Locomotive battery rack steel structure positioning equipment

Abstract

The utility model relates to the field of machine manufacturing, and discloses locomotive battery rack steel structure positioning equipment which comprises a transverse moving platform, a longitudinal moving platform, a lifting device and universal wheels. Through an integrated distance measuring sensor and a precise mechanical transmission mechanism, the device can realize high-precision positioning of the battery rack steel structure, the distance measuring sensor feeds back distance information in real time, and a control system adjusts motion parameters according to the data to ensure the positioning accuracy; the device combines a transverse moving platform, a longitudinal moving platform and a lifting device, can freely move in a three-dimensional space, adapts to different mounting environments and requirements, greatly improves the application range and adaptability of the equipment due to the flexibility, has multidirectional moving and positioning capabilities, can adapt to battery rack steel structures with different shapes, sizes and weights, and is suitable for large-scale popularization and application. And the requirements of different installation scenes are met.

Description

Technical Field

[0001] The utility model relates to the field of machinery manufacturing, and particularly relates to a positioning device for the steel structure of a locomotive battery rack. Background Technique

[0002] With the continuous development of locomotive manufacturing technology, higher requirements are put forward for the positioning accuracy and installation efficiency of the steel structure of the battery rack. As an important part of the locomotive, the installation quality and accuracy of the battery rack directly affect the overall performance and safety of the locomotive. Therefore, it is particularly important to develop a high-efficiency and accurate positioning device for the steel structure of the battery rack. Traditional positioning methods often rely on manual measurement and marking, with large errors and uncertainties, and it is difficult to meet the strict requirements for accuracy in modern locomotive manufacturing. Although existing automated positioning devices have improved the positioning accuracy to a certain extent, there are still problems with large positioning errors, especially more obvious in complex environments or when facing battery racks with irregular shapes. Many existing positioning devices are often optimized for specific battery rack sizes and shapes during design and manufacturing, resulting in a lack of sufficient flexibility when dealing with battery racks of different specifications and models. The movement and adjustment range of the device are limited, and it is difficult to meet the requirements of different installation environments and space limitations. For this reason, we propose a positioning device for the steel structure of a locomotive battery rack. Content of the Utility Model

[0003] (I) Technical Problems to be Solved

[0004] In view of the deficiencies of the prior art, the utility model provides a positioning device for the steel structure of a locomotive battery rack, which solves the above problems.

[0005] (II) Technical Solutions

[0006] To achieve the above object, the utility model provides the following technical solution: A positioning device for the steel structure of a locomotive battery rack, including a transverse movement platform, a longitudinal movement platform, a lifting device and universal wheels. A plurality of groups of universal wheels are fixedly installed around the bottom end of the transverse movement platform. A longitudinal movement platform is arranged at the top end of the transverse movement platform, and a lifting device is arranged at the top end of the longitudinal movement platform.

[0007] Preferably, the lifting device comprises a lifting device upper base, a lifting device lower base, a lifting device motor, a first sliding rod and a second sliding rod, the lifting device upper base is provided at the top of the lifting device, two protrusions are extended downwardly from both sides of the bottom end of the first sliding rod, the lifting device lower base is provided at the bottom end of the lifting device, two protrusions are extended upwardly from both sides of the top end of the lifting device lower base corresponding to the positions of the lifting device upper base, two groups of first sliding rods are fixedly installed at the two protrusions extending downwardly from the lifting device upper base, two groups of second sliding rods are fixedly installed in the middle of the two groups of protrusions extending upwardly from the lifting device lower base, and the lifting device motor is fixedly installed at one side protrusion extending upwardly from the lifting device lower base.

[0008] Preferably, two groups of second fixed blocks are fixedly installed on the top end of the lower base of the lifting device away from the lifting device motor, and two groups of first fixed blocks are fixedly installed on the bottom end of the upper base of the lifting device corresponding to one side of the two groups of second fixed blocks, the two groups of first sliding rods are slidably clamped with the first sliding blocks, the two groups of second sliding rods are slidably clamped with the second sliding blocks, the two groups of first sliding blocks are hingedly installed with the first connecting rod on the opposite sides, the other ends of the two groups of first connecting rods are hinged to the two groups of second fixed blocks in the lower base of the lifting device, the two groups of second sliding blocks are hingedly hinged on the opposite sides, the other ends of the two groups of second connecting rods are hinged to the two groups of first fixed blocks in the upper base of the lifting device, and the intersection of the first connecting rod and the second connecting rod is hinged together through a rotating shaft.

