A high-position cultivation equipment for a greenhouse

Abstract

This invention discloses a greenhouse high-level cultivation device, belonging to the field of greenhouse breeding technology. It includes a main structure for water collection, a soil cultivation mechanism for two soil-grown plant seeds, and a breeding mechanism for spraying nutrient solution onto the seeds. The main structure can collect and utilize rainwater and can also generate its own power source such as a generator, saving energy. The main structure can be raised using one or two placement plates, allowing for flexible selection based on the number of seeds being cultivated. The soil cultivation mechanism automatically replenishes water to the soil-grown plant seeds and rotates them to ensure sufficient sunlight exposure. The moving module, in conjunction with the two spraying modules, can apply nutrient solution to both hydroponic and soil-grown plant seeds separately, making it convenient to use.

Description

Technical Field

[0001] This invention relates to the field of greenhouse cultivation technology, and in particular to a high-level greenhouse cultivation device. Background Technology

[0002] Traditional ground cultivation methods in greenhouses have many limitations, such as soil erosion from continuous cropping, susceptibility to pests and diseases, low space utilization, and inconvenient management. To improve planting efficiency and crop quality, high-level cultivation has gained increasing attention in recent years. Current high-level cultivation equipment mainly includes cultivation troughs, cultivation racks, and suspended cultivation pots. Some high-level cultivation systems rely on manual irrigation, making precise water and fertilizer control difficult and prone to waste or uneven supply. Therefore, there is an urgent need to design a new type of greenhouse high-level cultivation equipment to improve water and fertilizer management efficiency, enhance structural stability, and improve light distribution, thereby increasing the yield and quality of greenhouse crops. Summary of the Invention

[0003] To address the aforementioned technical problems, the present invention adopts the following technical solution: a greenhouse high-level cultivation device, comprising a main body for collecting water, the main body including a frame, and a soil cultivation mechanism for cultivating two soil-grown plants and a nourishing mechanism for spraying nutrient solution onto the plants.

[0004] The soil cultivation mechanism includes a water storage tank, on which a rotating column is rotatably installed.

[0005] Furthermore, the main structure includes a lifting motor fixedly installed on the frame, the top of the frame is made of glass, two solar panels are installed on the top of the frame, two water collection tanks are installed on the frame, a water inlet pipe is installed on the frame, two water outlet tanks are installed on the frame, a water inlet slope is installed on the water outlet tank, a water receiving hopper is fixedly installed below the water inlet slope, a water outlet pipe is fixedly installed below the water receiving hopper, a rotating column is rotatably installed on the water outlet pipe, and the water inlet pipe is connected to an external water pipe.

[0006] Furthermore, a lifting screw is rotatably mounted on the frame, and the lifting motor drives the lifting screw to rotate via belt drive. A column is fixedly mounted on the frame, and an internal threaded sleeve is rotatably mounted on the lifting screw via a thread.

[0007] Furthermore, two placement plates are slidably installed on the column, and two side guide plates are provided on the internal threaded sleeve. The placement plates are provided with sliding grooves and slots. The column slides in the sliding grooves, and the side guide plates cooperate with the slots.

[0008] The placement plate is inserted into the side guide plate through the slot. Hydroponic plants are placed on the placement plate. One or two placement plates can be inserted into the side guide plate according to actual needs. The lifting motor drives the lifting screw to rotate through belt drive. The lifting screw drives the inner threaded sleeve and the placement plate to rise through thread drive, so that the placement plate carries the hydroponic plants to the high position.

[0009] When it rains, rainwater flows down the slope at the top of the frame into the water collection trough, then into the drainage trough, and finally into the drain pipe through the inlet slope and water receiving hopper, eventually entering the water storage tank. When there is no rain for a long period of time, water can be injected into the inlet pipe through the external water pipe. The glass material at the top of the frame allows light to pass through, enabling the plants to be illuminated. At the same time, it can generate electricity through solar panels and store it in batteries to power the lifting motor, rotating motor, walking motor and sprinkler head.

[0010] Furthermore, the soil cultivation mechanism also includes a rotating motor fixedly installed in the water storage tank. The rotating motor drives the rotating column to rotate through gear transmission. Multiple soil cultivation pots are fixedly installed on the rotating column, and the soil cultivation pots are all of different heights.

