connected to the anti-slip wheel, and one end of the first elastic element away from the anti-slip wheel is connected to the side plate of the walking assembly; under normal working conditions, the connecting rod is inclined in the vertical direction, and the inclination direction of the end of the connecting rod close to the connecting plate is away from the first elastic element.

[0015] Preferably, the anti-slip wheels are provided with two, and the corresponding connecting rods and first elastic elements are provided with two; The two anti-slip wheels are connected via a second elastic element, and both ends of the second elastic element are respectively rotatably connected to the rotating shafts of the two anti-slip wheels; the second elastic element causes the two anti-slip wheels to form a driving tendency to move away from each other.

[0016] Preferably, the first elastic element is connected to the side plate of the walking assembly through a hook ring, and the hook ring and the side plate are movably connected; One end of the first elastic element away from the hook ring is connected to the end of the second elastic element.

[0017] Compared with the prior art, the advantages of the present invention are: (1) In the column structure, there are mainly two sheet metal vertical plates that are bent and locked together. The vertical plates can be made of thinner steel plates. Bending can increase local strength and provide a larger moment of inertia. The structure and manufacturing are simple, and different cross-sectional sizes and steel plate thicknesses can be easily adjusted, which reduces production costs. Compared with finished rectangular tubes / aluminum profiles, it is lighter in weight, has sufficient rigidity, and can provide a better support for stackers in different segmented areas below 30m. Compared with steel plate and steel welded structures, there is no large amount of welding, it is lighter in weight, and has a simpler production process. (2) When the vertical plate is formed, the steel plate is bent symmetrically multiple times to strengthen its strength and rigidity for the first time; the support of multiple support frames prevents the vertical plate from twisting and deformation when bearing loads, thus achieving the second reinforcement; the two vertical plates are connected to each other to form a column group, thus achieving the third reinforcement, thereby ensuring the bearing capacity of the column; in addition, the bent surface can also be used as a guide rail or connecting part at the same time, without the need for additional processing of the guide rail or connecting part, further reducing the production cost; (3) By setting up the anti-slip device, when the stacker is running at high speed (240m / min), the shaking drive can be offset in time when the stacker has a tendency to shake, preventing further deviation or tipping; in addition, it can provide reverse pressure on the connection between the walking wheel and the track, so that the two are always closely combined and have stable friction, ensuring stability during operation; (4) By setting the first elastic element and the second elastic element, not only can the anti-slip wheel maintain pressure on the track wing plate, but the anti-slip device can also be automatically restored after a lateral or longitudinal tilt occurs, without the need for manual intervention and correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 This is a schematic structural diagram of the high-speed ultra-light stacker of the present invention; Figure 2It is a structural schematic diagram of the column of the present invention; Figure 3 It is a structural schematic diagram of the support frame of the present invention; Figure 4 Based Figure 1 The enlarged structural diagram at A in the middle; Figure 5 It is a side view structural schematic diagram of the anti-slip device of the present invention; Figure 6 It is a structural schematic diagram of the process of the anti-slip device of the present invention performing a corrective action.

