Bucket-wheel reclaimer

Abstract

The invention discloses a bucket-wheel reclaimer which comprises a bucket-wheel mechanism, a vehicle body mechanism, a conveying mechanism and a balance mechanism. The bucket-wheel mechanism is connected with the vehicle body mechanism through the balance mechanism, the bucket-wheel mechanism is connected with one end of the conveying mechanism and enables extracted materials to fall onto the conveying mechanism, and the middle of the conveying mechanism is connected with the balance mechanism. The bucket wheel mechanism comprises a power shaft used for transmitting power and two material taking wheels which are coaxially arranged with the power shaft and fixedly arranged on the outer side of the power shaft in a sleeving mode in a symmetrical structure. The edge of each material taking wheel is provided with an inclined face inclining in the direction away from the other material taking wheel, the inclined faces are fixedly connected with a plurality of material shoveling hoppers, and the material shoveling hoppers are arranged at equal intervals in the circumferential direction of the material taking wheels. The power shaft is in transmission connection with the conveying mechanism, and the conveying mechanism transmits rotating power to the power shaft.

Description

Technical Field

[0001] The invention relates to the field of mechanical equipment, and in particular to a bucket wheel reclaimer. Background Art

[0002] A bucket wheel reclaimer is an efficient loading and unloading machine used for material transportation and stacking. It combines the continuous conveying functions of stacking and reclaiming. Patent No. ZL202410990204.8 discloses an environmentally friendly bucket wheel reclaimer that can achieve the technical effects of bucket wheel reclaiming and feeding. However, the bucket wheel reclaimer has a complex structure and is difficult to assemble. At the same time, since the reclaiming mechanism is arranged at the front end of the vehicle body, there will be an imbalance in the counterweight when the reclaiming action is performed, resulting in the vehicle body tilting forward. Therefore, it is necessary to study a bucket wheel reclaimer with a new structure to solve the above problems. Summary of the invention

[0003] The object of the present invention is to provide a bucket wheel reclaimer with simple structure and convenient use in view of the above problems.

[0004] In order to achieve the above object, the technical solution of the present invention is: A bucket wheel reclaimer comprises a bucket wheel mechanism, a vehicle body mechanism, a conveying mechanism and a balancing mechanism; the bucket wheel mechanism is connected to the vehicle body mechanism through a balancing mechanism, the bucket wheel mechanism is connected to one end of the conveying mechanism and drops the extracted material onto the conveying mechanism, and the middle part of the conveying mechanism is connected to the balancing mechanism; the bucket wheel mechanism comprises a power shaft for transmitting power and two reclaiming wheels which are coaxially arranged with the power shaft and fixedly sleeved on the outside of the power shaft in a symmetrical structure; the edge of the reclaiming wheel is provided with an inclined surface inclined away from the other reclaiming wheel, a plurality of shoveling buckets are fixedly connected to the inclined surface, and the plurality of shoveling buckets are arranged at equal intervals along the circumferential direction of the reclaiming wheel; the power shaft is transmission-connected to the conveying mechanism and the conveying mechanism transmits rotational power to it.

[0005] Furthermore, the shovel bucket is in the shape of an open shell with a larger width at one end close to the edge of the hopper and a smaller width at one end away from the edge of the hopper. The end of the shovel bucket close to the edge of the hopper is bent along the circumferential direction of the shovel bucket.

[0006] Furthermore, the conveying mechanism includes a mounting frame, a driving wheel, a driven wheel, a conveyor belt, and a power motor; one end of the mounting frame is located between the two feeding wheels and is rotatably connected to the driving wheel, the middle of the mounting frame is connected to the balancing mechanism, and the other end of the mounting frame is rotatably connected to the driven wheel. The transmission belt is sleeved on the driving wheel and the outer side of the driven wheel and drives the transmission belt and the driven wheel to rotate through the driving wheel; the driving wheel is transmission-connected to the power motor fixed on the mounting frame; the driving wheel is coaxially arranged with the power shaft, the power shaft passes through the driving wheel and the driving wheel is transmission-connected to the power shaft.

[0007] The cam is connected to the bottom end of the support frame, and the cam is connected with the support frame by the upper and lower ends of the support frame, and the cam is connected with the support frame by the upper and lower ends of the support frame.

