A multi-mode four-tracked climbing robot

Abstract

The application relates to a multi-mode four-tracked climbing robot, and belongs to the technical field of robots. In order to solve the problems that the existing climbing robot is low in efficiency, high in energy consumption, difficult to balance, causes interference to the working environment, and cannot meet the movement and climbing in complex working environments and narrow spaces, the application is provided with multiple operation modes through the bionic spine design and the four-tracked configuration design with deformable wheels, i.e. a normal tracked movement mode on flat and semi-flat roads, a four-foot gait mode for crossing obstacles, a deformation passing mode in narrow spaces, a cross-floor limit climbing mode based on stairs, and a patrol + operation ability after the installation of related sensors or mechanical arms according to task requirements. Through the cooperation of multiple movement modes, the movement ability of the robot can be remarkably improved. The application is mainly used for robots in emergency rescue tasks such as natural disasters, industrial accidents and fires.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot technology, and particularly relates to a multi-mode four-tracked climbing robot. BACKGROUND

[0002] The tracked robot has similar activity and better cross-country performance as animals, can perform tasks in complex environments, and has wide application prospects in military and civilian fields. Using robots to replace humans to complete operations in various dangerous environments has great significance in reality. Robots with single movement behavior cannot adapt to complex environments and narrow spaces, so it is necessary to seek multi-mode autonomous agile movement to achieve high adaptability, further expand the use scenarios of robots, and improve the work efficiency of robots.

[0003] The existing robots usually adopt an embedded hanging method to realize four-legged climbing of a ladder, and a few of them realize large slope climbing through electromagnetic adsorption. The above-mentioned ladder climbing methods are low in efficiency, high in energy consumption, difficult to balance, and can cause disturbance to the working environment, and cannot meet the movement and climbing in complex working environments and narrow spaces. Therefore, there is an urgent need to develop a new climbing robot that can integrate the advantages of multiple movement modes, can cross the limit of floor climbing, and can quickly switch according to the environmental requirements. SUMMARY

[0004] The present application is to solve the problems of low efficiency, high energy consumption, difficult balance, and disturbance to the working environment of the existing climbing robot, and further provides a multi-mode four-tracked climbing robot.

[0005] A multi-mode four-tracked climbing robot, the robot comprises a body unit and four leg units, the body unit comprises two body members and a bionic spine, the bionic spine is arranged between the two body members, and the two body members are movably connected through the bionic spine, the four leg units are evenly divided into two groups, each group of leg units is correspondingly arranged on a body member, two leg units in each group of leg units are oppositely arranged on two sides of the body member, and each leg unit is rotatably connected to the body member through a body joint;

[0006] Further, the bionic spine is a universal joint;

[0007] Further, a binocular camera is installed on the front end of the front body member in the body unit, and a camera is installed on the rear end of the rear body member in the body unit;

[0008] Further, one side body sensor is installed on each side of each body member, one laser head is arranged above each side body sensor, and each laser head is correspondingly installed on the side wall of the body member.

[0009] Further, the bottom of each fuselage component is embedded with two pawl assemblies, the two pawl assemblies are symmetrically arranged along the center line of the width direction of the fuselage component, and the driving end of each pawl assembly is installed in the fuselage component, and the working end of each pawl assembly extends out of the bottom of the fuselage component and is arranged outside the fuselage component;

[0010] Further, the pawl assembly comprises a power motor, a driving sprocket, a chain, a plurality of climbing pawl bodies and a plurality of driven sprockets, the power motor is fixed in the fuselage component through a motor mounting seat, the driving sprocket is sleeved on the power output shaft of the power motor, the plurality of driven sprockets are arranged in sequence and equidistantly on one side of the driving sprocket along the length extension direction of the fuselage component, the chain is sleeved on the driving sprocket and the plurality of driven sprockets and is arranged in tension with the driving sprocket and the plurality of driven sprockets, the power motor drives the driving sprocket to rotate as a power source, thereby driving the chain to rotate in a cycle, each link of the chain has a connecting protrusion fixed on the outer wall, one end of each climbing pawl body is fixed on one connecting protrusion through a bolt, and the extension directions of the plurality of climbing pawl bodies are consistent;

