A laser cutting device for steel structure production and processing

Abstract

The application discloses a laser cutting device for steel structure production and machining, which comprises a frame disc seat, a motorized vehicle seat, a rotating disc assembly and an arc slide frame, and a laser cutting head is slidably arranged on the arc slide frame. The motorized vehicle seat comprises a fixing seat, a wheel frame, a driving device, a shaft seat and an air bag deformation assembly. Through inflation deformation of the air bag body and linkage extension of the guide rod group, the laser cutting device can be adapted to the surface of a planar steel plate or a columnar steel structure, and structural self-adaptation is realized. The rotating disc assembly is driven by an outer rotor motor to rotate an outer rotating ring and a gear ring, thereby driving the arc slide frame and the laser cutting head to rotate around the motorized vehicle seat, so that multi-angle cutting track adjustment is completed. The device is provided with a control mainboard, which is coordinated with driving motors, outer rotor motors and slide rail systems to realize linkage operation, supports path planning and attitude control, adopts a magnetic attraction wheel or a MacNamarawheel structure, realizes omnidirectional movement and in-place rotation of the device on the surface of the steel structure, and the cutting flexibility is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of laser cutting, and particularly relates to a laser cutting device for steel structure production and machining. BACKGROUND

[0002] In the steel structure manufacturing and machining industry, laser cutting technology is widely used in steel plate cutting, edge finishing and complex component contour cutting. Traditional laser cutting devices are mostly based on fixed work platforms or two-dimensional plane guide rail structures, and the typical structure comprises a fixed cutting platform, a moving cross beam, a Z-axis focusing system and a laser cutting head. The device generally moves the cutting head in the plane through an X-Y axis driving mechanism, and cooperates with the focusing unit to complete the cutting process. Such a structure shows high precision and efficiency in plane cutting tasks, and is suitable for batch standardized steel plate machining scenes.

[0003] However, with the development of large-scale, special-shaped and spatially complex steel structure products, the existing fixed or two-dimensional guide rail type laser cutting equipment gradually exposes a number of technical limitations.

[0004] Lack of spatial flexibility: the existing equipment generally relies on preset track or platform structure, and is difficult to adapt to free layout on large or special-shaped steel components (such as cylindrical columns, special-shaped beam segments). Especially in the component installation site, on-site cutting operation cannot be realized.

[0005] Cannot adapt to different surface curvatures: for curved surface structures such as steel columns, bent plates and structural joints, the existing equipment generally adopts manual prefabricated templates or segmented processing methods, which reduces the degree of automation and is prone to joint error and cutting discontinuity problems.

[0006] Posture and trajectory are limited: since most of the equipment is still limited to two-dimensional driving mode, the laser cutting head is difficult to realize accurate posture control and dynamic path adjustment when facing irregular edges or spatial intersection areas (such as weld end, intersection node), and there are problems of cutting dead angle and unstable quality.

[0007] Therefore, the existing problems are researched and improved, and the laser cutting device for steel structure production and machining is provided to solve the existing problems, and through the technology, the problems are solved and the practical value is improved. SUMMARY

[0008] The application aims to solve one of the technical problems in the prior art or related art.

[0009] To this end, the technical scheme adopted by the present application is as follows: a laser cutting device for steel structure production and processing, comprising: a frame disc seat, a motorized seat, a turntable assembly, an arc slide rack and a laser cutting head slidingly installed on the surface of the arc slide rack, the frame disc seat is fixedly installed on the outer periphery of the motorized seat, the turntable assembly comprises an outer rotating ring, a gear ring and an outer rotor motor fixed to the surface of the motorized seat, the upper and lower sides of the outer rotating ring are provided with bearing rings that slide in close contact with the surface of the frame disc seat, the gear ring is fixed to the inner side of the outer rotating ring and is in meshing transmission with the output end of the outer rotor motor, a fixed ring sleeve is fixedly installed on the surface of the outer rotating ring, and the two ends of the arc slide rack are rotatably sleeved on the inner side of the fixed ring sleeve;