[0011] Furthermore, the rotating column is equipped with a water pump, a water pump is installed at the bottom of the water pump, multiple water outlet valves are installed on the water pump, and water outlet holes are installed on the soil cultivation pot.

[0012] Place the plants that need to be grown in soil in the soil pot. The water pump at the bottom of the water pipe draws water from the storage tank into the water pipe. The water outlet valve is opened, and water enters the soil pot through the water outlet hole to replenish the soil of the plants. The rotating motor drives the rotating column to rotate through gear transmission, thereby rotating the soil pot so that the plants can receive sunlight evenly.

[0013] Furthermore, the nourishing mechanism includes a track frame, which includes a vertical section and a horizontal section. The vertical section of the track frame is provided with an arc protrusion and a groove, and the horizontal section of the track frame is provided with an upper groove.

[0014] Furthermore, the track frame is equipped with two spraying modules. One spraying module is located on the horizontal section of the track frame, and the other spraying module is located on the vertical section of the track frame. Each spraying module includes a follower frame slidably mounted on the track frame, a telescopic frame slidably mounted on the follower frame, an outer wheel fixedly mounted on the telescopic frame, a tension wheel and an inner retraction wheel slidably mounted on the follower frame, a tension spring between the tension wheel and the follower frame, an inner retraction spring between the inner retraction wheel and the telescopic frame, and a nozzle fixedly mounted on the follower frame.

[0015] Furthermore, a moving module is provided on the track frame. The moving module includes a moving frame, on which a walking motor is fixedly installed. A walking wheel is fixedly installed on the motor shaft of the walking motor. An auxiliary wheel is rotatably installed on the moving frame. The walking wheel and the auxiliary wheel roll on the track frame. A connecting rod is rotatably installed on the walking wheel. An inner support wheel is rotatably installed on the connecting rod. The inner support wheel rolls on the track frame.

[0016] Initially, the traveling wheels are located within the spraying module of the vertical section of the track frame, and the telescopic frame is extended. The traveling wheels are positioned between the telescopic frame and the follower frame. At this point, the traveling motor rotates, causing the traveling wheels to rotate. This causes the inner support wheel, traveling wheels, and auxiliary wheels to move downwards along the vertical section of the track frame, pulling the follower frame of the spraying module on the vertical section downwards. Nutrient solution is sprayed onto the soil-grown plants in the pots through the nozzles. Subsequently, the traveling motor drives the follower frame to rise. When the outer wheel reaches the groove, the inner retracting wheel is positioned on the arc protrusion. At this point, the inner retracting wheel pulls the telescopic frame to slide via the inner retracting spring, and the outer wheel enters the groove. The telescopic frame is no longer above the traveling wheels. The traveling motor continues to rotate, driving the moving frame upwards. The support wheels keep the traveling wheels in contact with the track frame. The traveling wheels then go around the transition arc between the vertical and horizontal sections of the track frame. The traveling wheels and the moving frame reach the horizontal section of the track frame. At this time, the outer wheel of the spraying module on the horizontal section is located in the upper groove, the telescopic frame is in a descending state, and the traveling wheels contact the follower frame of the spraying module on the horizontal section of the track frame. The traveling motor continues to rotate, and the traveling wheels push the follower frame to slide along the horizontal section of the track frame. When the outer wheel leaves the upper groove, it drives the telescopic frame to rise, so that the traveling wheels are located between the telescopic frame and the follower frame. At this time, the traveling wheels push the spraying module on the horizontal section to move horizontally, spraying nutrient solution onto the hydroponic plants through the nozzles. This process is repeated to achieve nutrient solution spraying for both soil-grown and hydroponic plants.

[0017] The beneficial effects of this invention compared with the prior art are: (1) The main structure of this invention can collect and utilize rainwater, and can generate its own power source such as a generator, thus saving energy; (2) The main structure of this invention can choose to use one or two placement plates for lifting, which can be flexibly selected according to the number of plants grown in high positions; (3) The soil cultivation mechanism of this invention can automatically replenish water for soil-grown plants and drive the soil-grown plants to rotate, so as to achieve sufficient sunlight exposure; (4) The moving module and two spraying modules of this invention can fertilize hydroponic plants and soil-grown plants with nutrient solution respectively, which is convenient to use. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the main structure of the present invention. Figure 1.

