Deformable surveying work robot

Abstract

The utility model provides a deformable surveying work robot, and belongs to the technical field of topographic surveying, intelligent control and mechanical structures. The deformable surveying work robot comprises a supporting mechanism, a front body mechanism is assembled at the top end of the supporting mechanism, a connecting mechanism is designed on the front body mechanism, the outer end of the connecting mechanism is connected with a tail mechanism, two front arms are installed at the outer end of the front body mechanism, and crawler belt mechanisms are stably installed at the bottom ends of the two front arms and the bottom end of the tail mechanism correspondingly. The crawler belt mechanism is in contact with the moving end of the supporting mechanism and the ground, the supporting mechanism, the front body mechanism, the connecting mechanism, the tail mechanism, the front arms and the crawler belt mechanism form a deformable robot, and deformation (lifting, pitching, contracting, expanding and the like) of a robot body can be achieved so as to adapt to field changeable terrains.

Description

Technical Field

[0001] This application relates to the technical field of terrain surveying, and more particularly, to a deformable surveying robot. Background Art

[0002] Robot technology has been closely related to people's daily lives and society. The development of robots follows the same path as other technological developments, from industrial robots for repetitive tasks, to service robots with a certain level of intelligence, and then to robots with a humanoid appearance and high intelligence as seen in movies. With the development of technologies such as machinery and materials, semiconductors, and computers, the application scope of robots will gradually expand. Combining with today's network technology and search engine technology, robots are being used more and more widely in society.

[0003] Currently, multi-terrain surveying robots mainly consist of traditional small engineering equipment, and all require manual operation and control. The mechanical equipment has a single function. China has a complex terrain, and complex cross-coordination between various equipment is required to complete the required operation tasks. The mechanical equipment lacks intelligence, is relatively dangerous, and cannot be operated without human intervention, resulting in unnecessary damage to the machines during the survey process. Summary of the Utility Model

[0004] To make up for the above deficiencies, this application provides a deformable surveying robot to solve the problems raised in the above background art.

[0005] To achieve the above object, the technical solution adopted by the utility model to solve its technical problems is as follows:[[]]

[0006] A deformable surveying robot includes a support mechanism. The top of the support mechanism is equipped with a front body mechanism. A connection mechanism is designed on the front body mechanism, and the outer end of the connection mechanism is connected to a tail mechanism. Two front arms are installed at the outer end of the front body mechanism. Track mechanisms are firmly installed at the bottom ends of the two front arms and the tail mechanism respectively. The track mechanisms are in contact with the mobile end of the support mechanism and the ground.

[0007] Further, the front body mechanism includes a control servo, a DC motor, bevel gears, a left clutch, a right clutch, a support rod, a belt pulley, a gear, four planet gears, a planet carrier, a sun gear, a worm and worm gear, and a connecting rod. The control servo and the DC motor are fixedly installed on the machine housing. The adjusting end of the control servo is respectively connected to the surfaces of the left clutch and the right clutch. The output end of the DC motor meshes with the opposite ends of the left clutch and the right clutch through the bevel gears. The separated ends of the left clutch and the right clutch are respectively fixedly connected to the two front arms. Both ends of the support rod are provided with belt pulleys and are drivingly connected to the outer walls of the separated ends of the left clutch and the right clutch. The inner ring of the gear is fixedly connected to the outer wall of the support rod through a bearing, and the outer ring meshes with the outer wall of the right clutch. The four planet gears respectively mesh with the planet carrier and the sun gear. The side wall of the sun gear is fixedly connected to the side wall of the gear through the connecting rod. One end of the worm and worm gear meshes with the left clutch, and the other end meshes with the inner wall of the planet carrier.

[0008] Further, the connecting mechanism includes a main body, a tension cylinder, a bracket, a telescopic cylinder and a connecting frame. One end inside the main body is fixedly connected to the planet carrier, and the other end is respectively hinged to the tension cylinder, the bracket and the top end of the telescopic cylinder. The bottom end of the tension cylinder is hinged to the middle section of the bracket. The bracket and the bottom end of the telescopic cylinder are hinged to the connecting frame.