[0011] Further, the leg unit comprises a leg assembly and a track foot, the leg assembly is a multi-joint structure, one end of the leg assembly is rotationally connected with the fuselage component through a fuselage joint, and the track foot is installed on the other end of the leg assembly;

[0012] Further, the leg assembly comprises a hip joint, a thigh link, a knee joint, a shank link and an ankle joint, one end of the thigh link is arranged on the fuselage joint and rotationally connected with the fuselage joint through the hip joint, one end of the shank link is arranged on the other end of the thigh link and rotationally connected with the thigh link through the knee joint, and the track foot is arranged on the other end of the shank link and rotationally connected with the shank link through the ankle joint;

[0013] Further, the track foot comprises a track, a first support wheel, a second support wheel, a variable support and a reconfiguration wheel, the variable support is arranged on the other end of the shank link and rotationally connected with the shank link through the ankle joint, the first support wheel, the second support wheel and the reconfiguration wheel are all installed on the variable support, and the first support wheel, the second support wheel and the reconfiguration wheel are all rotationally connected with the variable support, and the track is sleeved on the first support wheel, the second support wheel and the reconfiguration wheel and arranged in tension with the first support wheel, the second support wheel and the reconfiguration wheel;

[0014] Furthermore, the variable support includes a first link, a second link, and a bending rod. The first link is rotatably connected to the lower leg link via an ankle joint. The second link is located on one side of the first link, and one end of the second link is rotatably connected to the middle of the first link. One end of the bending rod is inserted into the other end of the second link, and the other end of the bending rod is bent toward the side where the first link is located and is coplanar with the first link. The second support wheel and the reconfiguration wheel are respectively installed at both ends of the first link and are rotatably connected to the first link. The first support wheel is installed on the other end of the bending rod and is rotatably connected to the bending rod. The first support wheel, the second support wheel, and the reconfiguration wheel are all located on the same working plane.

[0015] The beneficial effects of this application compared to the prior art are:

[0016] This application provides a multi-mode quadrupedal climbing robot, which, through a biomimetic spine design and a quadrupedal configuration with deformable wheels, possesses multiple operating modes: a conventional tracked movement mode on flat and semi-flat surfaces, a quadrupedal gait mode for crossing obstacles, a deformable passage mode in narrow spaces, a stair-based extreme climbing mode across floors, and an inspection and operation capability after adding relevant sensors or implementing a robotic arm as needed for the task. Through the coordination of multiple movement modes, the robot's mobility can be significantly improved.

[0017] This application provides a multi-mode quadrupedal climbing robot, which adopts a modular design, making maintenance convenient. In case of failure, only the corresponding hardware module needs to be replaced, greatly reducing repair time. Furthermore, through a highly integrated and reusable lightweight design, the overall weight of the robot is reduced compared to similar products with the same function, which helps to improve the product's movement flexibility and efficiency. At the same time, the modular structure makes the robot's structure intuitive and simple, allowing users and maintenance personnel to quickly master the product's functions. Its body structure can be equipped with controllers and sensors, enabling the robot to have multiple working modes, including autonomous tasks, human command operation, and remote operation, with good ease of use and reliability.

[0018] This application provides a multi-mode quadrupedal climbing robot with a pawl structure on the lower part of its body. The pawl structure can cooperate with the ladder structure to climb during operation, providing climbing power for the robot when climbing steep slopes, thereby improving the robot's stability and reliability when climbing, as well as the robot's movement flexibility. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram (front view) of the multi-mode quadrupedal climbing robot described in this application;

[0020] Figure 2 This is a structural schematic diagram (rear view) of the multi-mode quadrupedal climbing robot described in this application;

[0021] Figure 3 This is a structural schematic diagram (rear view) of the multi-mode quadrupedal climbing robot described in this application;

[0022] Figure 4 This is a schematic diagram of the pawl assembly in the multi-mode quadrupedal climbing robot described in this application;

[0023] Figure 5 This is a structural schematic diagram (front view) of the leg unit in the multi-mode quadrupedal climbing robot described in this application;

[0024] Figure 6 This is a structural schematic diagram (rear view) of the leg unit in the multi-mode quadrupedal climbing robot described in this application;