[0008] Furthermore, two groups of the first pulling rod and the second pulling rod are provided, and the two groups of the first pulling rod and the second pulling rod are symmetrically arranged on both sides of the column.

[0009] Furthermore, the vehicle body structure includes a vehicle body, a chassis assembly, and a traveling assembly. The top end of the vehicle body is fixedly connected to the bottom end of the pillar and the bottom end of the second pulling rod, and the bottom end of the vehicle body is connected to the traveling assembly through the chassis assembly.

[0010] Furthermore, the chassis assembly includes a connecting plate, a supporting gear, and a power gear. Both ends of the connecting plate are fixedly connected to the traveling assembly. The top of the center position of the connecting plate is fixedly connected to the supporting gear. The top of the supporting gear is rotatably connected to the bottom of the vehicle body. The power gear is arranged on the outer periphery of the supporting gear and meshingly connected with the supporting gear. The power gear is transmission-connected to a power source fixedly connected to the vehicle body.

[0011] Furthermore, the walking assembly includes an inner box body, an outer box body, a track, a tensioning wheel, a tensioning plate, a fixing pin, and a driving wheel; one side wall of the inner box body is welded to the connecting plate, and the other side wall of the inner box body is fixedly connected to the outer box body by a fixing pin, the bottom end of the tensioning plate is arranged between the inner box body and the outer box body, the bottom end of the tensioning plate is bolted to the outer box body and can be adjusted in height, the top end of the tensioning plate extends above the outer box body and is rotatably connected to the tensioning wheel; both ends of the inner box body in the length direction are rotatably connected to the driving wheel, the driving wheel is transmission-connected to the power source fixedly connected to the inner box body and realizes power transmission through the power source; the track is arranged on the two driving wheels and the outer side of the tensioning wheel and drives the track to rotate and move through the driving wheel.

[0012] Furthermore, the bottom end of the outer box body is rotatably connected to a plurality of load-bearing wheels, and the plurality of load-bearing wheels are sequentially arranged along the length direction of the outer box body. The bottom end of the load-bearing wheel contacts the inner wall of the bottom end of the track and provides support for the outer box body.

[0013] Furthermore, the power source is a hydraulic motor; there are three hydraulic motors which transmit power to the power gears and two driving wheels respectively.

[0014] Compared with the prior art, the present invention has the following advantages and positive effects: In the present invention, the vehicle body mechanism realizes connection support to the bucket wheel mechanism through the balancing mechanism, and the bucket wheel mechanism forms a stable support structure under the action of the fork member, the column and the first pulling rod, and at the same time, the column and the vehicle body are pulled and positioned by the second pulling rod, so that the entire bucket wheel reclaimer forms a stable balanced structure, avoiding the situation that the vehicle body tilts forward when the bucket wheel mechanism reclaims materials, and improving the use effect of the bucket wheel reclaimer; On the other hand, the present invention provides support for the driving wheel in the conveying mechanism through the power shaft in the bucket wheel mechanism, thereby realizing the structural simplification of the conveying mechanism; at the same time, it realizes the material-retrieving action of the bucket wheel mechanism by providing power transmission to the power shaft through the driving wheel, thereby realizing the simplification of the power structure of the conveying mechanism and the bucket wheel mechanism; it effectively realizes the simplification of the structure of the bucket wheel reclaimer, reduces the assembly difficulty of the bucket wheel reclaimer, and further improves the use effect of the bucket wheel reclaimer. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the bucket wheel mechanism; Figure 3 It is the connection structure diagram of the bucket wheel mechanism; Figure 4 It is a partial structural diagram of the balancing mechanism; Figure 5 It is the connection structure diagram of the chassis assembly; Figure 6 It is a structural schematic diagram of the walking component; Figure 7 This is a partial structural diagram of the walking component. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work, any modifications, equivalent substitutions, improvements, etc., should be included in the protection scope of the present invention.