[0010] The motorized seat comprises a fixed seat, a wheel frame, a magnetic wheel, an axle seat and an air bag deformation assembly fixed to one side of the axle seat, one end of the air bag deformation assembly is fixedly connected to the surface of the wheel frame, the surface of the axle seat is provided with an upper guide rod set and a lower guide rod set located on the upper and lower sides of the air bag deformation assembly, and the other ends of the upper guide rod set and the lower guide rod set are movably connected to the surface of the wheel frame, the magnetic wheel is rotatably installed on the surface of the wheel frame, and the surface of the wheel frame is provided with a driving motor for driving the magnetic wheel to rotate, the number of the axle seat and the wheel frame is two and they are symmetrically arranged, and the surfaces of the two axle seats are provided with meshing gear racks; the air bag deformation assembly comprises an air pump and an air bag body, the air pump is fixed to one side of the air bag body and is embeddedly installed on the inner side of the axle seat, the air pump is in an arc shape, and the surface of the air bag body is provided with a plurality of bone strips.

[0011] In a preferred example, the present application can be further configured as: the top surface of the fixed seat is fixedly provided with a top cover, and the bottom surface of the top cover is provided with a damping tooth for abutting the meshing gear rack on the surface of the axle seat, and the damping tooth is a flexible convex tooth.

[0012] Specifically, the damping tooth and the meshing gear rack surface are engaged to increase the rotation damping of the axle seat to realize the shape locking of the axle seat.

[0013] In a preferred example, the present application can be further configured as: the meshing gear rack and the upper guide rod set are both X-shaped double-link structures, and the links are flexible and bendable, and the extension length of the meshing gear rack is greater than that of the upper guide rod set.

[0014] Specifically, the meshing gear rack and the upper guide rod set guide the expansion and elongation of the air bag deformation assembly, and realize the stable connection between the axle seat and the wheel frame, and the extension length of the meshing gear rack is greater than that of the upper guide rod set, which can effectively maintain the arc bending shape of the air bag deformation assembly.

[0015] In a preferred example, the present application can be further configured as: the air bag body is a rubber cavity capsule structure, the bone strips are in a frame shape and are arranged along the length direction of the air bag body in sequence, and the air bag body is in an arc shape in the inflated state.

[0016] It is formed by rubber capsule-shaped air bag body and frame-shaped bone strip cooperation The controllable arc-shaped structure is formed, and the uniform stress and repeated reliability of the air bag assembly in the pressure deformation process are realized

[0017] In a preferred example, the magnetic wheel surface is provided with a plurality of uniformly distributed magnetic strips, each magnetic strip is arranged obliquely, and the magnetic pole directions of adjacent two magnetic strips are opposite.

[0018] Through the obliquely arranged and magnetic pole staggered magnetic strip structure, the magnetic force coupling efficiency between the magnetic wheel and the steel part is improved, which helps to improve the stable adhesion of the moving part.

[0019] In a preferred example, the arc-shaped slide rail is provided with a rotating damping device.

[0020] In a preferred example, the arc-shaped slide rail surface is provided with an electromagnetic slide rail assembly for driving the laser cutting head to slide on the arc-shaped slide rail surface.

[0021] Through the electromagnetic slide rail assembly, the laser cutting head is precisely slid along the arc-shaped slide rail, and the movement response capability and processing efficiency of the laser head on the complex arc-shaped path are improved.

[0022] In a preferred example, the top surface of the top cover is provided with a fastener and detachably mounted with a power module, the power module is a lithium battery pack structure, and the control mainboard of the built-in drive motor, the outer rotor motor and the arc-shaped slide rail is provided in the fixed seat.

[0023] Through the detachable power module and control mainboard, independent power supply and centralized control functions of the device are realized, and the modular integration capability and use convenience of the device are improved.

[0024] The beneficial effects obtained by the present application are:

[0025] 1. In the present application, by setting the independently controllable motor vehicle seat and the arc-shaped guide rail structure, and combining the integrated layout of the vehicle frame disc seat and the turntable assembly, the independent walking and posture control function of the device on the steel structure surface is realized. The motor vehicle seat is integrated with a drive motor and a magnetic wheel, which can realize the adsorption type omnidirectional movement of the device on the steel structure surface, and is suitable for various complex steel structure processing sites. The structure does not depend on the external guide rail system, and has good universality and stability, thereby significantly improving the self-operation ability of the laser cutting equipment in the special-shaped or large steel plate scene, and providing flexible support for cutting paths with different process requirements.