[0009] Further, the tail mechanism includes a rear motor, a rear main body, a transmission shaft, a rear clamping shaft, a unicycle shaft, a unicycle, a rear planet carrier, four rear planet gears and a rear sun gear. The rear motor is installed on the machine housing, and the output end is drivingly connected to the rear clamping shaft through a three-wheel drive belt. The transmission shaft, the rear clamping shaft and the unicycle shaft are respectively installed inside the rear main body. The transmission shaft is drivingly connected to the rear clamping shaft. The rear clamping shaft is also drivingly connected to the unicycle shaft. The outer wall of the unicycle shaft is hinged to the connecting frame. The unicycle is fixedly installed on the unicycle shaft. The inner ring of the rear planet carrier meshes with the four rear planet carriers. The rear sun gear is installed on the rear clamping shaft and meshes with the inner walls of the four rear planet gears.

[0010] Further, the crawler mechanism includes four groups of servos, four crawlers and four vehicle frames. The four groups of servos are respectively installed inside the four vehicle frames. Two groups of servos are respectively fixedly connected to the two front arms and the two ends of the transmission shaft. The other two groups of servos respectively mesh with the interiors of the four crawlers. The two crawlers are respectively installed on the outer walls of the four vehicle frames.

[0011] Further, the support mechanism includes a tripod, a front tire, a rear tire, a hydraulic cylinder, a top rod, and an electric telescopic rod. The front tire and the rear tire are respectively installed at both ends of the tripod. The two ends of the hydraulic cylinder are respectively hinged to the middle section of the tripod and the inner side wall of the front tire. The bottom end of the top rod is fixedly connected to the top end of the front tire, and the top end is hinged to the bottom end of the planet carrier. The two ends of the electric telescopic rod are respectively hinged to the middle section of the tripod and the bottom end of the planet carrier.

[0012] The utility model has the following beneficial effects:

[0013] The machine design of the utility model uses multiple servos and motors, which can give the machine more flexibility and have more basic movements. Thus, through flexible combination, it has the ability to handle complex terrains or complete complex tasks. According to theoretical measurements, it can perform wading tasks of about m, fault climbing of about cm, climbing of pipes of various sizes, and has the ability to adapt to multiple terrains and various deformation capabilities. In addition, by further enlarging the size of this robot and selecting motors with higher power, there is hope for the linkage between humans and machines. The shape of this machine is similar to a snowmobile. By installing a handle and related human supports, surveyors can ride this robot to the designated location and then use the unmanned mode for site survey; in the wading mode, the operator can stand on the body of the robot to cross the water. In addition, this machine can also be used as a connector to connect damaged sites after disasters for the operator to pass through. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application, so they should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0015] Figure 1 is a schematic structural diagram of a deformable surveying and working robot provided by an embodiment of the present application;

[0016] Figure 2 is a schematic structural diagram of the front body mechanism provided by an embodiment of the present application;

[0017] Figure 3 is a schematic structural diagram of the tail mechanism provided by an embodiment of the present application;

[0018] Figure 4 is a schematic structural diagram of the connection mechanism provided by an embodiment of the present application;

[0019] Figure 5 is a schematic structural diagram of the support mechanism provided by an embodiment of the present application.

[0020] In the figure: 1 - support mechanism; 2 - front body mechanism; 3 - connecting mechanism; 4 - tail mechanism; 5 - front arm; 6 - crawler mechanism; 21 - control servo; 22 - DC motor; 23 - bevel gear; 24 - left clutch; 25 - right clutch; 26 - support rod; 27 - pulley; 28 - gear; 29 - planet gear; 291 - planet carrier; 292 - sun gear; 293 - worm and worm gear; 294 - connecting rod; 31 - main body; 32 - tension cylinder; 33 - bracket; 34 - telescopic cylinder; 35 - connecting frame; 41 - rear motor; 42 - rear main body; 43 - transmission shaft; 44 - rear clamping shaft; 45 - unicycle shaft; 46 - unicycle; 47 - rear planet carrier; 48 - rear planet gear; 49 - rear sun gear; 61 - servo; 62 - crawler; 63 - vehicle frame. 11 - tripod; 12 - front side tire; 13 - rear side tire; 14 - hydraulic cylinder; 15 - ejector rod; 16 - electric telescopic rod. Specific implementation mode

[0021] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0022] Embodiment:

[0023] Please refer to Figure 1 , Figure 5 , a deformable surveying and mapping robot, including a support mechanism 1, and the support mechanism 1 includes a tripod 11, a front side tire 12, a rear side tire 13, a hydraulic cylinder 14, an ejector rod 15 and an electric telescopic rod 16.