[0018] like Figures 1 to 7 As shown, this embodiment discloses a bucket wheel reclaimer, including a bucket wheel mechanism, a vehicle body mechanism, a conveying mechanism, and a balancing mechanism; the bucket wheel mechanism is connected to the vehicle body mechanism through the balancing mechanism, the bucket wheel mechanism is connected to one end of the conveying mechanism and the extracted material falls onto the conveying mechanism, and the middle part of the conveying mechanism is connected to the balancing mechanism; The bucket wheel mechanism includes a power shaft 3 for transmitting power and two feeding wheels 1 which are coaxially arranged with the power shaft 3 and fixedly sleeved on the outside of the power shaft in a symmetrical structure; the edge of the feeding wheel 1 is provided with an inclined surface 101 inclined away from the other feeding wheel, and a plurality of shovel buckets 2 are fixedly connected to the inclined surface 101, and the plurality of shovel buckets 2 are arranged at equal intervals along the circumferential direction of the feeding wheel 1; the power shaft 3 is transmission-connected to the conveying mechanism and the conveying mechanism transmits rotational power to it.

[0019] The shovel bucket 2 is in the shape of an open shell with a large width at one end close to the edge of the reclaiming bucket 1 and a small width at the other end away from the edge of the reclaiming bucket 1. The end of the shovel bucket 2 close to the edge of the reclaiming bucket 1 is bent along the circumferential direction of the shovel bucket. The outer port of the shovel bucket is large, which can shovel more materials and increase the material reclaiming rate; the inner port is small, and the design of the inclined surface on the reclaiming wheel can make the shoveled materials fall accurately on the conveyor belt, ensuring the accuracy of material transmission.

[0020] The conveying mechanism includes a mounting frame 12, a driving wheel, a driven wheel 10, a conveyor belt 8, and a power motor; one end of the mounting frame 12 is located between the two material-retrieving wheels 1 and is rotatably connected to the driving wheel, the middle part of the mounting frame 12 is connected to the balancing mechanism, and the other end of the mounting frame 12 is rotatably connected to the driven wheel 10, the transmission belt 8 is sleeved on the outside of the driving wheel and the driven wheel 10 and drives the transmission belt 8 and the driven wheel 10 to rotate through the driving wheel; the driving wheel is transmission-connected to the power motor fixed on the mounting frame 12; the driving wheel is coaxially arranged with the power shaft 3, the power shaft 3 passes through the driving wheel and the driving wheel is transmission-connected to the power shaft 3; in this design, the power shaft can also be directly used as the driving wheel, which is equivalent to one end of the conveyor belt being directly sleeved on the outside of the power shaft, and the driven wheel can be connected to the power motor to realize power transmission of the entire conveying mechanism, which can also achieve the technical effect in the present technical solution.

[0021] When working, the driving wheel in the conveying mechanism rotates with the power motor, driving the conveyor belt, the driven wheel and the power shaft to rotate; the power shaft drives the two feeding wheels to rotate, so that the shovel buckets on the two feeding wheels shovel materials in the material pile, and when the shovel bucket rotates to above the feeding wheel with the feeding wheel, the material in the shovel bucket slides along the inclined surface of the feeding wheel and finally flows out from the inner end of the shovel bucket, and the outflowing material falls onto the conveyor belt between the two feeding wheels, and is transported to other locations via the conveyor belt, thus realizing the feeding and conveying operation of the bucket wheel reclaimer; the entire operation can be realized by one power motor, which does not affect the work efficiency while simplifying the structural configuration, further improving the use effect of the present invention.

[0022] The balancing mechanism includes a fork member 13, a column 5, a first pulling rod 6, and a second pulling rod 7. The column 5 is fixedly connected to the upper end of the vehicle body mechanism, and a mounting avoidance groove 501 is provided at the bottom end of the column 5; one end of the fork member 13 is provided with a diverging structure and is rotatably connected to the two ends of the power shaft 3 respectively, and the other end of the fork member 13 extends into the mounting avoidance groove 501 and is connected to the pin shaft of the column 5; the first pulling rod 6 and the second pulling rod 7 are provided with two groups, and the two groups of the first pulling rod 6 and the second pulling rod 7 are symmetrically arranged on both sides of the column 5; the top of the column 5 is rotatably connected to a movable pin shaft 4, and a radially penetrating screw is provided on the movable pin shaft 4 Hole 401, the top end of the first pulling rod 6 is rotatably connected with a pulling screw 601, the pulling screw 601 passes through the radially through screw hole 401 and is threadedly connected to the radially through screw hole 401, the top end of the second pulling rod 7 is provided with a movable sleeve 701 and is rotatably sleeved on the outside of the movable pin 4 through the movable sleeve 701, the first pulling rod 6 and the second pulling rod 7 are both arranged in an inclined shape, the bottom end of the first pulling rod 6 is connected to the top pin in the middle of the fork member 13, and the bottom end of the second pulling rod 7 is connected to the rear end of the vehicle body assembly; the mounting frame 12 is located above the fork member 13, the middle part of the mounting frame 12 passes through the mounting avoidance groove 501 and the mounting frame 12 is connected to the pin of the column 5.