[0009] Preferably, the lifting device also includes a lifting device threaded screw, a linkage rod, a nut block, a rotating fixed block and a first slider, the output shaft of the lifting device motor extends through and into the interior of the lower base of the lifting device, and is fixedly installed with the lifting device threaded screw, the lifting device threaded screw is rotatably installed with a nut block, a linkage rod is fixedly installed on the side of the nut block away from the lifting device motor, both ends of the linkage rod are respectively fixedly installed on two groups of second sliding blocks, the lifting device threaded screw is fixedly installed on the side away from the lifting device motor, and multiple groups of first sliders are fixedly installed on the bottom end of the lower base of the lifting device.

[0010] Preferably, the transverse movement platform includes a transverse movement platform base, a first threaded lead screw, a first threaded lead screw fixing groove, a transverse movement platform motor, a first limit fixing block, and a first slide bar. In the middle of the top end of the transverse movement platform base, a first threaded lead screw fixing groove is fixedly installed. Inside the first threaded lead screw fixing groove, a first threaded lead screw is rotatably installed. One end of the first threaded lead screw penetrates and extends out of one side of the first threaded lead screw fixing groove and is connected to the transverse movement platform motor. At both ends of the top end of the transverse movement platform base that are horizontally corresponding to the first threaded lead screw fixing groove, two groups of first limit fixing blocks are respectively fixedly installed. In the middle of the two groups of first limit fixing blocks, a first slide bar is fixedly installed.

[0011] Preferably, the longitudinal movement platform includes a longitudinal movement platform base, a second threaded lead screw, a second threaded lead screw fixing groove, a longitudinal movement platform motor, a second slider, a second limit fixing block, and a second slide bar. In the middle of the top end of the longitudinal movement platform base, a second threaded lead screw fixing groove is fixedly installed. Inside the second threaded lead screw fixing groove, a second threaded lead screw is rotatably installed. One end of the second threaded lead screw penetrates and extends out of one side of the second threaded lead screw fixing groove and is fixedly connected to the longitudinal movement platform motor. On both sides of the top end of the longitudinal movement platform base that are horizontally corresponding to the second threaded lead screw fixing groove, two groups of second limit fixing blocks are respectively fixedly installed. In the middle of the two groups of second limit fixing blocks, a second slide bar is fixedly installed. At the bottom end of the longitudinal movement platform base, multiple groups of second sliders are fixedly installed.

[0012] Preferably, the longitudinal movement platform is respectively clamped on the first threaded lead screw at the top end of the transverse movement platform and the two first slide bars through multiple groups of second sliders at the bottom end. The lifting device is respectively clamped on the second threaded lead screw at the top end of the longitudinal movement platform and the two second slide bars through multiple groups of first sliders at the bottom end. Multiple groups of distance measuring sensors are fixedly installed around the top end of the lifting device, and multiple groups of distance measuring sensors are also fixedly installed around the top end of the transverse movement platform.

[0013] (III) Beneficial effects

[0014] Compared with the prior art, the present utility model provides a positioning device for the steel structure of a locomotive battery rack, which has the following beneficial effects:

[0015] 1. For this positioning device for the steel structure of the locomotive battery rack, through the integrated distance measuring sensors and precise mechanical transmission mechanisms, this device can achieve high-precision positioning of the steel structure of the battery rack. The distance measuring sensors real-time feedback distance information, and the control system adjusts the motion parameters according to these data to ensure the accuracy of positioning.

[0016] 2. The locomotive battery rack steel structure positioning device combines a transverse moving platform, a longitudinal moving platform and a lifting device, and can move freely in three-dimensional space to adapt to different installation environments and requirements. This flexibility greatly improves the scope of use and adaptability of the device.