[0024] Among them, the support mechanism 1 is responsible for providing stable support during the movement of the robot and adjusting the center of gravity and attitude of the robot as needed. The tripod 11 is the main structure of the support mechanism 1, and it adopts a triangular design to increase stability. The front-side tire 12 and the rear-side tire 13 are respectively installed at both ends of the tripod 11 to provide ground support. The rear-side tire 13 is larger and rougher than the front-side tire 12 to increase the friction with the ground and provide better grip. During normal driving, the front-side tire 12 may not contact the ground, but the rear-side tire 13 bears the main support role. The hydraulic cylinder 14 is responsible for adjusting the relative position between the tripod 11 and the front-side tire 12. Both ends of the hydraulic cylinder 14 are hinged to the middle section of the tripod 11 and the inner side wall of the front-side tire 12 respectively. Through the telescopic movement of the hydraulic cylinder 14, the height and angle of the front-side tire 12 can be adjusted, thereby changing the center of gravity and attitude of the robot. The push rod 15 is a component connecting the front-side tire 12 and the planet carrier 291. The bottom end of the push rod 15 is fixedly connected to the top end of the front-side tire 12, and the top end is hinged to the bottom end of the planet carrier 291. Through the transmission of the push rod 15, the motion state of the front-side tire 12 can be transmitted to the planet carrier 291, thereby realizing the adjustment of the overall attitude of the robot. The electric telescopic rod 16 is another component for adjusting the relative position between the tripod 11 and the planet carrier 291. Both ends of the electric telescopic rod 16 are hinged to the middle section of the tripod 11 and the bottom end of the planet carrier 291 respectively. Through the telescopic movement of the electric telescopic rod 16, the position and angle of the planet carrier 291 can be further adjusted, thereby realizing the fine adjustment of the overall attitude of the robot.

[0025] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 A deformable surveying robot, the top end of the support mechanism 1 is equipped with a front body mechanism 2, a connecting mechanism 3 is designed on the front body mechanism 2, and the outer end of the connecting mechanism 3 is connected to the tail mechanism 4. Two front arms 5 are installed at the outer end of the front body mechanism 2, and four groups of track mechanisms 6 are firmly installed at the bottom ends of the two front arms 5 and the tail mechanism 4 respectively. The track mechanism 6 is in contact with the mobile end of the support mechanism 1 and the ground. The front body mechanism 2 includes a control servo 21, a DC motor 22, bevel gears 23, a left clutch 24, a right clutch 25, a support rod 26, a belt pulley 27, a gear 28, four planet gears 29, a planet carrier 291, a sun gear 292, a worm and worm gear 293 and a connecting rod 294; the connecting mechanism 3 includes a main body 31, a tension cylinder 32, a bracket 33, a telescopic cylinder 34 and a connecting frame 35; the tail mechanism 4 includes a rear motor 41, a rear main body 42, a transmission shaft 43, a rear clamping shaft 44, a unicycle shaft 45, a unicycle 46, a rear planet carrier 47, four rear planet gears 48 and a rear sun gear 49; the track mechanism 6 includes four groups of servos 61, four tracks 62 and four vehicle frames 63.

[0026] Among them, the front body mechanism 2 is responsible for realizing the rotation of the robot's large arm and the rotation of the tail to adapt to complex and changeable terrains.