[0023] The balancing mechanism pulls and positions the fork member and the bucket wheel mechanism through the first pulling rod. During normal operation, the material taking wheel is in a lower position, and the stacked materials can be scooped normally. When the height of the bucket wheel mechanism needs to be adjusted, it is only necessary to rotate the pulling screw at the top of the first pulling rod to move it relative to the radial through screw hole to adjust the height position of the fork member and the bucket wheel mechanism. At the same time, when the height of the bucket wheel mechanism changes, one end of the driving wheel in the conveying mechanism will also change in height, so that the overall inclination of the conveying mechanism changes, ensuring that the material transfer coordination between the conveying mechanism and the bucket wheel mechanism is not affected. In addition, it should be noted that when the mounting parts in the conveying mechanism rotate with the bucket wheel mechanism, the mounting frame will produce a small amount of forward and backward movement during the rotation process due to the difference in the rotation path of the mounting frame and the rotation path of the fork member. Therefore, in the pin connection structure between the middle part of the mounting frame and the column, it is necessary to reserve a certain avoidance margin for the pin connection hole, or add a connecting rod between the two to avoid the precise pin connection hole from hindering the small amount of forward and backward movement of the mounting frame during rotation.

[0024] The vehicle body structure includes a vehicle body 11, a chassis assembly, and a traveling assembly 9. The top of the vehicle body 11 is fixedly connected to the bottom of the column 5 and the bottom of the second pulling rod 7, and the bottom of the vehicle body 11 is connected to the traveling assembly 9 through the chassis assembly.

[0025] The chassis assembly includes a connecting plate 14, a supporting gear 15, and a power gear 16. Both ends of the connecting plate 14 are fixedly connected to the walking assembly 9. The top of the center position of the connecting plate 14 is fixedly connected to the supporting gear 15. The top of the supporting gear 15 is rotatably connected to the bottom of the vehicle body 11. The power gear 16 is arranged on the outer periphery of the supporting gear 15 and meshingly connected to the supporting gear 15. The power gear 16 is connected to the output shaft of the hydraulic motor fixedly connected to the vehicle body 11.

[0026] By controlling the power gear to rotate forward and backward through the hydraulic motor on the vehicle body, a relative rotational force can be generated between the power gear and the supporting gear. Under this force, the vehicle body can rotate relative to the chassis assembly to achieve position and angle adjustment operations on the bucket wheel mechanism, conveying mechanism, and balancing mechanism.

[0027] The walking assembly 9 includes an inner box body 901, an outer box body 902, a crawler track 907, a tensioning wheel 905, a tensioning plate 904, a fixing pin 903, and a driving wheel 906; one side wall of the inner box body 901 is welded to the connecting plate 14, and the other side wall of the inner box body 901 is fixedly connected to the outer box body 902 through a fixing pin 903, and the bottom end of the tensioning plate 904 is arranged between the inner box body 901 and the outer box body 902, and the bottom end of the tensioning plate 904 is bolted to the outer box body 902 and can be During the height adjustment action, the top of the tensioning plate 904 extends above the outer box body 902 and is rotatably connected to the tensioning wheel 905; both ends of the inner box body 901 in the length direction are rotatably connected to the driving wheels 906, and the driving wheel 906 is transmission-connected to the hydraulic motor fixedly connected to the inner box body 901 and realizes power transmission through the hydraulic motor; the crawler track 907 is mounted on the two driving wheels 906 and the outer side of the tensioning wheel 905 and is driven by the driving wheel 906 to rotate and move.