[0026] 2. In the present application, a variable unit with a flexible structure is introduced, including a deformation linkage structure composed of a gear rack, a guide rod group and an air bag body, so that the laser cutting module can realize the conversion from a planar form to an arc surface or a complex curved surface form through the deflection of the shaft seat and the expansion of the air bag deformation assembly. The above structure not only can automatically adapt to different structural topography of steel plates and pipe columns, but also can limit the bending posture of the air bag body through the bone strip auxiliary, ensuring that the device still has good bearing stiffness and precise control ability after deformation, solving the technical problem that the existing cutting equipment is difficult to fit the complex steel structure surface.

[0027] 3. In the present application, a multi-dimensional motion coupling mechanism is constructed, the motor vehicle seat provides XY plane positioning, the outer rotor motor in the turntable assembly drives the outer rotating ring to realize rotation posture adjustment, and the arc slide can realize rotation within an arc range around its connecting shaft. The three-dimensional coordinated control structure enables the laser cutting head to realize posture switching and path adjustment in space, and is particularly suitable for high-precision cutting operations in complex geometric regions such as arc welds, special-shaped contours and corner reinforcement parts. Compared with the traditional two-dimensional guide rail system, the present application can significantly expand the cutting path coverage range and shape adaptive ability. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0029] Figure 2 It is a schematic diagram of the exploded structure of the motor vehicle seat and the turntable assembly of an embodiment of the present application;

[0030] Figure 3 It is a schematic diagram of the motor vehicle seat structure of an embodiment of the present application;

[0031] Figure 4 It is a schematic diagram of the turntable assembly and the surface stand structure of an embodiment of the present application;

[0032] Figure 5 It is a schematic diagram of the cross-sectional structure of the motor vehicle seat of an embodiment of the present application;

[0033] Figure 6 It is a schematic diagram of the shaft seat installation structure of an embodiment of the present application;

[0034] Figure 7 It is a schematic diagram of the two forms of the shaft seat and the air bag deformation assembly of an embodiment of the present application;

[0035] Figure 8 It is a schematic diagram of the air bag deformation assembly in the expanded state of an embodiment of the present application;

[0036] Figure 9 It is a schematic diagram of the two form conversion process of an embodiment of the present application.

[0037] Reference signs:

[0038] 100, frame base;

[0039] 200, motor vehicle seat; 210, fixed seat; 220, wheel frame; 230, magnetic wheel; 240, shaft base; 250, air bag deformation assembly; 211, top cover; 212, damping tooth; 221, driving motor; 231, magnetic strip; 242, upper guide rod group; 243, lower guide rod group; 251, air pump; 252, air bag body; 253, bone strip;

[0040] 300, rotating disc assembly; 310, outer rotating ring; 320, tooth ring; 330, outer rotor motor; 311, bearing ring; 312, fixed ring sleeve;

[0041] 400, arc slide; 410, laser cutting head. DETAILED DESCRIPTION

[0042] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application with reference to the specific embodiments and the accompanying drawings. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0043] It is understood that the above description is only exemplary and is not intended to limit the scope of the present application.

[0044] Some embodiments of the present application provide a laser cutting device for steel structure production and processing. Embodiment one:

[0045] In combination with Figures 1-8 the drawings, the present application provides a laser cutting device for steel structure production and processing, which comprises a frame base 100, a motor vehicle seat 200, a rotating disc assembly 300 and an arc slide 400. The surface of the arc slide 400 is slidingly installed with a laser cutting head 410.

[0046] The frame base 100 is fixedly installed on the outer periphery of the motor vehicle seat 200, and is used to provide external structural support and linkage connection.