[0020] Figure 3 This is a schematic diagram of the main structure of the present invention. Figure 2 .

[0021] Figure 4 This is a schematic diagram of the main structure of the present invention. Figure 3 .

[0022] Figure 5 This is a schematic diagram of the main structure of the present invention. Figure 4 .

[0023] Figure 6 This is a schematic diagram of the soil cultivation mechanism of the present invention. Figure 1 .

[0024] Figure 7 This is a schematic diagram of the soil cultivation mechanism of the present invention. Figure 2 .

[0025] Figure 8 This is a schematic diagram of the nourishing mechanism structure of the present invention. Figure 1 .

[0026] Figure 9 for Figure 8 A magnified view of a portion of point A in the middle.

[0027] Figure 10 This is a schematic diagram of the nourishing mechanism structure of the present invention. Figure 2 .

[0028] Figure 11 This is a schematic diagram of the nourishing mechanism structure of the present invention. Figure 3 .

[0029] Figure 12 This is a schematic diagram of the nourishing mechanism structure of the present invention. Figure 4 .

[0030] Attached reference numerals: 101-Frame; 102-Solar panel; 103-Lifting motor; 104-Lifting screw; 105-Column; 106-Internal threaded sleeve; 107-Side guide plate; 108-Placement plate; 109-Slot; 110-Slide groove; 111-Water collection trough; 112-Water inlet pipe; 113-Drain trough; 114-Water inlet slope; 115-Water receiving hopper; 116-Drain pipe; 201-Water storage tank; 202-Rotating motor; 203-Rotating column; 204-Pumping pipe; 205 - Soil cultivation pot; 206- Water outlet valve; 207- Water outlet hole; 301- Track frame; 302- Moving frame; 303- Traveling wheel; 304- Traveling motor; 305- Auxiliary wheel; 306- Connecting rotating rod; 307- Inner support wheel; 308- Follower frame; 309- Telescopic frame; 310- Tensioning wheel; 311- Tensioning spring; 312- Inner retraction spring; 313- Inner retraction wheel; 314- Arc protrusion; 315- Sprayer head; 316- Groove; 317- Outer wheel; 318- Upper groove. Detailed Implementation

[0031] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0032] Example: Reference Figures 1-10 A greenhouse high-level cultivation device includes a main structure for collecting water, the main structure including a frame 101, a soil cultivation mechanism for cultivating two soil-grown plants and a nourishing mechanism for spraying nutrient solution onto the plants.

[0033] The soil cultivation mechanism includes a water storage tank 201, on which a rotating column 203 is rotatably installed.

[0034] like Figures 2-5 As shown, the main structure includes a lifting motor 103 fixedly installed on the frame 101. The top of the frame 101 is made of glass. Two solar panels 102 are installed on the top of the frame 101. Two water collection tanks 111 are installed on the frame 101. A water inlet pipe 112 is installed on the frame 101. Two drain tanks 113 are installed on the frame 101. A water inlet slope 114 is installed on the drain tank 113. A water receiving hopper 115 is fixedly installed below the water inlet slope 114. A drain pipe 116 is fixedly installed below the water receiving hopper 115. A rotating column 203 is rotatably installed on the drain pipe 116. The water inlet pipe 112 is connected to an external water pipe.

[0035] like Figures 2-5 As shown, a lifting screw 104 is rotatably mounted on the frame 101. The lifting motor 103 drives the lifting screw 104 to rotate via belt drive. A column 105 is fixedly mounted on the frame 101. An internal threaded sleeve 106 is rotatably mounted on the lifting screw 104 via thread.

[0036] like Figures 2-5As shown, two placement plates 108 are slidably installed on the column 105, and two side guide plates 107 are provided on the internal threaded sleeve 106. The placement plates 108 are provided with a sliding groove 110 and a slot 109. The column 105 slides in the sliding groove 110, and the side guide plates 107 cooperate with the slots 109.

[0037] The placement plate 108 is inserted into the side guide plate 107 through the slot 109. Hydroponic plants are placed on the placement plate 108. One or two placement plates 108 can be inserted into the side guide plate 107 according to actual needs. The lifting motor 103 drives the lifting screw 104 to rotate through the belt drive. The lifting screw 104 drives the inner threaded sleeve 106 and the placement plate 108 to rise through the thread drive, so that the placement plate 108 carries the hydroponic plants to a high position.

