Agricultural and pastoral multifunctional combined suspension type double-arm lifting farming mechanism

Abstract

An agricultural and pastoral multifunctional combined suspended type double-arm lifting farming mechanism is characterized in that a pair of end beam rails is arranged at the upper ends of longitudinal beams on the two sides of a ground main frame body, and a pair of transverse girders is transversely arranged above the pair of end beam rails; a pair of guide frames are arranged between the two ends of the pair of transverse girders respectively, a set of lifting frames are arranged in the set of frame-shaped frame bodies respectively, and an electric mechanism, an agricultural machine mechanism, a forestry production mechanism and a breeding mechanism are arranged at the lower end between the pair of lifting frames; an accumulator jar group, a control box, a remote controller or a mobile phone are arranged on one side of the bottom of the control room; according to the agricultural and pastoral multifunctional combined suspended type double-arm lifting farming mechanism, through suspended farming, the agricultural and pastoral multifunctional combined suspended type double-arm lifting farming mechanism is used in fields of concentrated ecological chain farming, between fruit trees in economic forests and between breeding houses for livestock breeding, the investment cost of agricultural and pastoral production equipment is greatly reduced, and the economic benefits of agricultural and pastoral production are increased.

Description

Technical Field

[0001] The utility model relates to an agricultural and pastoral multifunctional combined suspended tillage mechanism, in particular to an agricultural and pastoral multifunctional combined suspended double-arm lifting tillage mechanism. Background Technique

[0002] At present, the ecological technology development of agriculture, forestry and animal husbandry is relatively popular. Agriculture, forestry and animal husbandry tend to be multifunctional and automated production, automated concentrated ecological chain arable land production, and automated green ecological agricultural cash crop production. Since various agricultural machines in agricultural production are relatively scattered and used in combination with tractors, most tillage is carried out through staff and existing agricultural equipment for normal planting and breeding production. When the tractor is used for tillage production, the staff, the tractor and the farm implements need to enter the arable land to work, and the working environment is relatively messy, which affects normal tillage; the wheels of the staff and the tractor run over and trample on the ground, which is easy to cause crop damage; when the humidity of the ground for tillage management and harvesting is relatively high, the ground is easy to be compacted after being trampled by the staff and run over by the wheels, which affects the subsequent tillage and the growth of crops; in addition, when the crops grow tall and are damaged by pests and diseases, it is necessary for the staff to enter the field to spray pesticides, and the production efficiency is relatively low; the working intensity of manually operating the tractor is relatively large, and the fuel cost is relatively high, which increases the production cost; in view of the above reasons, an agricultural and pastoral multifunctional combined suspended double-arm lifting tillage mechanism is proposed. Content of the Utility Model

[0003] The purpose of the present utility model is to overcome the problems that in the production of automated green ecological agricultural cash crops, the staff, tractors and farm implements need to enter the cultivated land, resulting in a relatively messy working environment, which affects normal tillage and is likely to cause crop damage to the staff and tractors; when the ground humidity is relatively high during tillage management and harvesting, the ground is prone to hardening after being trampled by the staff and rolled by the wheels, which affects the growth of crops; when the crops grow tall, the efficiency of manually entering the field to spray pesticides is relatively low, the working intensity of manually operating the tractor is relatively large, and the fuel cost is relatively high, increasing the production cost; through reasonable design, a multi-functional combined suspended double-arm lifting tillage mechanism for agriculture and animal husbandry is provided; the double-arm lifting tillage mechanism of the present utility model drives the lifting frame to run longitudinally through the transverse beam, and agricultural machinery is installed at the lower end of the lifting frame for tillage. The transverse beam, the lifting frame and the agricultural machinery are controlled by a remote control or a mobile phone to perform suspended tillage on the cultivated land of the ground main frame. There is no need for the staff, tractors and farm implements to enter the cultivated land, and the cultivated land can avoid the hardening phenomenon of the ground after being trampled by the staff and rolled by the wheels. When the ground humidity is relatively high during tillage management and harvesting, it ensures the normal growth of the cultivated land and crops; when the crops grow tall and there are pests and diseases, a spraying device is installed on the lifting frame to perform suspended pesticide spraying, with relatively high production efficiency; the working intensity is reduced, all agricultural machinery is driven by electricity, the production cost is greatly reduced, the efficiency of crop tillage management is improved, and the economic benefits of agricultural production are increased.