[0047] The rotating disc assembly 300 comprises an outer rotating ring 310, a gear ring 320 and an outer rotor motor 330 fixed to the surface of the motorized seat 200 for driving the rotation of the rotating disc assembly. The upper and lower sides of the outer rotating ring 310 are provided with bearing rings 311 which are in sliding fit with the surface of the frame disc seat 100 to realize the stability of rotation. The gear ring 320 is fixed to the inner side of the outer rotating ring 310 and is in meshing transmission with the output end of the outer rotor motor 330 to realize the transmission of driving force. The surface of the outer rotating ring 310 is also fixedly provided with a fixed ring sleeve 312, and the two ends of the arc sliding bracket 400 are rotatably sleeved on the inner side of the fixed ring sleeve 312, so that the arc sliding bracket 400 can be adjusted in angle around the fixed ring sleeve 312.

[0048] The motorized seat 200 comprises a fixed seat 210, a wheel frame 220, a magnetic wheel 230 and an axle seat 240, one side of the axle seat 240 is fixedly provided with an air bag deformation assembly 250. One end of the air bag deformation assembly 250 is fixedly connected with the surface of the wheel frame 220. The surface of the axle seat 240 is provided with an upper guide rod group 242 and a lower guide rod group 243, which are located above and below the air bag deformation assembly 250 respectively, and the other end of the guide rod group is movably connected with the surface of the wheel frame 220. The magnetic wheel 230 is rotatably installed on the surface of the wheel frame 220 and is driven to rotate by a driving motor 221 to realize the movement of the motorized seat 200 on the surface of the steel structure. The two wheel frames 220 and the axle seats 240 are symmetrically arranged, and the surfaces of the two axle seats 240 are respectively provided with meshing toothed racks 241.

[0049] The air bag deformation assembly 250 comprises an air pump 251 and an air bag body 252, the air pump 251 is fixed on one side of the air bag body 252 and is embeddedly installed on the inner side of the axle seat 240, the air pump 251 is in arc shape structure for inflating the air bag body 252. The air bag body 252 is in rubber cavity capsule structure, in inflated state, it is in arc shape, the surface is provided with a plurality of bones 253, the bones 253 are in frame structure and are arranged in sequence along the length direction of the air bag body 252.

[0050] As shown in Figure 3 and Figure 5 , the top surface of the fixed seat 210 is fixedly provided with a top cover 211, and the bottom surface of the top cover 211 is provided with a damping tooth 212. The damping tooth 212 is in flexible convex tooth shape structure for abutting with the meshing toothed rack 241 on the surface of the axle seat 240. By the mutual engagement of the damping tooth 212 on the top cover 211 and the meshing toothed rack 241 on the axle seat 240, the rotation damping of the axle seat 240 is provided in the cutting process, so as to realize the locking of its form and ensure the stability of the device.

[0051] As shown in Figures 7 to 9As shown, the rod 241 and the upper guide rod group 242 are both X-shaped double-link structures, which have flexible bending performance, so that the air bag deformation assembly 250 can be expanded and maintain a certain bending angle under the drive of the air pump 251. In order to realize the stable fitting of the device on different structural surfaces, the extension length of the rod 241 is designed to be greater than that of the upper guide rod group 242, so as to effectively maintain the arc structure of the air bag body 252 during the air bag deformation process.

[0052] As shown in the figure, Figure 4 The surface of the magnetic wheel 230 is provided with a plurality of magnetic strips 231, which are arranged obliquely, and the magnetic pole directions of adjacent two magnetic strips 231 are opposite. This arrangement enhances the magnetic adhesion force, so that the device can be stably attached to the steel structure surface for movement and operation.

[0053] The arc slide 400 is in an arc structure as a whole, and both ends thereof are rotationally connected to the surface of the fixed ring 312 and are provided with a rotation damping mechanism for adjusting the angle and movement resistance of the slide, thereby improving the control precision when the laser head slides.

[0054] An electromagnetic slide rail assembly is arranged on the surface of the arc slide 400, which can drive the laser cutting head 410 to perform linear sliding motion along the surface of the arc slide 400, so as to adapt to the arc cutting path or the cutting operation of a non-linear structure.

[0055] The top surface of the top cover 211 is provided with a fastener for mounting a power module, and the power module adopts a lithium battery pack structure and has a detachable mounting function, which is convenient for replacement and independent power supply. The inside of the fixed seat 210 is provided with a driving motor 221, an outer rotor motor 330 and a control mainboard for controlling the movement of the arc slide 400, so as to realize centralized control and power supply of the whole device.