[0025] Figure 7 This is a schematic diagram of the tracked legs in the multi-mode quadrupedal climbing robot described in this application;

[0026] Figure 8 This is a schematic diagram of the operation of the multi-mode quadrupedal climbing robot described in this application;

[0027] Figure 9 This is a schematic diagram of the operation of the multi-mode quadrupedal climbing robot described in this application;

[0028] The diagram shows: 1. Leg unit, 2. Fuselage component, 3. Bionic spine, 4. Binocular camera, 5. Side-view sensor, 6. Laser head, 7. Camera, 8. Pawl assembly, 9. Chain, 10. Climbing claw, 11. Fuselage joint, 12. Hip joint, 13. Thigh link, 14. Knee joint, 15. Lower leg link, 16. Ankle joint, 17. Tracked foot, 18. Track, 19. Support wheel 1, 20. Support wheel 2, 21. Variable support, 22. Reconfigurable wheel, and 23. Guide block. Detailed Implementation

[0029] Specific implementation method one: Combining Figures 1 to 9 This embodiment describes a multi-mode quadrupedal climbing robot. The robot includes a body unit and four leg units 1. The body unit includes two body components 2 and a bionic spine 3. The bionic spine 3 is disposed between the two body components 2, and the two body components 2 are movably connected through the bionic spine 3. The four leg units 1 are evenly divided into two groups. Each group of leg units 1 is correspondingly disposed on the body component 2. The two leg units 1 in each group are disposed opposite each other on both sides of the body component 2, and each leg unit 1 is rotatably connected to the body component 2 through a body joint 11.

[0030] Specific Implementation Method Two: Combining Figures 1 to 7 This embodiment differs from Specific Embodiment 1 in that the bionic spine 3 is a universal joint. Other components and connection methods are the same as in Specific Embodiment 1.

[0031] Based on the descriptions of Specific Embodiment 1 and Specific Embodiment 2, the body component 2 is equipped with a robot control system, power system, and external sensors, and other related hardware devices. The system module integrated in the body component 2 controls the two corresponding leg units 1. The body joint 11 allows the leg units 1 to swing left and right relative to the body component 2. Through the cooperation of the body joint, hip joint, and knee joint, three-dimensional position control of the feet can be achieved, which improves the freedom of the leg units 1 during operation and expands the working range of the rescue robot, allowing it to move more flexibly in confined areas. The main body joint 11 is a dual-axis motor structure. Each body component 2 has a receiving groove machined on its side, and the body joint 11 is embedded in the receiving groove. The two power output shafts of the body joint 11 extend into the body component 2 and are rotatably connected to the body component 2. The shell part of the body joint 11 serves as a connecting part for connecting with the corresponding leg unit 1. The bionic spine 3 adopts a universal joint structure design, which allows the body to change its shape to reduce the space required or adapt to the path characteristics when encountering complex environments, thereby passing through obstacles.

[0032] Specific implementation method three: Combining Figures 1 to 7 This embodiment differs from Specific Embodiment Two in that a binocular camera 4 is mounted on the front end of the front fuselage component 2 in the fuselage unit, and a camera 7 is mounted on the rear end of the rear fuselage component 2 in the fuselage unit. Other components and connections are the same as in Specific Embodiment Two.

[0033] Specific implementation method four: Combination Figures 1 to 7 This embodiment differs from Specific Embodiment Three in that a side-mounted sensor 5 is installed on each side of each fuselage component 2, and a laser head 6 is positioned above each side-mounted sensor 5. Each laser head 6 is correspondingly mounted on the side wall of its respective fuselage component 2. Other components and connections are the same as in Specific Embodiment Three.

[0034] Specific Implementation Method Five: Combining Figures 1 to 7 This embodiment differs from Specific Embodiment Four in that two pawl assemblies 8 are embedded in the bottom of each fuselage component 2. The two pawl assemblies 8 are symmetrically arranged along the centerline of the width direction of the fuselage component 2. The driving end of each pawl assembly 8 is installed in the fuselage component 2, and the working end of each pawl assembly 8 extends out of the bottom of the fuselage component 2 and is disposed outside the fuselage component 2. Other components and connection methods are the same as in Specific Embodiment Four.