[0019] Wherein: column 1, upper fixing seat 11, lower fixing seat 12, column body 13, vertical plate 131, guide rail wall 131a, connecting wall 131b, flat wall 131c first side groove 1311, second side groove 1312, first side wall 1314, support frame 132, first support rod 1321, second support rod 1322, connecting rod 1323, third support rod 1324; Upper crossbeam assembly 2; Lifting component 3; Walking component 4; Anti-slip device 5, anti-slip wheel 51, fixing block 52, connecting plate 53, first elastic element 54, connecting rod 55, second elastic element 56, hook ring 57; Track 6, wing plate 61. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with specific embodiments: like Figure 1 As shown, the present invention is applied to the manufacture of stacker equipment with super-high height (up to 30m) and super-light weight, and to ensure the stability of high-speed operation of the stacker. That is, it is necessary to ensure the strength of the column and the lightness of its own weight, and to ensure the stability of the stacker operation during high-speed movement, so as to avoid the phenomenon of rollover or tilting during acceleration and deceleration, resulting in poor contact between the walking wheel and the track. In the present invention, the column is connected by two sheet metal bending and locking, the process is relatively simple, and relatively thin steel plates can be used to reduce the weight; the strength of the steel plate is greatly enhanced after bending, and the bent surface after bending can be used as a guide rail wall or connecting wall, without the need for additional installation of guide rails and other components. When ensuring the stability of the stacker operation, anti-slip devices are set on both sides of the walking assembly. When the stacker rolls over or tilts, the connecting rod of the anti-slip device has a movement tendency perpendicular to the track, and the two anti-slip wheels approach each other and compress the second elastic element. At this time, the second elastic element provides a buffer to offset the tilting tendency of the stacker. At the same time, the first elastic element is elongated to further improve the buffering capacity. Specifically: like Figure 2-Figure 3As shown, a high-speed ultra-light stacker includes a column 1 supporting the main body of the stacker, and two columns 1 are arranged in the forward direction of the stacker; an upper crossbeam assembly 2 is arranged above the column 1, and a lifting assembly 3 is connected to the upper crossbeam assembly 2. Articles are placed on the lifting assembly 3, and are moved in the vertical direction under the drive of the lifting assembly 3. When they reach the corresponding position, they are picked up and placed by the fork on the lifting assembly 3; a walking assembly 4 is connected below the column 1, and the walking assembly 4 has two locations and is respectively arranged at the front and rear ends in the forward direction of the stacker, and the walking wheels of the walking assembly 4 are connected to the track below so that the walking assembly 4 can move on the track. Of course, the stacker is provided with an anti-fall device, a control device, etc., and the walking assembly 4 is also provided with a driving device, a guiding device, etc., which are not the main contents of this embodiment and will not be repeated here.

[0021] The column 1 comprises an upper fixing seat 11, a column body 13 and a lower fixing seat 12, wherein the column body 13 is arranged between the upper fixing seat 11 and the lower fixing seat 12. The upper crossbeam assembly 2 is arranged above the upper fixing seat 11, and the walking assembly 4 is arranged below the lower fixing seat 12.

[0022] The column body 13 is formed by a plurality of column groups connected to each other in the length direction, and each column group is formed by two vertical plates 131 symmetrically enclosed with each other, and the inner side is a penetrating column structure in the length direction; the vertical plate 131 forms a flat wall 131c at the center of the width direction, and two symmetrical U-shaped first side grooves 1311 opening inward and two symmetrical U-shaped second side grooves 1312 opening outward are arranged on both sides. In this embodiment, the vertical plate 131 is an integrally formed structure, which can be formed by bending the sheet metal multiple times. After forming, one side wall of the first side groove 1311 is a flat wall 131c, and the other side wall is a first side wall 1314, and a guide wall 131a is formed between the flat wall 131c and the first side wall 1314; when the lifting assembly 3 of the stacker moves in the vertical direction, the guide wheel can move on the guide wall 131a. One side wall of the second side groove 1312 is a first side wall 1314 shared with the first side groove 1311, and the other side wall is a connecting wall 131b, on which a bolt hole is provided, and the two vertical plates 131 of each group are connected to each other through bolts provided in the bolt hole. The bolt hole or other holes or notches on the vertical plate 131 can be directly formed when the vertical plate 131 is blanked, with high precision and without the need for additional processing.

[0023] The formation of the first side groove 1311 and the second side groove 1312 not only provides structural functions for the stacker, but also strengthens the strength of the vertical plate 131 by bending; the symmetrical connection of the two vertical plates further increases the overall strength of the column body 13. At the same time, the second side groove 1312, which is set inward, can be used to accommodate the protruding bolt head, so that the entire vertical plane where the guide wall 131a is located is unobstructed, providing sufficient avoidance space for other structures to move against the guide wall 131a.