[0004] To achieve the above object, the utility model adopts the following technical solutions: A multifunctional combined suspended double-arm lifting tillage mechanism for agriculture and animal husbandry, which consists of: a ground main frame, end beam tracks, a transverse beam, end beams, end beam motors, a guiding frame, a transverse traveling trolley, a trolley bidirectional motor, a lifting frame, a hanging bracket, a winch, a control room, a ceiling, a storage battery pack, a control box, a control panel, a control center, a control signal module, a wireless signal device, a power conversion module, a bidirectional motor execution module, a winch execution module, an end beam motor execution module, an electric mechanism execution module, a remote control, and an electric mechanism; at least one ground main frame is longitudinally arranged on the ridge in the center above the cultivated land, and the length of at least one ground main frame is set corresponding to the length of the cultivated land; a pair of end beam tracks are arranged at the upper ends of the longitudinal beams on both sides of the ground main frame, and the end beam tracks are set as H-shaped steel; a pair of transverse beams are horizontally arranged above the pair of end beam tracks, and the length of the transverse beams is set corresponding to the width of the cultivated land, and the transverse beams are set as H-shaped steel; a pair of end beams are arranged between the upper ends of the pair of end beam tracks and the pair of transverse beams, and a pair of end beam motors are arranged on the corresponding sides of the pair of end beams, and the pair of end beams are set as a synchronous longitudinal traveling mechanism; a pair of guiding frames are respectively arranged between the two ends of the pair of transverse beams, and a pair of transverse traveling trolleys are respectively arranged at the tops of the two pairs of guiding frames, and the pair of transverse traveling trolleys are set as a transverse traveling mechanism; one pair of guiding frames at one end is set as a group of frame-shaped bodies, and a group of lifting frames are respectively arranged in the group of frame-shaped bodies, and a group of lifting frames are set corresponding to one guiding frame; four sliding grooves are symmetrically arranged on the inner sides of the four corners of the guiding frame, and the four corners of the frame body of the lifting frame are arranged corresponding to the four sliding grooves; an electric mechanism is arranged at the lower end between the pair of lifting frames, and different agricultural machinery mechanisms, forestry production mechanisms, and breeding mechanisms are arranged at the power output shaft ends of the electric mechanism.

[0005] A pair of hanging brackets are arranged at the upper ends of the pair of lifting frames, a winch is respectively arranged at the upper ends of the pair of guiding frames, and a steel wire rope is arranged between the winch and the hanging bracket;

[0006] A control room is arranged in the middle above the pair of transverse beams, the transverse beams on both sides of the control room are symmetrically set as double-arm shapes, a ceiling is arranged above the control room, and the ceiling is correspondingly arranged to cover the upper part of the pair of transverse beams; a storage battery pack is arranged at one side of the bottom of the control room, a control box is arranged above the storage battery pack, a wireless signal device is arranged in the control box, the wireless signal device is matched with a remote control or a mobile phone on the ground, and control lines are arranged between the control box and the end beam motor, the electric mechanism, the winch, the end beam motor, and the trolley bidirectional motor respectively; a control signal is arranged between the remote control or the mobile phone and the wireless signal device.

[0007] A control panel is set in the control box. On one side of the upper part of the control panel, a wireless signal device is set. Below the wireless signal device, a control signal module and a control center are sequentially set. On one side of the control center, a power conversion module is set. The power conversion module is respectively provided with power interfaces for a direct power supply and a battery pack. A power conversion control circuit is set between the control center and the power conversion module; below the power conversion module, a group of execution modules is set. The group of execution modules is respectively set as two electric mechanism execution modules, two bidirectional motor execution modules, two winch execution modules, and two end beam motor execution modules; power circuits are set between the power conversion module and the two electric mechanism execution modules, the two bidirectional motor execution modules, the two winch execution modules, and the two end beam motor execution modules respectively.

[0008] Control lines are set between the control center and the two electric mechanism execution modules, the two bidirectional motor execution modules, the two winch execution modules, and the two end beam motor execution modules respectively; control lines are set between the two electric mechanism execution modules and a pair of electric mechanisms respectively, a control line is set between the two bidirectional motor execution modules and the trolley bidirectional motor, a control line is set between the two winch execution modules and a pair of winches, and a control line is set between the two end beam motor execution modules and a pair of end beam motors.