[0035] Specific Implementation Method Six: Combination Figures 1 to 7This embodiment differs from specific embodiment five in that the ratchet assembly 8 includes a power motor, a drive sprocket, a chain 9, multiple climbing claws 10, and multiple driven sprockets. The power motor is fixed inside the body component 2 via a motor mounting bracket. The drive sprocket is mounted on the power output shaft of the power motor. The multiple driven sprockets are arranged equidistantly on one side of the drive sprocket along the length of the body component 2. The chain 9 is mounted on the drive sprocket and the multiple driven sprockets and is tensioned to them. The power motor acts as a power source, driving the drive sprocket to rotate, thereby causing the chain 9 to rotate cyclically. A connecting protrusion is fixed to the outer wall of each link in the chain 9. One end of each climbing claw 10 is fixed to a connecting protrusion by bolts, and the extension directions of the multiple climbing claws 10 are all consistent. Other components and connection methods are the same as in specific embodiment five.

[0036] Referring to the descriptions of specific embodiments three to six, the binocular cameras 4 and camera 7 at both ends of the body component 2 are used to acquire images of the robot's working environment to provide environmental reference for the robot's subsequent actions or to collect information on the measured area during the detection process. The side sensor 5 and laser head 6 are used to detect the distance between the body and side obstacles so that the robot can operate in a safe environment. The pawl assembly 8 is an important component of this application. As a power component that drives the robot to climb, it realizes the step-climbing action through the cooperation between the climbing claw body 10 and the ladder structure. At the same time, in order to ensure the stability and accuracy of the robot's climbing, this application also provides a corresponding guide block 23 for the climbing claw body 10. The guide block 23 is fixed to the outer wall of the body joint 11. With the operation of the pawl assembly 8, in order to avoid interference, the leg unit 1 will be adjusted to the top of the body component 2. At this time, the guide block 23 will be exposed on the side of the body component 2 and cooperate with the slide groove on the ladder to provide guidance and trajectory constraints for the robot's climbing action.

[0037] Specific implementation method seven: Combination Figures 1 to 7 This embodiment differs from Specific Embodiment Six in that the leg unit 1 includes a leg assembly and tracked feet 17. The leg assembly is a multi-joint structure, with one end rotatably connected to the body component 2 via a body joint 11. The tracked feet 17 are mounted on the other end of the leg assembly. Other components and connections are the same as in Specific Embodiment Six.

[0038] Specific implementation method eight: Combination Figures 1 to 7This embodiment differs from Specific Embodiment Seven in that the leg assembly includes a hip joint 12, a thigh link 13, a knee joint 14, a lower leg link 15, and an ankle joint 16. One end of the thigh link 13 is mounted on the fuselage joint 11 and rotatably connected to it via the hip joint 12. One end of the lower leg link 15 is mounted on the other end of the thigh link 13 and rotatably connected to it via the knee joint 14. The tracked foot 17 is mounted on the other end of the lower leg link 15 and rotatably connected to it via the ankle joint 16. Other components and connections are the same as in Specific Embodiment Seven.

[0039] Specific Implementation Method Nine: Combining Figures 1 to 7 This embodiment differs from specific embodiment eight in that the tracked foot 17 includes a track 18, a first support wheel 19, a second support wheel 20, a variable bracket 21, and a reconfigurable wheel 22. The variable bracket 21 is mounted on the other end of the lower leg connecting rod 15 and is rotatably connected to the lower leg connecting rod 15 via an ankle joint 16. The first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22 are all mounted on the variable bracket 21 and are rotatably connected to the variable bracket 21. The track 18 is fitted onto the first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22 and is tensioned to them. Other components and connections are the same as in specific embodiment eight.