[0024] A support frame 132 is provided inside the column group, and the two ends of the support frame 132 are respectively connected to the inner walls of the two sides of the vertical plate 131 in the width direction. Specifically, the support frame 132 includes a first support rod 1321, and the two ends of the first support rod 1321 are respectively connected to the bottom of the second side groove 1312. The first support rod 1321 is connected to the second support rod 1322 through a connecting rod 1323, and the two ends of the second support rod 1322 are respectively connected to the bottom of the first side groove 1311.

[0025] Each vertical plate 131 may be provided with a plurality of support frames 132 in the length direction, which mainly play a supporting role to ensure the accuracy of the vertical plate after forming; the plurality of support rods in the support frame 132 may be formed by welding and connecting thin-walled pipes, which have a small weight and low cost. Of course, it may also be formed by bending aluminum alloy or sheet metal. When the lifting assembly 3 moves vertically, its guide wheel is connected in contact with the guide rail wall 131a, and the setting of the second support rod 1322 strengthens the guide rail wall 131a to prevent it from bending inward and affecting the accuracy. In some embodiments, the lifting assembly 3 is also provided with a guide wheel that moves on the flat wall 131c, so that a third support rod 1324 may be connected to the second support rod 1322, and the end of the third support rod 1324 away from the second support rod 1322 is connected in contact with the flat wall 131c to support the flat wall 131c. In application, the support frame 132 is connected to the vertical plate 131 through bolts at both ends of the first support rod 1321. When connected, when the two ends of the first support rod 1321 are tightened and fixed to the bottom of the second side groove at both ends, the opening size of the vertical plate after bending is fixedly supported, and at the same time, the second support rod 1322 and the third support rod 1324 are respectively supported by the inner side of the track wall and the flat plate wall. In summary, in this application, the multiple abutting surfaces between the support frame 132 and the inner wall of the column 1 are all planes, and the method of partial fixed connection and partial direct abutment can achieve enhanced positioning; taking this embodiment as an example, there are five abutting surfaces between the support frame 132 and the inner wall of the column 1, and only the two ends of the first support rod 1321 are fixed to the vertical plate 131, and the other abutting surfaces do not need to be fixedly connected, and the overall positioning and installation of the support frame 132 can be achieved through the limit of the structure itself. Furthermore, the second support rod 1322 disposed between a pair of guide rail walls 131a can play a role in positioning and reinforcement without a fixing structure (bolts) at both ends, and also makes it possible for the corresponding abutting side wall to be constructed as the guide rail wall 131a.

[0026] In this embodiment, when the vertical plate 131 is formed, the steel plate is bent symmetrically for the first time to strengthen the strength and rigidity; the support of multiple support frames 132 prevents the vertical plate 131 from twisting and deforming when bearing weight, achieving the second strengthening; the two vertical plates 131 are connected to each other to form a column group, achieving the third strengthening, thereby ensuring the bearing capacity of the column 1. The bending process can also guarantee the overall accuracy (straightness, flatness) to the maximum extent; in addition, the structure of the column 1 can be fixed in sections as standard parts, which is suitable for occasions of different heights, and is conducive to modularization and convenient transportation.

[0027] During the operation of the stacker, the higher the column 1 is, the greater the risk of shaking, and the greater the risk of the stacker derailing or tipping. Therefore, it is necessary to set the stacker to prevent it from falling off to increase its operating stability. Specifically: like Figure 4-Figure 5As shown, the anti-slip device 5 is arranged on both sides of the traveling assembly 4 and connected to the side plates on both sides thereof. There are traveling assemblies 4 in front and behind the running direction of the stacker, so four anti-slip devices 5 are arranged. It includes an anti-slip wheel 51, which is connected to the side of the traveling assembly 4 through a connecting rod 55, and the anti-slip wheel 51 is arranged in the outer groove of the I-shaped track 6 and abuts against the lower end surface of the upper wing plate of the I-shaped track 6.