[0038] When it rains, rainwater flows along the slope of the top of the frame 101 into the water collection trough 111, and then flows into the drainage trough 113. It then flows through the inlet slope 114 and the water receiving hopper 115 into the drain pipe 116, and finally into the water storage tank 201. When there is no rain for a long period of time, water can be injected into the inlet pipe 112 through the external water pipe. The glass material at the top of the frame 101 can transmit light to illuminate the plants. At the same time, it can generate electricity through the solar panel 102 and store it in the battery to power the lifting motor 103, the rotating motor 202, the walking motor 304 and the sprinkler head 315.

[0039] like Figure 6 , Figure 7 As shown, the soil cultivation mechanism also includes a rotating motor 202 fixedly installed in the water storage tank 201. The rotating motor 202 drives the rotating column 203 to rotate through gear transmission. Multiple soil cultivation pots 205 are fixedly installed on the rotating column 203, and the heights of the soil cultivation pots 205 are all different.

[0040] like Figure 6 , Figure 7 As shown, a water pumping pipe 204 is installed on the rotating column 203, a water pump is installed at the bottom of the water pumping pipe 204, multiple water outlet valves 206 are installed on the water pumping pipe 204, and a water outlet hole 207 is installed on the soil cultivation pot 205.

[0041] The plant to be grown in soil is placed in the soil pot 205. The water pump at the bottom of the water pipe 204 draws water from the water tank 201 into the water pipe 204. The water outlet valve 206 is opened, and water enters the soil pot 205 through the water outlet hole 207 to replenish the soil of the plant. The rotating motor 202 drives the rotating column 203 to rotate through gear transmission, thereby driving the soil pot 205 to rotate, so that the plant can receive sunlight evenly.

[0042] like Figures 8-12As shown, the nourishing mechanism includes a track frame 301, which includes a vertical section and a horizontal section. The vertical section of the track frame 301 is provided with an arc protrusion 314 and a groove 316, and the horizontal section of the track frame 301 is provided with an upper groove 318.

[0043] like Figures 8-12 As shown, two spraying modules are installed on the track frame 301. One spraying module is located on the horizontal section of the track frame 301, and the other spraying module is located on the vertical section of the track frame 301. The spraying module includes a follower frame 308 slidably installed on the track frame 301. A telescopic frame 309 is slidably installed on the follower frame 308. An outer wheel 317 is fixedly installed on the telescopic frame 309. A tension wheel 310 and an inner retraction wheel 313 are slidably installed on the follower frame 308. A tension spring 311 is provided between the tension wheel 310 and the follower frame 308. An inner retraction spring 312 is provided between the inner retraction wheel 313 and the telescopic frame 309. A nozzle 315 is fixedly installed on the follower frame 308.

[0044] like Figures 8-12 As shown, a moving module is provided on the track frame 301. The moving module includes a moving frame 302, on which a walking motor 304 is fixedly installed. A walking wheel 303 is fixedly installed on the motor shaft of the walking motor 304. An auxiliary wheel 305 is rotatably installed on the moving frame 302. The walking wheel 303 and the auxiliary wheel 305 roll on the track frame 301. A connecting rod 306 is rotatably installed on the walking wheel 303. An inner support wheel 307 is rotatably installed on the connecting rod 306. The inner support wheel 307 rolls on the track frame 301.