[0040] Specific Implementation Method Ten: Combining Figure 1 This embodiment differs from specific embodiment nine in that the variable support 21 includes a first connecting rod, a second connecting rod, and a bending rod. The first connecting rod is rotatably connected to the lower leg connecting rod 15 via the ankle joint 16. The second connecting rod is located on one side of the first connecting rod, and one end of the second connecting rod is rotatably connected to the middle of the first connecting rod. One end of the bending rod is inserted into the other end of the second connecting rod, and the other end of the bending rod is bent towards the side where the first connecting rod is located and is coplanar with the first connecting rod. The second support wheel 20 and the reconfiguration wheel 22 are respectively installed at both ends of the first connecting rod and are rotatably connected to the first connecting rod. The first support wheel 19 is installed on the other end of the bending rod and is rotatably connected to the bending rod. The first support wheel 19, the second support wheel 20, and the reconfiguration wheel 22 are all located on the same working plane. Other components and connection methods are the same as in specific embodiment nine.

[0041] As described in Specific Embodiments Seven to Ten, all joint structures involved in the leg assembly are powered by rotor motors. Each joint structure can increase the leg unit 1 by one degree of freedom. Combined with the body joints 11 on the fuselage component 2, and the hip joints 12, knee joints 14, and ankle joints 16 in the leg assembly, as well as the drive end of the reconfigurable wheel 22, the leg unit 1 can achieve a total of five degrees of freedom for adjustment and transformation. This improves the adaptability of the leg unit 1 to different working environments. The use of tracked feet 17 effectively increases the contact area between the foot and the running plane. Furthermore, the tracked feet 17 in this application are variable. The track structure allows the robot to switch between legged and tracked motion modes. The specific change process is adjusted by the variable support 21. By changing the position between the second link and the first link in the variable support 21, the positional relationship between the first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22 can be adjusted, thereby changing the working mode of the track 18. When the first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22 are on the same horizontal line, the track foot 17 moves in tracked motion. When the first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22 are not on the same horizontal line, the track foot 17 moves in legged motion.

[0042] The present invention has been disclosed above with preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention. However, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

[0043] Working principle

[0044] In use, this application first assembles the various components according to the connection relationships described in Specific Embodiments 1 to 10 to form a multi-mode four-track climbing robot. The following describes the robot's corresponding working modes based on several working conditions in actual applications:

[0045] First: When moving in a plane, the robot structure of this application can be referred to Figures 8 to 9In the state described above, the robot's overall height is adjusted by changing the folding state of the leg components corresponding to each tracked leg 17 to achieve effective obstacle avoidance. The working mode of the tracked legs 17 is adjusted according to the terrain. When tracked movement is required, the variable support 21 is adjusted to bring the first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22 to the same horizontal line. At this time, the power end of the reconfigurable wheel 22 starts to work, driving the reconfigurable wheel 22 to rotate and thus driving the track 18 to rotate cyclically. When legged movement is required, the variable support 21 is adjusted to bring the first support wheel 19, the second support wheel 20, and the reconfigurable wheel 22 to a different horizontal line. At this time, the power end of the reconfigurable wheel 22 does not work, and the tracked legs 17 achieve stepping movements through the joint drive in the leg components.

[0046] Second: During ladder climbing, the robot structure of this application can be referred to ​ In the state described above, the leg unit 1 does not work. The tracked feet 17 are adjusted to the top of the body component 2 through the leg assembly. The pawl assembly 8 in the body component 2 acts as a power source and cooperates with the ladder structure to realize the stepping climbing action. During this process, the guide blocks 23 on both sides of the body component 2 are in the working position under the action of the body joint 11. The guide blocks 23 are embedded in the guide grooves on both sides of the ladder to provide guidance and trajectory constraints for the robot's climbing action, thereby ensuring the accuracy of the robot's climbing action and path.