[0028] The bottom end of the outer box body 902 is rotatably connected to a plurality of load-bearing wheels 908 , which are arranged in sequence along the length direction of the outer box body 902 . The bottom ends of the load-bearing wheels 908 are in contact with the inner wall of the bottom end of the crawler track 907 and provide support for the outer box body 902 .

[0029] When moving, the two driving wheels can drive the crawler tracks to move under the action of the hydraulic motor. At the same time, the load-bearing wheels at the bottom of the outer box body can share the weight of the outer box body and the entire vehicle body structure, so as to improve the movement stability of the walking component; at the same time, when the walking component is assembled, the tensioning plate is installed between the inner box body and the outer box body, and after determining the installation height, the inner box body and the outer box body are fastened together by fixing pins, and the height of the tensioning plate is limited. Then, the tensioning wheel is installed on the tensioning plate, which can tension the crawler tracks, avoiding the phenomenon of incomplete transmission, transmission interruption, etc. caused by excessive gap between the crawler tracks and the driving wheels; and the installation height of the tensioning plate can be adjusted according to the use requirements to ensure that the crawler tracks in the walking mechanism are at an appropriate tension level, thereby improving the installation structure stability of the walking component.

[0030] In the present invention, the vehicle body mechanism realizes connection support to the bucket wheel mechanism through the balancing mechanism, and the bucket wheel mechanism forms a stable support structure under the action of the fork member, the column and the first pulling rod, and at the same time, the column and the vehicle body are pulled and positioned by the second pulling rod, so that the entire bucket wheel reclaimer forms a stable balanced structure, avoiding the situation that the vehicle body tilts forward when the bucket wheel mechanism reclaims materials, and improving the use effect of the bucket wheel reclaimer; On the other hand, the present invention provides support for the driving wheel in the conveying mechanism through the power shaft in the bucket wheel mechanism, thereby realizing the structural simplification of the conveying mechanism; at the same time, it realizes the material-retrieving action of the bucket wheel mechanism by providing power transmission to the power shaft through the driving wheel, thereby realizing the simplification of the power structure of the conveying mechanism and the bucket wheel mechanism; it effectively realizes the simplification of the structure of the bucket wheel reclaimer, reduces the assembly difficulty of the bucket wheel reclaimer, and further improves the use effect of the bucket wheel reclaimer.

Claims

1. A bucket wheel reclaimer, characterized in that: The bucket wheel reclaimer includes a bucket wheel mechanism, a vehicle body mechanism, a conveying mechanism, and a balancing mechanism; the bucket wheel mechanism is connected to the vehicle body mechanism through a balancing mechanism, the bucket wheel mechanism is connected to one end of the conveying mechanism and drops the extracted material onto the conveying mechanism, and the middle part of the conveying mechanism is connected to the balancing mechanism; the bucket wheel mechanism includes a power shaft for transmitting power and two reclaiming wheels that are coaxially arranged with the power shaft and fixedly sleeved on the outside of the power shaft in a symmetrical structure; the edge of the reclaiming wheel is provided with an inclined surface inclined away from the other reclaiming wheel, and a plurality of shoveling buckets are fixedly connected to the inclined surface, and the plurality of shoveling buckets are arranged at equal intervals along the circumferential direction of the reclaiming wheel; the power shaft is transmission-connected to the conveying mechanism and the conveying mechanism transmits rotational power to it.

2. The bucket wheel reclaimer according to claim 1, characterized in that: The shovel bucket is in the shape of an open shell with a large width at one end close to the edge of the hopper and a small width at the other end away from the edge of the hopper. The end of the shovel bucket close to the edge of the hopper is bent along the circumferential direction of the shovel bucket.