[0017] 3. The locomotive battery rack steel structure positioning device, due to its multi-directional moving and positioning capabilities, can adapt to battery rack steel structures of different shapes, sizes and weights, meeting the requirements of different installation scenarios. Through precise positioning and efficient automated operations, the device can significantly shorten the installation time of the battery rack steel structure, improve work efficiency and reduce labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic three-dimensional front view structure diagram of the present utility model;

[0019] Figure 2 is a schematic structure diagram of the lifting device of the present utility model;

[0020] Figure 3 is an exploded structure diagram of the lifting device of the present utility model;

[0021] Figure 4 is a schematic structure diagram of the transverse moving platform of the present utility model;

[0022] Figure 5 is a schematic structure diagram of the longitudinal moving platform of the present utility model.

[0023] In the figure: 1. Transverse moving platform; 2. Longitudinal moving platform; 3. Lifting device; 4. Universal wheel; 5. Upper base of the lifting device; 6. Lower base of the lifting device; 7. Lifting device motor; 8. First sliding rod; 9. Second sliding rod; 10. First connecting rod; 11. Second connecting rod; 12. First sliding block; 13. Second sliding block; 14. First fixing block; 15. Second fixing block; 16. Threaded lead screw of the lifting device; 17. Linking rod; 18. Nut block; 19. Rotating fixing block; 20. First slider; 21. Base of the transverse moving platform; 22. First threaded lead screw; 23. Fixed groove of the first threaded lead screw; 24. Transverse moving platform motor; 25. First limit fixing block; 26. First sliding rod; 27. Base of the longitudinal moving platform; 28. Second threaded lead screw; 29. Fixed groove of the second threaded lead screw; 30. Longitudinal moving platform motor; 31. Second slider; 32. Distance measuring sensor; 33. Second limit fixing block; 34. Second sliding rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] See also Figures 1-5 A locomotive battery rack steel structure positioning device comprises a transverse moving platform 1, a longitudinal moving platform 2, a lifting device 3 and universal wheels 4, a plurality of sets of universal wheels 4 are fixedly installed around the bottom end of the transverse moving platform 1, a longitudinal moving platform 2 is arranged on the top of the transverse moving platform 1, and a lifting device 3 is arranged on the top of the longitudinal moving platform 2; the device combines the transverse moving platform 1, the longitudinal moving platform 2 and the lifting device 3, and can move freely in three-dimensional space to adapt to different installation environments and requirements. This flexibility greatly improves the scope of use and adaptability of the equipment.

[0026] Furthermore, the lifting device 3 includes a lifting device upper base 5, a lifting device lower base 6, a lifting device motor 7, a first sliding rod 8 and a second sliding rod 9. The lifting device upper base 5 is provided at the top of the lifting device 3, and two protrusions are extended downward on both sides of the bottom end of the first sliding rod 8. The lifting device lower base 6 is provided at the bottom of the lifting device 3. Two protrusions are extended upward on both sides of the top of the lifting device lower base 6 corresponding to the position of the lifting device upper base 5. Two groups of first sliding rods 8 are fixedly installed at the two protrusions extending downward from the lifting device upper base 5. Two groups of second sliding rods 9 are fixedly installed in the middle of the two groups of protrusions extending upward from the lifting device lower base 6. The lifting device motor 7 is fixedly installed at one side protrusion extending upward from the lifting device lower base 6.

[0027] Furthermore, two groups of second fixed blocks 15 are fixedly installed on the top of the lower base 6 of the lifting device away from the side of the lifting device motor 7, and two groups of first fixed blocks 14 are fixedly installed on the bottom end of the upper base 5 of the lifting device corresponding to the two groups of second fixed blocks 15. The first sliding blocks 12 are slidably connected to the two groups of first sliding rods 8, and the second sliding blocks 13 are slidably connected to the two groups of second sliding rods 9. The first connecting rods 10 are hingedly installed on the opposite sides of the two groups of first sliding blocks 12. The other ends of the two groups of first connecting rods 10 are hinged to the two groups of second fixed blocks 15 in the lower base 6 of the lifting device, and the second connecting rods 11 are hinged on the opposite sides of the two groups of second sliding blocks 13. The other ends of the two groups of second connecting rods 11 are hinged to the two groups of first fixed blocks 14 in the upper base 5 of the lifting device, and the intersection of the first connecting rods 10 and the second connecting rods 11 is hinged together through a rotating shaft.