[0009] A pair of transverse girders relatively reserve a pair of trolley grooves. A transverse walking trolley is set between the pair of trolley grooves. Two pairs of walking wheels are set between the two sides of the transverse walking trolley and the pair of trolley grooves. The two pairs of walking wheels are respectively set as a pair of driving wheels and a pair of driven wheels. A trolley bidirectional motor is respectively set at one end of the transverse walking trolley. A transmission chain is set between the trolley bidirectional motor and the wheel axle of the driving wheel.

[0010] Operation process: When cultivating and planting wheat, at least one main frame body is longitudinally installed on the ridge in the middle of the wheat planting cultivated land on the ground. The upper part of the main frame body is a farming and animal husbandry multi-functional combined suspended double-arm lifting tillage mechanism; when the wheat is ripe for harvesting, a wheat harvester is installed at the power output shaft end of the electric mechanism. The ground operator starts the transverse girder through a remote control or a mobile phone. The transverse girder drives the wheat harvester to run to one end of the main frame body. A pair of guiding frames are located on both sides of the main frame body at the initial position. A wheat transfer vehicle is parked at the other end of the main frame body for use.

[0011] Ground operators control the hoist to lower the lifting frames at both ends of the transverse beam through a remote control or mobile phone. When the lifting frames drive the wheat harvester to lower to a distance of [X] centimeters to [X] centimeters from the ground, the hoist stops and positions. After the wheat harvester is positioned, the ground operator simultaneously starts the electric mechanism and a pair of end beam motors through the remote control or mobile phone. The electric mechanism starts to drive the wheat harvester to rotate, and a pair of end beam motors run synchronously along the end beam tracks through a pair of end beams, driving the transverse beam to move towards the other end of the main frame. The wheat harvester harvests a row of mature wheat through the wheat planter. When the transverse beam drives the wheat harvester to the other end of the main frame, the harvesting of a row of mature wheat is completed. After the wheat harvester injects the harvested wheat grains into the waiting wheat transfer vehicle through the conveying pipeline, the harvesting and output of wheat are completed.

[0012] During the process of harvesting mature wheat, when the lifting frame needs to be lifted or lowered, the ground operator controls the hoist to drive the lifting frame to lift or lower through the hoist execution module of the remote control or mobile phone. When harvesting mature wheat, the ground operator simultaneously starts the electric mechanism execution module of the remote control or mobile phone to control the operation of a pair of electric mechanisms and the wheat harvester, and the two end beam motor execution modules to control the operation of a pair of end beam motors and a pair of end beams. The wheat harvester harvests the mature wheat.

[0013] After harvesting a row of mature wheat, when harvesting the adjacent row of mature wheat, the ground operator drives the transverse walking trolley, the guiding frame, the lifting frame, and the wheat harvester to move outwards through the trolley bidirectional motor of the remote control or mobile phone. The wheat harvester stops when it corresponds to the adjacent row of mature wheat, and the wheat harvester harvests the adjacent row of mature wheat. The harvesting of the mature wheat on the cultivated land is operated according to the above work process until all the mature wheat on both sides of the ground main frame is harvested.

[0014] Beneficial effects: The double-arm lifting tillage mechanism of the present utility model drives the lifting frame to perform longitudinal operation through the transverse beam. An agricultural machine is installed at the lower end of the lifting frame for tillage. The transverse beam, the lifting frame, and the agricultural machine are controlled by a remote control or mobile phone to perform suspended tillage on the cultivated land of the ground main frame. There is no need for workers, tractors, and farm implements to enter the cultivated land, and the cultivated land can avoid the soil compaction phenomenon caused by the trampling of workers and the rolling of wheels on the ground. When the humidity of the cultivated land for farming management and harvesting is relatively high, it ensures the tillage of the cultivated land and the normal growth of crops. When the crops grow tall and are affected by pests and diseases, a spraying device is installed on the lifting frame to perform suspended pesticide spraying, with high production efficiency. It reduces the labor intensity, drives all agricultural machines by electricity, greatly reduces the production cost, improves the efficiency of crop farming management, and increases the economic benefits of agricultural production. The present utility model is used in the fields of concentrated ecological chain cultivated land, between economic forest fruit trees, and between livestock breeding pens, greatly reducing the investment cost of agricultural and livestock production equipment and increasing the economic benefits of agricultural and livestock production. Brief Description of the Drawings