[0028] The anti-slip device 5 also includes a fixed block 52 fixedly connected to the side plate of the walking assembly 4, and a connecting plate 53 connected above the fixed block 52. The fixed block 52 and the connecting plate 53 can be connected by bolts, and a pad can be set between the fixed block 52 and the connecting plate 53 to adjust the anti-slip device 5 to prevent the stacker from tilting to the limit, that is, the tilt angle of the connecting rod 55 under normal conditions. One end of the connecting rod 55 is rotatably connected to the connecting plate 53, and the other end is rotatably connected to the rotating shaft of the anti-slip wheel 51. A first elastic element 54 is also connected to the anti-slip wheel 51, and one end of the first elastic element 54 away from the anti-slip wheel 51 is connected to the side plate of the walking assembly 4. There are two anti-slip wheels 51, and two corresponding connecting rods 55 and first elastic elements 54 are provided. The two anti-slip wheels 51 are connected by a second elastic element 56, and the two ends of the second elastic element 56 are respectively rotatably connected to the rotating shafts of the two anti-slip wheels 51; the second elastic element 56 forms a driving trend for the two anti-slip wheels 51 to move away from each other.

[0029] In this embodiment, Figure 6 As shown, in the normal working state or at rest, the connecting rod 55 is in an inclined state in the vertical direction, and the two connecting rods 55 are in an eight-shaped shape, the second elastic element 56 is in a compressed or free state, and the first elastic element 54 is in a stretched or free state. When the stacker tilts or tilts during acceleration and deceleration, the walking assembly 4 moves up relative to the track 6, that is, the lower end height of the connecting rod 55 remains unchanged, and the upper end height moves up, thereby causing the connecting rod 55 to rotate, and at the same time, the two anti-slip wheels 51 approach each other, compressing the second elastic element 56, and the first elastic element 54 is stretched. The elastic force of the first elastic element 54 and the second elastic element 56 are both transmitted to the track 6 through the anti-slip wheel 51, thereby pulling the stacker to prevent it from tilting too much. At the same time, under the action of the first elastic element 54 and the second elastic element 56, correction is achieved. When the stacker tilts too much and reaches the safety limit of the anti-slip device 5, the connecting rod 55 rotates until the rails 6 are perpendicular to each other. At this time, the connecting rod 55 and the anti-slip wheel 51 directly pull the stacker back to offset the overturning force and achieve correction.

[0030] It should be noted that in this embodiment, two anti-slip wheels 51 are provided. When there are debris on the wing plate of the track 6, the two anti-slip wheels 51 sequentially cross the debris. At this time, the first elastic element 54 is stretched, and the second elastic element 56 is compressed to a very small range. This design greatly avoids the sudden increase in the contact friction between the running wheel and the track 6 due to the pullback of the anti-slip device 5 during normal operation, and the occurrence of a sudden deceleration, further ensuring the stability of the stacker operation.

[0031] In addition, the anti-slip wheel 51 is always in contact with the track 6, and a pre-tightening pressure is provided through the first elastic element 54, which provides friction when the stacker is operating normally. During acceleration, the column 1 is tilted due to inertia, causing the traveling wheel 4 to lift / tilt. The anti-slip device 5 can not only prevent tipping well, but also keep the traveling wheel 4 in contact with the track 6 at all times, ensuring that the friction does not disappear and the traveling wheel 4 does not slip, which can greatly improve the operating speed and acceleration.

[0032] In addition, the first elastic element 54 is connected to the side plate of the walking assembly 4 through a hook ring 57, and the hook ring 57 is movably connected to the side plate to facilitate the movement of the first elastic element 54 and avoid rapid wear during long-term use. The end of the first elastic element 54 away from the hook ring can be connected to the end of the second elastic element 56, and can also be connected to the end of the connecting rod 55 close to the anti-slip wheel 51. The first elastic element 54 and the second elastic element 56 can both be devices such as springs or tensioners. A protective cover can be provided on the side of the anti-slip device 5 away from the walking assembly 4 to avoid being affected by external debris during operation.