[0028] Furthermore, the lifting device 3 further includes a lifting device threaded lead screw 16, a linkage rod 17, a nut block 18, a rotating fixed block 19, and a first slider 20. The output shaft of the lifting device motor 7 extends through and into the interior of the lower base 6 of the lifting device, and is fixedly installed with the lifting device threaded lead screw 16. A nut block 18 is rotatably installed on the lifting device threaded lead screw 16. A linkage rod 17 is fixedly installed on the side of the nut block 18 facing away from the lifting device motor 7. Both ends of the linkage rod 17 are respectively fixedly installed on two sets of second sliding blocks 13. A rotating fixed block 19 is fixedly installed on the side of the lifting device threaded lead screw 16 facing away from the lifting device motor 7. Multiple sets of first sliders 20 are fixedly installed at the bottom end of the lower base 6 of the lifting device.

[0029] Furthermore, the transverse movement platform 1 includes a transverse movement platform base 21, a first threaded lead screw 22, a first threaded lead screw fixing groove 23, a transverse movement platform motor 24, a first limit fixing block 25, and a first sliding rod 26. The middle of the top end of the transverse movement platform base 21 is fixedly installed with the first threaded lead screw fixing groove 23. A first threaded lead screw 22 is rotatably installed inside the first threaded lead screw fixing groove 23. One end of the first threaded lead screw 22 extends through and out of one side of the first threaded lead screw fixing groove 23 and is connected to the transverse movement platform motor 24. Two sets of first limit fixing blocks 25 are respectively fixedly installed at both ends of the top end of the transverse movement platform base 21 that are horizontally corresponding to the first threaded lead screw fixing groove 23. A first sliding rod 26 is fixedly installed in the middle of the two sets of first limit fixing blocks 25.

[0030] Furthermore, the longitudinal movement platform 2 includes a longitudinal movement platform base 27, a second threaded lead screw 28, a second threaded lead screw fixing groove 29, a longitudinal movement platform motor 30, second sliders 31, second limit fixing blocks 33, and a second sliding rod 34. The middle of the top end of the longitudinal movement platform base 27 is fixedly installed with the second threaded lead screw fixing groove 29. A second threaded lead screw 28 is rotatably installed inside the second threaded lead screw fixing groove 29. One end of the second threaded lead screw 28 extends through and out of one side of the second threaded lead screw fixing groove 29 and is fixedly connected to the longitudinal movement platform motor 30. Two sets of second limit fixing blocks 33 are respectively fixedly installed on both sides of the top end of the longitudinal movement platform base 27 that are horizontally corresponding to the second threaded lead screw fixing groove 29. A second sliding rod 34 is fixedly installed in the middle of the two sets of second limit fixing blocks 33. Multiple sets of second sliders 31 are fixedly installed at the bottom end of the longitudinal movement platform base 27; Due to its multi-directional movement and positioning capabilities, this device can adapt to battery rack steel structures of different shapes, sizes, and weights, meeting the requirements of different installation scenarios. Through precise positioning and efficient automated operations, this device can significantly shorten the installation time of battery rack steel structures, improve work efficiency, and reduce labor costs.

[0031] Furthermore, the longitudinal movement platform 2 is respectively clamped on the first threaded screw rod 22 at the top of the transverse movement platform 1 and two groups of first sliding rods 26 through multiple groups of second sliders 31 at the bottom. The lifting device 3 is respectively clamped on the second threaded screw rod 28 at the top of the longitudinal movement platform 2 and two groups of second sliding rods 34 through multiple groups of first sliders 20 at the bottom. Multiple groups of ranging sensors 32 are fixedly installed around the top of the lifting device 3, and multiple groups of ranging sensors 32 are also fixedly installed around the top of the transverse movement platform 1. Through the integrated ranging sensors 32 and the precise mechanical transmission mechanism, the device can achieve high-precision positioning of the battery rack steel structure. The ranging sensors real-time feedback distance information, and the control system adjusts the motion parameters according to these data to ensure the accuracy of positioning.