[0015] The present utility model will be further described below in conjunction with the accompanying drawings:

[0016] Figure 1 is a schematic diagram of the general assembly structure;

[0017] Figure 2 is Figure 1 the dynamic structure schematic diagram of;

[0018] Figure 3 is Figure 1 the side view structure schematic diagram of;

[0019] Figure 4 is Figure 3 the dynamic structure schematic diagram of;

[0020] Figure 5 is Figure 3 the ground main frame body combined structure schematic diagram of;

[0021] Figure 6 is Figure 1 the control system structure schematic diagram of;

[0022] Figure 7 is Figure 1 the lifting frame partial structure schematic diagram of;

[0023] Figure 1 、 2 、3, 4, 5, 6, 7 in: ground main frame body 1, end beam track 1-1, transverse girder 2, end beam 3, end beam motor 3-1, guiding frame 4, transverse traveling trolley 4-1, trolley bidirectional motor 4-2, lifting frame 5, hanging bracket 5-1, hoist 6, control room 7, ceiling 7-1, storage battery pack 8, control box 9, control panel 9-1, control center 9-2, control signal module 9-3, wireless signal device 9-4, power conversion module 9-5, bidirectional motor execution module 9-6, hoist execution module 9-7, end beam motor execution module 9-8, electric mechanism execution module 9-9, remote controller 10, electric mechanism 11. Detailed Embodiments

[0024] The present utility model will be further described in detail below in conjunction with the accompanying drawings and the detailed embodiments:

[0025] At least one ground main frame body 1 is longitudinally arranged on the ridge in the center of the cultivated land, and the length of at least one ground main frame body 1 is set corresponding to the length of the cultivated land; on the upper ends of the longitudinal beams on both sides of the ground main frame body 1, a pair of end beam tracks 1-1 are arranged, and the end beam tracks 1-1 are set as H-shaped steel; above a pair of end beam tracks 1-1, a pair of transverse main beams 2 are arranged horizontally, and the length of the transverse main beams 2 is set corresponding to the width of the cultivated land, and the transverse main beams 2 are set as H-shaped steel; between the upper ends of a pair of end beam tracks 1-1 and a pair of transverse main beams 2, a pair of end beams 3 are arranged, and a pair of end beam motors 3-1 are arranged on the corresponding side of a pair of end beams 3, and a pair of end beams 3 are set as a synchronous longitudinal walking mechanism; between the two ends of a pair of transverse main beams 2, a pair of guiding frames 4 are respectively arranged, and a pair of transverse walking trolleys 4-1 are respectively arranged on the tops of the two pairs of guiding frames 4, and a pair of transverse walking trolleys 4-1 are set as a transverse walking mechanism; a pair of guiding frames 4 at one end are set as a group of frame-shaped bodies, and a group of lifting frames 5 are respectively arranged in a group of frame-shaped bodies, and a group of lifting frames 5 are set corresponding to one guiding frame 4; on the inner sides of the four corners of the guiding frame 4, four chutes are symmetrically arranged, and between the four corners of the frame body of the lifting frame 5, they are arranged corresponding to the four chutes; between the lower ends of a pair of lifting frames 5, an electric mechanism 11 is arranged, and different agricultural machinery mechanisms, forestry production mechanisms, and breeding mechanisms are arranged at the power output shaft end of the electric mechanism 11;

[0026] On the upper ends of a pair of lifting frames 5, hanging frames 5-1 are arranged, and winches 6 are respectively arranged on the upper ends of a pair of guiding frames 4, and steel wires are arranged between the winches 6 and the hanging frames 5-1;

[0027] In the middle of the upper surface of a pair of transverse main beams 2, a control room 7 is arranged, and the transverse main beams 2 on both sides of the control room 7 are symmetrically set as double-arm shapes, and a ceiling 7-1 is arranged above the control room 7, and the ceiling 7-1 is arranged corresponding to covering the upper part of a pair of transverse main beams 2; on one side of the bottom of the control room 7, a storage battery pack 8 is arranged, and a control box 9 is arranged above the storage battery pack 8, and a wireless signal device 9-4 is arranged in the control box 9, and a remote controller 10 or a mobile phone is arranged in a matching manner between the wireless signal device 9-4 and the ground, and control lines are arranged between the control box 9 and the end beam motor 3-1, the electric mechanism 11, the winch 6, the end beam motor 3-1, and the trolley bidirectional motor 4-2 respectively; a control signal is arranged between the remote controller 10 or the mobile phone and the wireless signal device 9-4.