[0027] Among them, the DC motor 22 serves as the power source, and its output end meshes with the opposite ends of the left clutch 24 and the right clutch 25 through the bevel gear 23. When the large arm needs to be controlled, the control servo 21 adjusts the left clutch 24 to close, and the power is transmitted to the left clutch 24 through the bevel gear 23. The power is then transmitted to the gear 28 through the pulleys 27 at both ends of the support rod 26. The gear 28 meshes with the outer wall of the right clutch 25, but at this time the right clutch 25 is in a disengaged state and does not participate in power transmission. The gear 28 is fixedly connected to the side wall of the sun gear 292 through the connecting rod 294, and the sun gear 292 meshes with the four planet gears 29. The planet carrier 291 is used as a fixed part and does not participate in the movement, but the planet gears 29 transmit the power to the large arm through the support rod 26 to realize the rotation control of the large arm. When the tail rotation needs to be realized, the control servo 21 adjusts the right clutch 25 to close, and the power is transmitted to the right clutch 25 through the bevel gear 23. The power is then decelerated by the worm and worm gear 293. One end of the worm and worm gear 293 is connected to the right clutch 25, and the other end is connected to the planet carrier 291 that needs to rotate. In this case, the planet carrier is no longer a fixed part but a rotating part. The worm and worm gear 293 has self-locking property to ensure that when the power is distributed elsewhere, the rotation mechanism will not lose control. Through the deceleration of the worm and worm gear 293 and the rotation of the planet carrier 291, the smooth rotation of the tail is realized.

[0028] Among them, the connecting mechanism 3 is responsible for connecting the front body mechanism 2 and the tail mechanism 5 together. One end inside the main body 31 is fixedly connected to the planet carrier 291. The planet carrier 291 is a key component in the front body mechanism 2. Through it, the power of the front body mechanism 2 can be transmitted to the connecting mechanism 3. The other end of the main body 31 is respectively hinged to the top ends of the tension cylinder 32, the bracket 33, and the telescopic cylinder 34 to achieve relative movement between these components. The tension cylinder 32 is a hydraulic or pneumatic device used to provide tension to change the shape and position of the connecting mechanism 3. Its bottom end is hinged to the middle section of the bracket 33. Through telescopic movement, the tension cylinder 32 can pull the bracket 33 to rotate or translate relative to the main body 31. The bracket 33 is a connecting and supporting component. One end of it is hinged to the main body 31, and the other end is hinged to the bottom ends of the tension cylinder 32 and the telescopic cylinder 34. The design of the bracket 33 enables it to withstand the forces from the tension cylinder 32 and the telescopic cylinder 34 and transmit these forces to the connecting frame 35. The telescopic cylinder 34 is similar to the tension cylinder 32 and is also a hydraulic or pneumatic device used to provide telescopic force. Its top end is hinged to the main body 31, and the bottom end is hinged to the connecting frame 35. Through telescopic movement, the telescopic cylinder 34 can change the length and shape of the connecting mechanism 3, thereby further affecting the overall movement and deformation of the robot. The connecting frame 35 is the connecting component between the connecting mechanism 3 and the tail mechanism 5. Its design enables it to withstand the forces from the telescopic cylinder 34 and the bracket 33 and transmit these forces to the tail mechanism 5 to achieve the coordinated movement and deformation of the whole robot.

[0029] Among them, the design of the tail mechanism 4 enables the robot to move efficiently and flexibly in complex terrains. The tail mechanism 4 includes a rear motor 41, which is firmly mounted on the outer shell of the machine. The output end of the rear motor 41 is in transmission connection with a rear card shaft 44 through a three-wheel drive belt. This design can effectively transmit the power generated by the rear motor 41 to the rear card shaft 44, and then drive the movement of other components of the tail mechanism 4. Next, the rear main body 42 serves as the main support structure of the tail mechanism 4, and a transmission shaft 43, a rear card shaft 44, and a unicycle shaft 45 are installed inside it. A transmission connection is achieved between the transmission shaft 43 and the rear card shaft 44 through an appropriate transmission device to ensure the smooth transmission of power. At the same time, the rear card shaft 44 is also in transmission connection with the unicycle shaft 45, so that the unicycle 46 can rotate with the rotation of the unicycle shaft 45, providing the robot with additional mobility. The unicycle 46 is fixedly mounted on the unicycle shaft 45 and is hinged to the connecting frame 35 through the unicycle shaft 45. This design enables the unicycle 46 to rotate and move flexibly when necessary to adapt to different terrain conditions. In addition, the tail mechanism 4 also includes a rear planet carrier 47, four rear planet gears 48, and a rear sun gear 49. The inner ring of the rear planet carrier 47 meshes with the four rear planet gears 48, and the rear sun gear 49 is installed on the rear card shaft 44 and meshes with the inner walls of the four rear planet gears 48. The design of this planetary gear transmission mechanism can effectively improve the transmission efficiency and load-bearing capacity of the tail mechanism 4, while reducing noise and wear during movement.