[0032] Working principle: The transverse movement platform drives the first threaded screw rod 22 to rotate through the transverse movement platform motor 24. The rotation of the first threaded screw rod 22 drives the cooperating components to perform linear movement along the first sliding rod 26 on the transverse movement platform base 21, realizing the transverse movement function. The first limit fixing block 25 and the first sliding rod 26 ensure the stability and limit during the transverse movement. The longitudinal movement platform motor 30 drives the second threaded screw rod 28 to rotate. The rotation of the second threaded screw rod 28 drives the corresponding components on the longitudinal movement platform base 27 to perform linear movement along the second sliding rod 34, realizing the longitudinal movement function. The second limit fixing block 33 and the second sliding rod 34 ensure the stability and limit during the longitudinal movement. The longitudinal movement platform is clamped on the first threaded screw rod 22 and the first sliding rod 26 of the transverse movement platform through the second sliders 31 at the bottom, realizing the relative movement with the transverse movement platform. The lifting device motor 7 drives the lifting device threaded screw rod 16 to rotate. The rotation of the threaded screw rod 16 converts the rotational motion into a linear motion through the nut block 18 and the linkage rod 17, driving the second sliding block 13 to move up and down along the second sliding rod 9. The first connecting rod 10 and the second connecting rod 11 are connected by hinges and rotating shafts to ensure the smooth lifting of the upper base 5 of the lifting device. The first fixing block 14, the second fixing block 15, the first sliding rod 8 and the second sliding rod 9 jointly ensure the stability and limit during the lifting process. The lifting device is clamped on the second threaded screw rod 28 and the second sliding rod 34 of the longitudinal movement platform through the first sliders 20 at the bottom, realizing the relative lifting with the longitudinal movement platform. The ranging sensors 32 distributed at the top of the transverse movement platform 1 and the top of the lifting device 3 measure the distance to the target position in real time, providing accurate position feedback for the control system. According to the data of the ranging sensors 32, the control system can automatically adjust the moving speed and direction of the transverse movement, longitudinal movement and lifting devices to ensure the precise positioning of the battery rack steel structure.

[0033] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A positioning device for the steel structure of a locomotive battery rack, comprising a transverse movement platform (1), a longitudinal movement platform (2), a lifting device (3) and universal wheels (4), characterized in that: A plurality of sets of universal wheels (4) are fixedly mounted around the bottom end of the transverse moving platform (1), a longitudinal moving platform (2) is arranged at the top end of the transverse moving platform (1), and a lifting device (3) is arranged at the top end of the longitudinal moving platform (2).

2. The positioning device for the steel structure of a locomotive battery rack according to claim 1, characterized in that: The lifting device (3) comprises a lifting device upper base (5), a lifting device lower base (6), a lifting device motor (7), a first sliding rod (8) and a second sliding rod (9). The lifting device upper base (5) is arranged at the top of the lifting device (3). Two protrusions are extended downwardly from both sides of the bottom end of the first sliding rod (8). The lifting device lower base (6) is arranged at the bottom of the lifting device (3). Two protrusions are extended upwardly from both sides of the top end of the lifting device lower base (6) corresponding to the position of the lifting device upper base (5). Two groups of first sliding rods (8) are fixedly installed at the two protrusions extending downwardly from the lifting device upper base (5). Two groups of second sliding rods (9) are fixedly installed at the middle of the two groups of protrusions extending upwardly from the lifting device lower base (6). The lifting device motor (7) is fixedly installed at one side protrusion extending upwardly from the lifting device lower base (6).

3. The positioning device for the steel structure of a locomotive battery rack according to claim 2, characterized in that: Two groups of second fixing blocks (15) are fixedly installed on the top of the lower base (6) of the lifting device on a side facing away from the lifting device motor (7), and two groups of first fixing blocks (14) are fixedly installed on the bottom of the upper base (5) of the lifting device on a side corresponding to the two groups of second fixing blocks (15). The first sliding blocks (12) are slidably connected to the two groups of the first sliding rods (8), and the second sliding blocks (13) are slidably connected to the two groups of the second sliding rods (9). The two groups of the first sliding blocks (12) are on the opposite sides. The two sets of first connecting rods (10) are hingedly mounted, the other ends of the two sets of the first connecting rods (10) are hingedly connected to the two sets of second fixing blocks (15) in the lower base (6) of the lifting device, the two sets of the second sliding blocks (13) are hingedly connected to the second connecting rods (11) on the opposite sides, the other ends of the two sets of the second connecting rods (11) are hingedly connected to the two sets of first fixing blocks (14) in the upper base (5) of the lifting device, and the intersection of the first connecting rod (10) and the second connecting rod (11) is hingedly connected through a rotating shaft.