[0028] A control board 9-1 is arranged in the control box 9. A wireless signal device 9-4 is arranged on one side of the upper part of the control board 9-1. A control signal module 9-3 and a control center 9-2 are sequentially arranged below the wireless signal device 9-4. A power conversion module 9-5 is arranged on one side of the control center 9-2. The power conversion module 9-5 is respectively provided with a direct power supply and a power interface of the storage battery pack 8. A power conversion control circuit is arranged between the control center 9-2 and the power conversion module 9-5. A group of execution modules is arranged below the power conversion module 9-5. The group of execution modules is respectively two electric mechanism execution modules 9-9, two bidirectional motor execution modules 9-6, two winch execution modules 9-7, and two end beam motor execution modules 9-8. Power circuits are arranged between the power conversion module 9-5 and the two electric mechanism execution modules 9-9, the two bidirectional motor execution modules 9-6, the two winch execution modules 9-7, and the two end beam motor execution modules 9-8 respectively.

[0029] Control lines are arranged between the control center 9-2 and the two electric mechanism execution modules 9-9, the two bidirectional motor execution modules 9-6, the two winch execution modules 9-7, and the two end beam motor execution modules 9-8 respectively. Control lines are arranged between the two electric mechanism execution modules 9-9 and a pair of electric mechanisms 11 respectively. A control line is arranged between the two bidirectional motor execution modules 9-6 and the trolley bidirectional motor 4-2. A control line is arranged between the two winch execution modules 9-7 and a pair of winches 6. A control line is arranged between the two end beam motor execution modules 9-8 and a pair of end beam motors 3-1.

[0030] A pair of transverse girders 2 are relatively reserved with a pair of trolley slots. A transverse walking trolley 4-1 is arranged between the pair of trolley slots. Two pairs of walking wheels are arranged between the two sides of the transverse walking trolley 4-1 and the pair of trolley slots. The two pairs of walking wheels are respectively a pair of driving wheels and a pair of driven wheels. Trolley bidirectional motors 4-2 are respectively arranged at one end of the transverse walking trolley 4-1. Transmission chains are arranged between the trolley bidirectional motors 4-2 and the axles of the driving wheels.

Claims

1. A multifunctional combined suspended double-arm lifting tillage mechanism for agriculture and animal husbandry, comprising: a ground main frame (1), an end beam track (1-1), a transverse beam (2), an end beam (3), an end beam motor (3-1), a guide frame (4), a transverse walking trolley (4-1), a trolley bidirectional motor (4-2), a lifting frame (5), a hanger (5-1), a winch (6), a control room (7), a ceiling (7-1), a battery pack (8), a control box (9), a control panel (9-1), a control center (9-2), a control signal module (9-3), a wireless signal device (9-4), a power conversion module (9-5), a bidirectional motor execution module (9-6), a winch execution module (9-7), an end beam motor execution module (9-8), an electric mechanism execution module (9-9), a remote controller (10), and an electric mechanism (11); characterized in that: At least one ground main frame (1) is longitudinally arranged on the ridge at the center of the cultivated land, and the length of at least one ground main frame (1) is set to correspond to the length of the cultivated land; a pair of end beam rails (1-1) are arranged at the upper ends of the longitudinal beams on both sides of the ground main frame (1), and the end beam rails (1-1) are set to be H-shaped steel; a pair of transverse beams (2) are transversely arranged above the pair of end beam rails (1-1), and the length of the transverse beams (2) is set to correspond to the width of the cultivated land, and the transverse beams (2) are set to be H-shaped steel; a pair of end beams (3) are arranged between the upper ends of the pair of end beam rails (1-1) and the pair of transverse beams (2), and a pair of end beam motors (3-1) are arranged on the corresponding sides of the pair of end beams (3), and the pair of end beams (3) are set to be synchronous longitudinal walking mechanisms; the pair of transverse beams ( 2) A pair of guide frames (4) are respectively arranged between the two ends, a pair of lateral walking trolleys (4-1) are respectively arranged on the top of the two pairs of guide frames (4), and the pair of lateral walking trolleys (4-1) are arranged as lateral walking mechanisms; the pair of guide frames (4) at one end are arranged as a group of frame-shaped frames, a group of lifting frames (5) are respectively arranged in a group of frame-shaped frames, and a group of lifting frames (5) is arranged corresponding to one guide frame (4); four slide grooves are symmetrically arranged on the inner sides of the four corners of the guide frame (4), and the four slide grooves are arranged corresponding to the four corners of the frame of the lifting frame (5); an electric mechanism (11) is arranged at the lower end between the pair of lifting frames (5), and different agricultural machinery mechanisms, forestry production mechanisms, and breeding mechanisms are arranged at the power output shaft end of the electric mechanism (11).