[0033] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the scope of protection of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention.

Claims

1. A high-speed ultra-light stacker, characterized in that: It includes a column, an upper crossbeam assembly arranged above the column, and a lifting assembly is connected to the upper crossbeam assembly; a walking assembly arranged below the column, and the walking assembly is arranged on a track; The column comprises an upper fixing seat, a column body and a lower fixing seat, wherein the column body is arranged between the upper fixing seat and the lower fixing seat; The column body is formed by a plurality of column groups connected to each other in the length direction, each of the column groups is formed by two vertical plates symmetrically enclosing each other and having a column structure penetrating inside in the length direction; the vertical plate forms a flat wall at the center in the width direction, and two first side grooves symmetrically opened inwardly and two second side grooves symmetrically opened outwardly are arranged on both sides; the first side grooves and the second side grooves are connected in parallel, the bottom surface of the first side groove forms a guide rail wall, and the second side groove forms a connecting wall away from the side wall of the first side groove, and the two vertical plates of each group are connected to each other through the connecting wall; A support frame is arranged inside the column group, and two ends of the support frame are respectively connected to the inner walls of both sides of the vertical plate in the width direction.

2. A high-speed ultra-light stacker according to claim 1, characterized in that: The support frame includes a first support rod, and two ends of the first support rod are respectively abutted and connected to the bottom of the second side groove.

3. A high-speed ultra-light stacker according to claim 2, characterized in that: The first support rod is connected to the second support rod through a connecting rod, and two ends of the second support rod are respectively connected to the bottom of the first side groove; The second support rod is connected to a third support rod, and one end of the third support rod away from the second support rod is in contact with the flat wall.

4. The high-speed ultra-light stacker according to claim 1, characterized in that: The side wall of the first side groove away from the flat plate wall is a first side wall, and the first side groove and the second side groove use the first side wall as a common side wall.

5. The high-speed ultra-light stacker according to claim 1, characterized in that: The connecting wall is provided with bolt holes, and the two vertical plates are connected by bolts arranged in the bolt holes.

6. The high-speed ultra-light stacker according to claim 1, characterized in that: The vertical plate is an integrally formed structure.

7. The high-speed ultra-light stacker according to claim 1, characterized in that: The walking wheel of the walking assembly is arranged at the upper end of the track, and an anti-slip device is connected to the side plate. The anti-slip device includes an anti-slip wheel, and the anti-slip wheel is connected to the side of the walking assembly through a connecting rod. The anti-slip wheel is arranged in the outer groove of the I-shaped track and is connected to the lower end surface of the upper wing plate of the I-shaped track.

8. The high-speed ultra-light stacker according to claim 7, characterized in that: The anti-slip device also includes a fixing block fixedly connected to the side plate of the walking assembly, a connecting plate connected above the fixing block, one end of the connecting rod is rotatably connected to the connecting plate, and the other end is rotatably connected to the rotating shaft of the anti-slip wheel; A first elastic element is also connected to the anti-slip wheel, and one end of the first elastic element away from the anti-slip wheel is connected to the side plate of the walking assembly; under normal working conditions, the connecting rod is inclined in the vertical direction, and the inclination direction of the end of the connecting rod close to the connecting plate is away from the first elastic element.

9. The high-speed ultra-light stacker according to claim 8, characterized in that: The anti-slip wheels are provided with two, and the corresponding connecting rods and first elastic elements are provided with two; The two anti-slip wheels are connected via a second elastic element, and both ends of the second elastic element are respectively rotatably connected to the rotating shafts of the two anti-slip wheels; the second elastic element causes the two anti-slip wheels to form a driving tendency to move away from each other.

10. The high-speed ultra-light stacker according to claim 9, characterized in that: The first elastic element is connected to the side plate of the walking assembly through a hook ring, and the hook ring and the side plate are movably connected; One end of the first elastic element away from the hook ring is connected to the end of the second elastic element.

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