[0056] Through the cooperation of the above structures and components, the laser cutting device realizes the target of autonomous movement, form adaptation and precise cutting on a complex steel structure surface, and has the advantages of high structural integration, strong adaptability and high control precision. Embodiment two:

[0057] In this embodiment, the driving and control system of the motor vehicle seat 200 is further optimized on the basis of the foregoing embodiment, and the original magnetic wheel 230 is replaced by a McKenna wheel structure, so as to improve the omnidirectional movement performance of the device on the surface of a plane steel plate.

[0058] In this embodiment, the magnetic wheel 230 is replaced by a McKenna wheel, which is uniformly distributed at the four corners of the wheel frame 220, and can realize movement in any direction and rotation in place of the device on the surface of a steel plate, thereby improving the degree of freedom and response accuracy of path planning. The McKenna wheel is composed of a plurality of rollers, and the roller axes are arranged at a certain angle with the main wheel axis, which is suitable for various plane movement and steering.

[0059] Meanwhile, the control mainboard is arranged inside the fixing base 210 and is used for uniformly managing the control logic of the plurality of execution units.

[0060] In addition, the control mainboard is prearranged with a path planning algorithm module, can dynamically generate a moving track according to the shape information of a cutting task and current positioning data, and is corrected in real time in an operation process, so as to ensure the high-precision machining capability of the laser cutting head 410 on a complex component.

[0061] Through the structure replacement and system optimization in the second embodiment, the device is further enhanced in control sensitivity, path precision and working stability, and is suitable for more complex steel structure surface and laser machining scenes of irregular graphics.

[0062] Working principle and use process of the present application:

[0063] In the plane cutting mode: the wheel frame 220 and the fixing base 210 are located in the same plane, the driving motor 221 on the surface of the wheel frame 220 synchronously drives the magnetic attraction wheel 230 or the McKenna mother wheel to rotate, so as to realize the walking motion of the whole laser cutting device.

[0064] Under the driving action of the outer rotor motor 330, the tooth ring 320 and the outer rotating ring 310 can rotate around the outer periphery of the motor car seat 200 under the support of the frame disc seat 100 and the bearing ring 311, so as to drive the arc slide 400 and the laser cutting head 410 above it to rotate around the motor car seat 200, adapt to the track control demand of complex cutting lines.

[0065] Further, before cutting starts, the rotating connection relationship between the arc slide 400 and the two end fixed ring sleeves 312 can be adjusted manually, so that the arc slide 400 and the laser cutting head 410 generate a preset inclination angle configuration, so as to realize the oblique cutting operation.

[0066] In the columnar steel structure surface cutting mode: as Figure 9As shown, the shaft seat 240 can be first manually deflected, the two shaft seats 240 are controlled to be relatively synchronized deflected, and then the air pump 251 starts to work to inflate the air bag body 252, so that the air bag body 252 is expanded and deformed. Under the cooperation of the upper guide rod group 242 and the lower guide rod group 243, the wheel frame 220 is synchronized to elongate along the arc direction of the air bag body 252, so as to complete the switching of the whole mode from the planar mode to the arc-shaped adaptive structure.

[0067] In this mode, the magnetic attraction wheel 230 surface magnetic stripe 231 enhances the adhesion of the magnetic attraction wheel 230 and the surface of the steel structure column, or the omni-directional movement ability of the Macna mother wheel enhances the adhesion and driving stability of the wheel frame 220 on the curved surface steel structure. Under the driving of the driving motor 221, the device can continuously crawl on the surface of the columnar steel structure. The laser cutting head 410 is guided on the surface of the arc slide 400 to slide the cutting track, and then realizes the operation purpose of continuously cutting the surface of the steel structure in a ring shape.

[0068] In summary, the laser cutting device of the present application has multi-scene adaptability, and through the combined control mode of structure deformation, rotation control and path planning, it can realize efficient and accurate cutting operation of steel structures in various modes such as plane or cylindrical surface.