[0030] Among them, the crawler mechanism 6 is a crucial component. It not only is responsible for the movement of the robot but also works in cooperation with the front arm 5 to achieve the flexible movement and adaptability of the robot in complex terrains. Four groups of servos 61 are respectively installed inside four vehicle frames 63. Two of the groups of servos 61 are fixedly connected to both ends of the front arm 5 and the transmission shaft 43 to control the rotation of the front arm 5 and the rotation of the transmission shaft 43. The other two groups of servos 61 are meshed inside the four crawlers 62 to control the rotation of the crawlers 62 and the overall rotation of the crawler mechanism 6. The four crawlers 62 are respectively installed on the outer walls of the four vehicle frames 63. The crawlers 62 are made of high-strength and wear-resistant materials to ensure that the robot can drive stably in complex terrains. The vehicle frame 63 serves as the support structure of the crawler mechanism 6 and is made of a strong and durable material. The design of the vehicle frame 63 takes into account the overall weight and distribution of the robot to ensure the stability and safety of the robot during driving.

[0031] Among them, during wading, the hydraulic cylinder 14 can contract to lift the front tires 12 and adjust the body attitude, so as to reduce the contact area between the body and the water surface and improve the wading ability. When climbing a fault or a narrow pipeline, the hydraulic cylinder 14 and the electric telescopic rod 16 can work together to adjust the positions and angles of the tripod 11 and the planetary carrier 291, so as to realize the climbing and crossing actions of the robot. When the water depth further increases, the middle part of the body rotates, the tail mechanism 6 serves as a power source and supports the movement of the whole body, and the front part of the body moves backward to adjust the center. In this state, a height of about one meter can be achieved.

[0032] Among them, when the robot conducts complex terrain surveys or operations, the flexibility and deformation ability of the connecting mechanism 3 play a crucial role. By adjusting the telescopic movements of the tension cylinder 32 and the telescopic cylinder 34, the shape and position of the connecting mechanism 3 can be changed, and then the overall attitude and center of gravity distribution of the robot can be adjusted. This enables the robot to better adapt to complex and changeable terrain environments and complete various complex survey and operation tasks.

[0033] Among them, when traveling in a narrow pipeline, the robot needs to compress its body and adjust the position of the crawler 62 to adapt to the pipeline size. At this time, the rotation of the front arm 5 and the overall rotation function of the crawler mechanism 6 can help the robot better adapt to the changes in the pipeline shape and size.

[0034] Among them, the motors of the robot and some parts of the robot are fixed or hinged to the robot shell to ensure the stability of its operation.

[0035] It should be noted that the specific model specifications of the control servo 21, the DC motor 22, the tension cylinder 32, the telescopic cylinder 34, the rear motor 41, the electric telescopic rod 16, and the hydraulic cylinder 14 need to be selected according to the actual specifications of the device, etc. The specific selection calculation method adopts the existing technology in this field, so it will not be elaborated in detail.

[0036] The power supply and principle of the control servo 21, the DC motor 22, the tension cylinder 32, the telescopic cylinder 34, the rear motor 41, and the electric telescopic rod 16 are clear to those skilled in the art, and will not be elaborated here.

[0037] For those skilled in the art, it is obvious that this application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of this application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of this application is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in this application. Any reference signs in the claims should not be regarded as limiting the claimed rights.

Claims

1. A deformable surveying robot, comprising a support mechanism (1), characterized in that: The top of the support mechanism (1) is equipped with a front body mechanism (2). A connection mechanism (3) is designed on the front body mechanism (2). The outer end of the connection mechanism (3) is connected to a tail mechanism (4). Two front arms (5) are installed at the outer end of the front body mechanism (2). Track mechanisms (6) are firmly installed at the bottom ends of the two front arms (5) and the tail mechanism (4) respectively. The track mechanisms (6) are in contact with the mobile end of the support mechanism (1) and the ground.