3. The bucket wheel reclaimer according to claim 2, characterized in that: The conveying mechanism includes a mounting frame, a driving wheel, a driven wheel, a conveyor belt, and a power motor; one end of the mounting frame is located between the two material-retrieving wheels and is rotatably connected to the driving wheel, the middle of the mounting frame is connected to the balancing mechanism, and the other end of the mounting frame is rotatably connected to the driven wheel. The transmission belt is sleeved on the driving wheel and the outer side of the driven wheel and drives the transmission belt and the driven wheel to rotate through the driving wheel; the driving wheel is transmission-connected to the power motor fixed on the mounting frame; the driving wheel is coaxially arranged with the power shaft, the power shaft passes through the driving wheel, and the driving wheel is transmission-connected to the power shaft.

4. The bucket wheel reclaimer according to claim 3, characterized in that: The balancing mechanism comprises a fork member, a column, a first pulling rod, and a second pulling rod, the column is fixedly connected to the upper end of the vehicle body mechanism, and an installation avoidance groove is provided at the bottom of the column; one end of the fork member is arranged to be a divergent structure and is rotatably connected to the two ends of the power shaft respectively, and the other end of the fork member extends into the installation avoidance groove and is connected to the column pin shaft; the top of the column is rotatably connected to a movable pin shaft, and a radial through-screw hole is provided on the movable pin shaft, the top of the first pulling rod is rotatably connected to a pulling screw and is threadedly connected to the radial through-screw hole through the pulling screw, and the top of the second pulling rod is provided with a movable sleeve and can be rotatably sleeved on the outside of the movable pin shaft through the movable sleeve, the first pulling rod and the second pulling rod are both arranged in an inclined shape, the bottom end of the first pulling rod is connected to the top pin shaft of the middle part of the fork member, and the bottom end of the second pulling rod is connected to the rear end of the vehicle body assembly; the mounting frame is located above the fork member, the middle of the mounting frame passes through the mounting avoidance groove and the mounting frame is connected to the column pin shaft.

5. The bucket wheel reclaimer according to claim 4, characterized in that: The first pulling rod and the second pulling rod are both provided in two groups, and the two groups of the first pulling rod and the second pulling rod are symmetrically arranged on both sides of the column.

6. The bucket wheel reclaimer according to claim 5, characterized in that: The vehicle body structure comprises a vehicle body, a chassis assembly and a traveling assembly. The top end of the vehicle body is fixedly connected to the bottom end of the column and the bottom end of the second pulling rod, and the bottom end of the vehicle body is connected to the traveling assembly through the chassis assembly.

7. The bucket wheel reclaimer according to claim 6, characterized in that: The chassis assembly includes a connecting plate, a supporting gear, and a power gear. Both ends of the connecting plate are fixedly connected to the traveling assembly. The top of the center position of the connecting plate is fixedly connected to the supporting gear. The top of the supporting gear is rotatably connected to the bottom of the vehicle body. The power gear is arranged on the outer periphery of the supporting gear and meshingly connected to the supporting gear. The power gear is transmission-connected to a power source fixedly connected to the vehicle body.

8. The bucket wheel reclaimer according to claim 7, characterized in that: The walking assembly includes an inner box body, an outer box body, a crawler track, a tensioning wheel, a tensioning plate, a fixing pin, and a driving wheel; one side wall of the inner box body is welded to the connecting plate, and the other side wall of the inner box body is fixedly connected to the outer box body by a fixing pin, the bottom end of the tensioning plate is arranged between the inner box body and the outer box body, the bottom end of the tensioning plate is bolted to the outer box body and can be adjusted in height, the top end of the tensioning plate extends above the outer box body and is rotatably connected to the tensioning wheel; both ends of the inner box body in the length direction are rotatably connected to the driving wheel, the driving wheel is transmission-connected to the power source fixedly connected to the inner box body and realizes power transmission through the power source; the crawler track is arranged on the outside of the two driving wheels and the tensioning wheel and drives the crawler track to rotate and move through the driving wheel.

9. The bucket wheel reclaimer according to claim 8, characterized in that: The bottom end of the outer box body is rotatably connected to a plurality of load-bearing wheels, which are arranged in sequence along the length direction of the outer box body. The bottom ends of the load-bearing wheels contact the inner wall of the bottom end of the crawler track and provide support for the outer box body.

10. The bucket wheel reclaimer according to claim 9, characterized in that: The power source is a hydraulic motor; there are three hydraulic motors which transmit power to the power gears and two driving wheels respectively.

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