[0069] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "a specific embodiment" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the present application, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0070] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A laser cutting device for steel structure production and processing, characterized in that, The utility model relates to a kind of laser cutting machine head, including: frame disc seat (100), motor vehicle seat (200), rotating disc assembly (300) and arc slide (400) and slidingly installed on the surface of arc slide (400) laser cutting machine head (410), the frame disc seat (100) is fixedly installed on the outer periphery of motor vehicle seat (200), the rotating disc assembly (300) includes outer race ring (310), gear ring (320) and outer rotor motor (330) fixed to the surface of motor vehicle seat (200), the upper and lower sides of the outer race ring (310) are equipped with bearing ring (311) with the surface of frame disc seat (100) adhering sliding, the gear ring (320) is fixed to the inside of outer race ring (310) and is engaged with the output end of outer rotor motor (330) transmission, the surface of outer race ring (310) is fixedly installed with fixed ring sleeve (312), and the both ends of arc slide (400) are rotatably sleeved on the inside of fixed ring sleeve (312). The motor vehicle seat (200) includes fixed seat (210), wheel frame (220), magnetic wheel (230) and shaft seat (240) and air bag deformation assembly (250) fixed to one side of shaft seat (240), one end of the air bag deformation assembly (250) is fixedly connected with the surface of wheel frame (220), the surface of shaft seat (240) is provided with upper guide rod group (242) and lower guide rod group (243) located on the upper and lower sides of air bag deformation assembly (250), and the other end of upper guide rod group (242) and lower guide rod group (243) is movably connected with the surface of wheel frame (220), the magnetic wheel (230) is rotatably installed on the surface of wheel frame (220), and the surface of wheel frame (220) is provided with driving motor (221) for driving the magnetic wheel (230) to rotate, the number of shaft seat (240) and wheel frame (220) is two groups and symmetrically arranged, the surfaces of two shaft seats (240) are provided with meshed gear racks (241) that are engaged with each other, the air bag deformation assembly (250) includes air pump (251) and air bag body (252), the air pump (251) is fixed to one side of air bag body (252) and is embeddedly installed on the inside of shaft seat (240), the air pump (251) is arc-shaped, and the surface of air bag body (252) is provided with a plurality of bones (253). The top surface of fixed seat (210) is fixedly installed with top cover (211), and the bottom surface of top cover (211) is provided with damping teeth (212) for abutting with the meshed gear racks (241) on the surface of shaft seat (240), the damping teeth (212) are flexible convex teeth.

2. The laser cutting device for steel structure production and processing according to claim 1, characterized in that, The meshed gear racks (241) and upper guide rod group (242) are both X-shaped double-link structures, and the links are flexible and bendable, and the extension length of meshed gear racks (241) is greater than that of upper guide rod group (242).

3. The laser cutting device for steel structure production and processing according to claim 1, characterized in that, The air bag body (252) is a rubber cavity capsule structure, and the bones (253) are frame-shaped and arranged in sequence along the length direction of air bag body (252), and the air bag body (252) is arc-shaped in the fullness state.

4. The laser cutting device for steel structure production and processing according to claim 1, characterized in that, ​ 5. The laser cutting device for steel structure production and processing according to claim 1, characterized in that, The surface of the magnetic attraction wheel (230) is provided with a plurality of uniformly distributed magnetic strips (231), each magnetic strip (231) is arranged obliquely, and the magnetic pole directions of adjacent two magnetic strips (231) are opposite.

6. The laser cutting device for steel structure production and processing according to claim 1, characterized in that, The arc-shaped slide bracket (400) is in an arc shape, both ends of the arc-shaped slide bracket (400) are rotationally connected to the surface of the fixed ring sleeve (312), and a rotation damping is arranged.

7. The laser cutting device for steel structure production and processing according to claim 1, characterized in that, The surface of the arc-shaped slide bracket (400) is provided with an electromagnetic slide rail assembly for driving the laser cutting head (410) to slide on the surface of the arc-shaped slide bracket (400).

8. The laser cutting device for steel structure production and processing according to claim 2, characterized in that, The top surface of the top cover (211) is provided with a fastener and detachably mounted with a power module, the power module is a lithium battery pack structure, and the control main board of the built-in driving motor (221), the outer rotor motor (330) and the arc-shaped slide bracket (400) is arranged in the fixed seat (210).

Images