[0045] In the initial state, the traveling wheel 303 is located in the spraying module of the vertical section of the track frame 301, the telescopic frame 309 is in the extended state, and the traveling wheel 303 is located between the telescopic frame 309 and the follower frame 308. At this time, the traveling motor 304 rotates, driving the traveling wheel 303 to rotate, thereby causing the inner support wheel 307, the traveling wheel 303, and the auxiliary wheel 305 to move downward along the vertical section of the track frame 301, driving the follower frame 308 of the spraying module on the vertical section to move downward, through the nozzle 315. Nutrient solution is sprayed onto the soil-grown plants in the soil-growing pot 205. Then, the walking motor 304 drives the follower frame 308 to rise. When the outer wheel 317 moves to the groove 316, the inner wheel 313 is positioned on the arc protrusion 314. At this time, the inner wheel 313 pulls the telescopic frame 309 to slide via the inner spring 312, and the outer wheel 317 enters the groove 316. At this point, the telescopic frame 309 is no longer above the walking wheel 303. The walking motor 304 continues to rotate, driving the moving frame 308... 02. As the inner support wheel 307 rises, the traveling wheel 303 remains in contact with the track frame 301. Then, the traveling wheel 303 passes through the transition arc between the vertical and horizontal sections of the track frame 301. The traveling wheel 303 and the moving frame 302 reach the horizontal section of the track frame 301. At this point, the outer wheel 317 of the spraying module on the horizontal section is located in the upper groove 318, and the telescopic frame 309 is in a descending state. The traveling wheel 303 engages with the follower frame 308 of the spraying module on the horizontal section of the track frame 301. When touched, the walking motor 304 continues to rotate, and the walking wheel 303 pushes the follower frame 308 to slide along the horizontal section of the track frame 301. When the outer wheel 317 leaves the upper groove 318, it drives the telescopic frame 309 to rise, so that the walking wheel 303 is located in the telescopic frame 309 and the follower frame 308. At this time, the walking wheel 303 pushes the spraying module of the horizontal section to move horizontally, and sprays nutrient solution onto the hydroponic plants through the nozzle 315. This process is repeated to achieve nutrient solution spraying for soil-grown and hydroponic plants.

[0046] The working principle of the greenhouse high-level cultivation equipment disclosed in this invention is as follows: the placement plate 108 is inserted into the side guide plate 107 through the slot 109, and the hydroponic plants are placed on the placement plate 108. One or two placement plates 108 can be inserted into the side guide plate 107 according to actual needs. The lifting motor 103 drives the lifting screw 104 to rotate through the belt drive. The lifting screw 104 drives the inner threaded sleeve 106 and the placement plate 108 to rise through the threaded drive, so that the placement plate 108 carries the hydroponic plants to a high position.

[0047] When it rains, rainwater flows along the slope of the top of the frame 101 into the water collection trough 111, and then flows into the drainage trough 113. It then flows through the inlet slope 114 and the water receiving hopper 115 into the drain pipe 116, and finally into the water storage tank 201. When there is no rain for a long period of time, water can be injected into the inlet pipe 112 through the external water pipe. The glass material at the top of the frame 101 can transmit light to illuminate the plants. At the same time, it can generate electricity through the solar panel 102 and store it in the battery to power the lifting motor 103, the rotating motor 202, the walking motor 304 and the sprinkler head 315. Plants requiring soil cultivation are placed in soil pots 205. A water pump at the bottom of the water pipe 204 draws water from the storage tank 201 into the water pipe 204. The outlet valve 206 opens, allowing water to enter the soil pots 205 through the outlet hole 207, replenishing the soil. The rotating motor 202 drives the rotating column 203 to rotate via gear transmission, thus rotating the soil pots 205 and ensuring the plants receive even sunlight. Initially, the traveling wheels 303 are located in the spray module of the vertical section of the track frame 301, and the telescopic frame 309 is extended. The traveling wheels 303 are located between the telescopic frame 309 and the follower frame 308. At this time, the traveling motor 304 rotates, driving the traveling wheels 303 to rotate. This causes the inner support wheel 307, traveling wheels 303, and auxiliary wheels 305 to move downwards along the vertical section of the track frame 301, causing the follower frame 308 of the spray module on the vertical section to move downwards, through the nozzle 315. Nutrient solution is sprayed onto the soil-grown plants in the soil-growing pot 205. Then, the walking motor 304 drives the follower frame 308 to rise. When the outer wheel 317 moves to the groove 316, the inner wheel 313 is positioned on the arc protrusion 314. At this time, the inner wheel 313 pulls the telescopic frame 309 to slide via the inner spring 312, and the outer wheel 317 enters the groove 316. At this point, the telescopic frame 309 is no longer above the walking wheel 303. The walking motor 304 continues to rotate, driving the moving frame 308... 02. As the inner support wheel 307 rises, the traveling wheel 303 remains in contact with the track frame 301. Then, the traveling wheel 303 passes through the transition arc between the vertical and horizontal sections of the track frame 301. The traveling wheel 303 and the moving frame 302 reach the horizontal section of the track frame 301. At this point, the outer wheel 317 of the spraying module on the horizontal section is located in the upper groove 318, and the telescopic frame 309 is in a descending state. The traveling wheel 303 engages with the follower frame 308 of the spraying module on the horizontal section of the track frame 301. When touched, the walking motor 304 continues to rotate, and the walking wheel 303 pushes the follower frame 308 to slide along the horizontal section of the track frame 301. When the outer wheel 317 leaves the upper groove 318, it drives the telescopic frame 309 to rise, so that the walking wheel 303 is located in the telescopic frame 309 and the follower frame 308. At this time, the walking wheel 303 pushes the spraying module of the horizontal section to move horizontally, and sprays nutrient solution onto the hydroponic plants through the nozzle 315. This process is repeated to achieve nutrient solution spraying for soil-grown and hydroponic plants.