2. The deformable surveying robot according to claim 1, wherein, The front body mechanism (2) includes a control servo (21), a DC motor (22), bevel gears (23), a left clutch (24), a right clutch (25), a support rod (26), belt pulleys (27), a gear (28), four planet gears (29), a planet carrier (291), a sun gear (292), a worm and worm gear (293), and a connecting rod (294). The control servo (21) and the DC motor (22) are fixedly installed on the machine housing. The adjusting end of the control servo (21) is respectively connected to the surfaces of the left clutch (24) and the right clutch (25). The output end of the DC motor (22) is meshed with the opposite ends of the left clutch (24) and the right clutch (25) through the bevel gears (23). The separated ends of the left clutch (24) and the right clutch (25) are respectively fixedly connected to the two front arms (5). Both ends of the support rod (26) are provided with belt pulleys (27) and are drivingly connected to the outer walls of the separated ends of the left clutch (24) and the right clutch (25). The inner ring of the gear (28) is fixedly connected to the outer wall of the support rod (26) through a bearing, and the outer ring is meshed with the outer wall of the right clutch (25). The four planet gears (29) are respectively meshed with the planet carrier (291) and the sun gear (292). The side wall of the sun gear (292) is fixedly connected to the side wall of the gear (28) through the connecting rod (294). One end of the worm and worm gear (293) is meshed with the left clutch (24), and the other end is meshed with the inner wall of the planet carrier (291).

3. The deformable surveying robot according to claim 2, characterized in that, The connection mechanism (3) includes a main body (31), a tension cylinder (32), a bracket (33), a telescopic cylinder (34), and a connecting frame (35). One end inside the main body (31) is fixedly connected to the planet carrier (291), and the other end is respectively hinged to the tension cylinder (32), the bracket (33), and the top end of the telescopic cylinder (34). The bottom end of the tension cylinder (32) is hinged to the middle section of the bracket (33). The bottom ends of the bracket (33) and the telescopic cylinder (34) are hinged to the connecting frame (35).

4. The deformable survey work robot according to claim 3, characterized in that, The tail mechanism (4) includes a rear motor (41), a rear main body (42), a transmission shaft (43), a rear clamping shaft (44), a unicycle shaft (45), a unicycle (46), a rear planetary carrier (47), four rear planetary gears (48) and a rear sun gear (49). The rear motor (41) is installed on the machine housing, and its output end is drivingly connected to the rear clamping shaft (44) through a three-wheel drive belt. Inside the rear main body (42), the transmission shaft (43), the rear clamping shaft (44) and the unicycle shaft (45) are respectively installed. The transmission shaft (43) is drivingly connected to the rear clamping shaft (44), and the rear clamping shaft (44) is also drivingly connected to the unicycle shaft (45). The outer wall of the unicycle shaft (45) is hinged to the connecting frame (35). The unicycle (46) is fixedly installed on the unicycle shaft (45). The inner ring of the rear planetary carrier (47) meshes with the four rear planetary carriers (47). The rear sun gear (49) is installed on the rear clamping shaft (44) and meshes with the inner walls of the four rear planetary gears (48).

5. A deformable surveying robot according to claim 4, characterized in that, The crawler mechanism (6) includes four sets of servos (61), four crawlers (62) and four vehicle frames (63). The four sets of servos (61) are respectively installed inside the four vehicle frames (63). Two sets of servos (61) are respectively fixedly connected to both ends of the two front arms (5) and the transmission shaft (43). The other two sets of servos (61) are respectively meshed with the interiors of the four crawlers (62). The two crawlers (62) are respectively installed on the outer walls of the four vehicle frames (63).

6. The deformable surveying and mapping robot according to claim 5, wherein, The support mechanism (1) includes a tripod (11), a front tire (12), a rear tire (13), a hydraulic cylinder (14), a top rod (15) and an electric telescopic rod (16). The front tire (12) and the rear tire (13) are respectively installed at both ends of the tripod (11). Both ends of the hydraulic cylinder (14) are hinged to the middle section of the tripod (11) and the inner side wall of the front tire (12). The bottom end of the top rod (15) is fixedly connected to the top end of the front tire (12), and the top end is hinged to the bottom end of the planetary carrier (291). Both ends of the electric telescopic rod (16) are hinged to the middle section of the tripod (11) and the bottom end of the planetary carrier (291).

Images