4. The positioning device for the steel structure of a locomotive battery rack according to claim 3, characterized in that: The lifting device (3) further comprises a lifting device threaded screw (16), a linkage rod (17), a nut block (18), a rotational fixed block (19) and a first sliding block (20); the output shaft of the lifting device motor (7) extends through the interior of the lifting device lower base (6) and is fixedly mounted with the lifting device threaded screw (16); the lifting device threaded screw (16) is rotatably mounted with a nut block (18); a linkage rod (17) is fixedly mounted on a side of the nut block (18) away from the lifting device motor (7); two ends of the linkage rod (17) are respectively fixedly mounted on two groups of second sliding blocks (13); a rotational fixed block (19) is fixedly mounted on a side of the lifting device threaded screw (16) away from the lifting device motor (7); and a plurality of groups of first sliding blocks (20) are fixedly mounted on the bottom end of the lifting device lower base (6).

5. The positioning device for the steel structure of a locomotive battery rack according to claim 1, characterized in that: The transverse movement platform (1) includes a transverse movement platform base (21), a first threaded lead screw (22), a first threaded lead screw fixing groove (23), a transverse movement platform motor (24), a first limit fixing block (25), and a first slide bar (26). In the middle of the top end of the transverse movement platform base (21), a first threaded lead screw fixing groove (23) is fixedly installed. Inside the first threaded lead screw fixing groove (23), a first threaded lead screw (22) is rotatably installed. One end of the first threaded lead screw (22) penetrates and extends out of one side of the first threaded lead screw fixing groove (23) and is connected to the transverse movement platform motor (24). At both ends of the top end of the transverse movement platform base (21) that are horizontally corresponding to the first threaded lead screw fixing groove (23), two groups of first limit fixing blocks (25) are respectively fixedly installed. In the middle of the two groups of first limit fixing blocks (25), a first slide bar (26) is fixedly installed.

6. The positioning device for the steel structure of a locomotive battery rack according to claim 1, characterized in that: The longitudinal movement platform (2) includes a longitudinal movement platform base (27), a second threaded lead screw (28), a second threaded lead screw fixing groove (29), a longitudinal movement platform motor (30), a second slider (31), a second limit fixing block (33), and a second slide bar (34). In the middle of the top end of the longitudinal movement platform base (27), a second threaded lead screw fixing groove (29) is fixedly installed. Inside the second threaded lead screw fixing groove (29), a second threaded lead screw (28) is rotatably installed. One end of the second threaded lead screw (28) penetrates and extends out of one side of the second threaded lead screw fixing groove (29) and is fixedly connected to the longitudinal movement platform motor (30). On both sides of the top end of the longitudinal movement platform base (27) that are horizontally corresponding to the second threaded lead screw fixing groove (29), two groups of second limit fixing blocks (33) are respectively fixedly installed. In the middle of the two groups of second limit fixing blocks (33), a second slide bar (34) is fixedly installed. At the bottom end of the longitudinal movement platform base (27), multiple groups of second sliders (31) are fixedly installed.

7. A positioning device for the steel structure of a locomotive battery rack according to claim 1, characterized in that: The longitudinal movement platform (2) is respectively clamped on the first threaded lead screw (22) at the top end of the transverse movement platform (1) and the two first slide bars (26) through multiple groups of second sliders (31) at the bottom end. The lifting device (3) is respectively clamped on the second threaded lead screw (28) at the top end of the longitudinal movement platform (2) and the two second slide bars (34) through multiple groups of first sliders (20) at the bottom end. Around the top end of the lifting device (3), multiple groups of distance measuring sensors (32) are fixedly installed. Around the top end of the transverse movement platform (1), multiple groups of distance measuring sensors (32) are also fixedly installed.

Images