Claims

1. A multi-mode quadrupedal climbing robot, comprising a body unit and four leg units (1), characterized in that: The fuselage unit includes two fuselage components (2) and a bionic spine (3). The bionic spine (3) is located between the two fuselage components (2), and the two fuselage components (2) are movably connected through the bionic spine (3). The four leg units (1) are divided into two groups. Each group of leg units (1) is correspondingly located on the fuselage component (2). The two leg units (1) in each group of leg units (1) are located opposite each other on both sides of the fuselage component (2), and each leg unit (1) is rotatably connected to the fuselage component (2) through a fuselage joint (11). Two pawl assemblies (8) are embedded at the bottom of each fuselage component (2). The two pawl assemblies (8) are symmetrically arranged along the center line of the width direction of the fuselage component (2). The driving end of each pawl assembly (8) is installed in the fuselage component (2). The working end of each pawl assembly (8) extends out of the bottom of the fuselage component (2) and is located outside the fuselage component (2). The pawl assembly (8) includes a power motor, a drive sprocket, a chain (9), multiple climbing claws (10), and multiple driven sprockets. The power motor is fixed inside the body component (2) by a motor mounting base. The drive sprocket is mounted on the power output shaft of the power motor. Multiple driven sprockets are arranged equidistantly on one side of the drive sprocket along the length extension direction of the body component (2). The chain (9) is mounted on the drive sprocket and multiple driven sprockets and is tensioned to the drive sprocket and multiple driven sprockets. The power motor drives the drive sprocket to rotate as a power source, thereby driving the chain (9) to rotate cyclically. A connecting protrusion is fixed to the outer wall of each link in the chain (9). One end of each climbing claw (10) is fixed to a connecting protrusion by a bolt, and the extension direction of multiple climbing claws (10) is consistent.

2. The multi-mode quadrupedal climbing robot according to claim 1, characterized in that: The bionic spine (3) is a universal joint.

3. The multi-mode quadrupedal climbing robot according to claim 1, characterized in that: A binocular camera (4) is mounted on the front end of the fuselage component (2) in the fuselage unit, and a camera (7) is mounted on the rear end of the fuselage component (2) in the fuselage unit.

4. The multi-mode quadrupedal climbing robot according to claim 3, characterized in that: Each fuselage component (2) has a side sensor (5) installed on both sides, and a laser head (6) is provided above each side sensor (5). Each laser head (6) is installed on the side wall of the fuselage component (2).

5. The multi-mode quadrupedal climbing robot according to claim 4, characterized in that: The leg unit (1) includes a leg assembly and a tracked foot (17). The leg assembly is a multi-joint structure. One end of the leg assembly is rotatably connected to the fuselage component (2) through a fuselage joint (11). The tracked foot (17) is mounted on the other end of the leg assembly.

6. The multi-mode quadrupedal climbing robot according to claim 5, characterized in that: The leg assembly includes a hip joint (12), a thigh link (13), a knee joint (14), a lower leg link (15), and an ankle joint (16). One end of the thigh link (13) is mounted on the fuselage joint (11) and is rotatably connected to the fuselage joint (11) via the hip joint (12). One end of the lower leg link (15) is mounted on the other end of the thigh link (13) and is rotatably connected to the thigh link (13) via the knee joint (14). The tracked foot (17) is mounted on the other end of the lower leg link (15) and is rotatably connected to the lower leg link (15) via the ankle joint (16).

7. A multi-mode quadrupedal climbing robot according to claim 6, characterized in that: The track foot (17) includes a track (18), a first support wheel (19), a second support wheel (20), a variable bracket (21), and a reconfigurable wheel (22). The variable bracket (21) is set on the other end of the lower leg link (15) and is rotatably connected to the lower leg link (15) through the ankle joint (16). The first support wheel (19), the second support wheel (20), and the reconfigurable wheel (22) are all mounted on the variable bracket (21), and the first support wheel (19), the second support wheel (20), and the reconfigurable wheel (22) are all rotatably connected to the variable bracket (21). The track (18) is sleeved on the first support wheel (19), the second support wheel (20), and the reconfigurable wheel (22) and is tensioned to the first support wheel (19), the second support wheel (20), and the reconfigurable wheel (22).

8. A multi-mode quadrupedal climbing robot according to claim 7, characterized in that: The variable support (21) includes a first link, a second link, and a bending rod. The first link is rotatably connected to the lower leg link (15) through the ankle joint (16). The second link is located on one side of the first link, and one end of the second link is rotatably connected to the middle of the first link. One end of the bending rod is inserted into the other end of the second link, and the other end of the bending rod is bent toward the side where the first link is located and is coplanar with the first link. The second support wheel (20) and the reconfiguration wheel (22) are respectively installed at both ends of the first link and are rotatably connected to the first link. The first support wheel (19) is installed on the other end of the bending rod and is rotatably connected to the bending rod. The first support wheel (19), the second support wheel (20), and the reconfiguration wheel (22) are all located on the same working plane.

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