[0048] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the present invention based on the technical solution and inventive concept of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A greenhouse high-level cultivation device, comprising a main body for collecting water, characterized in that: The main structure includes a frame (101), on which two soil cultivation mechanisms for growing soil-grown plants and a nutrient spraying mechanism for spraying nutrient solution onto the plants are provided. The soil cultivation mechanism includes a water storage tank (201), and a rotating column (203) is rotatably installed on the water storage tank (201). The main structure includes a lifting motor (103) fixedly installed on the frame (101). The top of the frame (101) is made of glass. Two solar panels (102) are installed on the top of the frame (101). Two water collection tanks (111) are installed on the frame (101). A water inlet pipe (112) is installed on the frame (101). Two drainage tanks (113) are installed on the frame (101). A water inlet slope (114) is installed on the drainage tank (113). A water receiving hopper (115) is fixedly installed below the water inlet slope (114). A drainage pipe (116) is fixedly installed below the water receiving hopper (115). A rotating column (203) is rotatably installed on the drainage pipe (116). The water inlet pipe (112) is connected to an external water pipe. A lifting screw (104) is rotatably mounted on the frame (101). The lifting motor (103) drives the lifting screw (104) to rotate via belt drive. A column (105) is fixedly mounted on the frame (101). An internal thread sleeve (106) is rotatably mounted on the lifting screw (104) via thread. Two placement plates (108) are slidably installed on the column (105), and two side guide plates (107) are provided on the internal threaded sleeve (106). The placement plate (108) is provided with a sliding groove (110) and a slot (109). The column (105) slides in the sliding groove (110), and the side guide plate (107) cooperates with the slot (109). The soil cultivation mechanism also includes a rotating motor (202) fixedly installed in the water storage tank (201). The rotating motor (202) drives the rotating column (203) to rotate through gear transmission. Multiple soil cultivation pots (205) are fixedly installed on the rotating column (203), and the heights of the soil cultivation pots (205) are all different. The rotating column (203) is equipped with a water pump (204), the bottom of the water pump (204) is equipped with a water pump, the water pump (204) is equipped with multiple water outlet valves (206), and the soil cultivation pot (205) is equipped with a water outlet hole (207). The nourishing mechanism includes a track frame (301), which includes a vertical section and a horizontal section. The vertical section of the track frame (301) is provided with an arc protrusion (314) and a groove (316), and the horizontal section of the track frame (301) is provided with an upper groove (318). Two spraying modules are provided on the track frame (301). One spraying module is located on the horizontal section of the track frame (301), and the other spraying module is located on the vertical section of the track frame (301). The spraying module includes a follower frame (308) slidably installed on the track frame (301). A telescopic frame (309) is slidably installed on the follower frame (308). An outer wheel (317) is fixedly installed on the telescopic frame (309). A tension wheel (310) and an inner retraction wheel (313) are slidably installed on the follower frame (308). A tension spring (311) is provided between the tension wheel (310) and the follower frame (308). An inner retraction spring (312) is provided between the inner retraction wheel (313) and the telescopic frame (309). A nozzle (315) is fixedly installed on the follower frame (308). The track frame (301) is provided with a moving module, which includes a moving frame (302). A walking motor (304) is fixedly installed on the moving frame (302). A walking wheel (303) is fixedly installed on the motor shaft of the walking motor (304). An auxiliary wheel (305) is rotatably installed on the moving frame (302). The walking wheel (303) and the auxiliary wheel (305) roll on the track frame (301). A connecting rod (306) is rotatably installed on the walking wheel (303). An inner support wheel (307) is rotatably installed on the connecting rod (306). The inner support wheel (307) rolls on the track frame (301).

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