2. The agricultural and animal husbandry multifunctional combined suspended double-arm lifting farming mechanism according to claim 1 is characterized in that: A hanger (5-1) is arranged at the upper ends of a pair of lifting frames (5), a winch (6) is arranged at the upper ends of a pair of guide frames (4), and a steel wire rope is arranged between the winch (6) and the hanger (5-1); A control room (7) is arranged in the middle of the pair of transverse beams (2); the transverse beams (2) on both sides of the control room (7) are symmetrically arranged in a double-arm shape; a ceiling (7-1) is arranged above the control room (7); the ceiling (7-1) covers the upper part of the pair of transverse beams (2); a battery pack (8) is arranged at one side of the bottom of the control room (7); a control box (9) is arranged above the battery pack (8); a wireless signal device (9-4) is arranged in the control box (9); a remote controller (10) or a mobile phone is arranged between the wireless signal device (9-4) and the ground; control lines are arranged between the control box (9) and the end beam motor (3-1), the electric mechanism (11), the winch (6), the end beam motor (3-1), and the trolley bidirectional motor (4-2); and a control signal is arranged between the remote controller (10) or the mobile phone and the wireless signal device (9-4).

3. The agricultural and animal husbandry multifunctional combined suspended double-arm lifting farming mechanism according to claim 1 is characterized in that: A control panel (9-1) is arranged in the control box (9), a wireless signal device (9-4) is arranged on one side of the upper part of the control panel (9-1), a control signal module (9-3) and a control center (9-2) are arranged in sequence below the wireless signal device (9-4), a power conversion module (9-5) is arranged on one side of the control center (9-2), the power conversion module (9-5) is respectively provided with power interfaces of a direct power source and a battery pack (8), and a power conversion control circuit is arranged between the control center (9-2) and the power conversion module (9-5); a group of execution modules is arranged below the power conversion module (9-5), and the group of execution modules are respectively provided with two electric mechanism execution modules (9-9), two bidirectional motor execution modules (9-6), two winch execution modules (9-7), and two end beam motor execution modules (9-8); power circuits are respectively arranged between the power conversion module (9-5) and the two electric mechanism execution modules (9-9), the two bidirectional motor execution modules (9-6), the two winch execution modules (9-7), and the two end beam motor execution modules (9-8).

4. The agricultural and animal husbandry multifunctional combined suspended double-arm lifting farming mechanism according to claim 1 is characterized in that: Control circuits are respectively arranged between the control center (9-2) and the two electric mechanism execution modules (9-9), the two bidirectional motor execution modules (9-6), the two hoist execution modules (9-7), and the two end beam motor execution modules (9-8); control circuits are respectively arranged between the two electric mechanism execution modules (9-9) and a pair of electric mechanisms (11); control circuits are arranged between the two bidirectional motor execution modules (9-6) and the trolley bidirectional motor (4-2); control circuits are arranged between the two hoist execution modules (9-7) and a pair of hoists (6); and control circuits are arranged between the two end beam motor execution modules (9-8) and a pair of end beam motors (3-1).

5. The agricultural and animal husbandry multifunctional combined suspended double-arm lifting farming mechanism according to claim 1 is characterized in that: A pair of trolley grooves are reserved for a pair of transverse beams (2), a transverse walking trolley (4-1) is arranged between the pair of trolley grooves, two pairs of walking wheels are arranged between the two sides of the transverse walking trolley (4-1) and the pair of trolley grooves, the two pairs of walking wheels are respectively arranged as a pair of driving wheels and a pair of driven wheels, a trolley bidirectional motor (4-2) is respectively arranged at one end of the transverse walking trolley (4-1), and a transmission chain is arranged between the trolley bidirectional motor (4-2) and the wheel axle of the driving wheel.

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