Modularized vehicle body steering system of flexible wheel type belt conveyor

Abstract

The utility model discloses a flexible wheel type belt conveyor modularized vehicle body steering system which comprises a plurality of groups of wheels arranged below a flexible wheel type belt conveyor, the plurality of groups of wheels are symmetrically arranged front and back, every four adjacent groups of wheels are arranged below the same group of modularized vehicle bodies, and the plurality of modularized vehicle bodies are sequentially hinged end to end. Each modular vehicle body comprises a front axle and a rear axle which are arranged on the left side and the right side respectively, the lower ends of the front axles and the lower ends of the rear axles are connected with wheels through steering parts, and the steering parts are rotationally connected with the corresponding front axles and the corresponding rear axles along the vertical axis. When the flexible wheel type belt conveyor turns, the wheels can adapt to curve swing under the traction of the steering driving part, so that the probability that the wheels slip on the bottom surface in the turning process is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of vehicle steering, especially relates to a flexible wheel type belt conveyor modular vehicle body steering system. BACKGROUND

[0002] At present, flexible wheel type belt conveyors are widely used in the transportation in the coal mine construction mining process, such as Figure 1 As shown in the figure, the flexible wheel type belt conveyor itself has a powered vehicle head, which can drive the flexible wheel type belt conveyor vehicle body to carry or transfer coal mines, and the flexible wheel type belt conveyor vehicle body is usually designed in a split type according to the environment and road conditions, and is composed of a whole flexible wheel type belt conveyor vehicle body by a plurality of groups of modular vehicle bodies, including a plurality of groups of wheels 1 arranged below the flexible wheel type belt conveyor, the plurality of groups of wheels 1 are symmetrically arranged front and rear, every adjacent four groups of wheels 1 are arranged below the same group of modular vehicle bodies, and the plurality of groups of modular vehicle bodies are sequentially hinged at the head and tail, and each group of modular vehicle bodies includes front and rear axles 2 and 3 arranged on the left and right sides, respectively; the front and rear axles 2 and 3 are further provided with support parts on the upper ends, and the flexible transport belt 6 is fixedly connected to the upper sides of the support parts, and the number of modular vehicle bodies is set according to the working environment; the driven wheels 1 are usually arranged below the modular vehicle bodies, and under the traction of the vehicle head, the plurality of groups of modular vehicle bodies can move sequentially following the vehicle head, but since the modular vehicle bodies often work in road conditions with curves, the existing driven wheels 1 turn by slipping, which increases the turning radius of the modular vehicle bodies and reduces the service life of the driven wheels.

[0003] A kind of unmanned car steering system assembly calibration method known by the applicant (CN 116026616 A), comprising: step (1) preliminary judgment straight line travels to preliminary judgment, unmanned car is in steering return state, measurement does not change steering walks a straight line distance, measure the offset distance Δx of unmanned car tire;When Δx is less than standard deviation Δx1, prove that unmanned car steering system assembly has no problem, continue to verify using step (2), otherwise, then need to re-steering system assembly calibration;Step (2) result verification uses turning radius measurement to verify the result of step (1), the average value of the distance of the outermost tire to the center of the circle when unmanned car is in each position is compared with the standard value difference, and the absolute value of the difference is less than the standard value, then steering system assembly is qualified, otherwise steering system is unqualified, need to re-steering system assembly calibration.

[0004] But the above scheme has the following problems:

[0005] 1. The process of car turning is relatively cumbersome, and involves complex calculations, which is more prone to errors in harsh working conditions, causing safety accidents;

[0006] 2. The trolley turning process needs a large number of sensors to cooperate, which makes the structure of the device complex and difficult to maintain, and is not conducive to the operation in the mine. Practical new type content

[0007] The utility model discloses a flexible wheel type belt conveyor modular car body steering system can make flexible wheel type belt conveyor when turning, the wheel is under the traction of steering drive part and adapts to the turning of the curve, thereby reducing the probability of wheel skidding with the bottom surface in the turning process.

[0008] The utility model discloses the following technical scheme:

[0009] A flexible wheel type belt conveyor modular car body steering system, the front axle and the rear axle of the modular car body are connected with the wheel through the steering part, and the steering part is rotatably connected with the corresponding front axle and rear axle along the vertical axis.

[0010] Further, the lower end of the front axle is vertically fixed with a first support column, the first support column is connected with the vertical support through a first connecting plate, the left and right ends of the first connecting plate are respectively provided with a left mounting hole and a right mounting hole, the vertical support and the first support column are respectively provided with corresponding left and right mounting holes, and the vertical support and the first support column are rotatably connected with the corresponding left and right mounting holes.

[0011] Further, the front axle is in the form of a cuboid structure arranged horizontally along the front and rear, a limiting block is fixedly arranged on the upper end surface of the front axle, and an arc-shaped limiting groove is arranged on the upper end surface of the limiting block and closely contacts the lower end surface of the flexible conveyor belt.

[0012] Further, the front axle is in the form of a cuboid structure arranged horizontally along the front and rear, a limiting block is fixedly arranged on the upper end surface of the front axle, and an arc-shaped limiting groove is arranged on the upper end surface of the limiting block and closely contacts the lower end surface of the flexible conveyor belt.

[0013] Further, the turning part comprises a rotating column arranged corresponding to the rotating hole, the rotating column is rotationally connected with the front axle through the rotating hole, a wheel support is fixedly arranged at the lower end of the rotating column, a wheel shaft is horizontally arranged at the lower end of the wheel support along the front-rear direction, the wheel shaft is coaxially arranged with the wheel and rotationally connected with the wheel support; the left and right ends of the front traction structure are respectively sleeved on the cylindrical outer connecting pins arranged on the upper surfaces of the front ends of the front axle and the rear axle, and the left and right ends of the front traction structure are respectively rotationally connected with the front ends of the corresponding front axle and rear axle through the cylindrical outer connecting pins; the left and right ends of the rear traction structure are respectively sleeved on the cylindrical outer connecting pins arranged on the upper surfaces of the rear ends of the front axle and the rear axle, and the left and right ends of the rear traction structure are respectively rotationally connected with the rear ends of the front axle and the rear axle through the cylindrical outer connecting pins.

[0014] Further, the front traction structure comprises two groups of traction rods arranged left and right, the inner ends of the two groups of traction rods are respectively fixedly provided with inner connecting rings, the two groups of inner connecting rings are coaxially arranged, and the two groups of inner connecting rings are coaxially sleeved with the same group of inner connecting pins, each group of inner connecting rings is rotationally connected with the inner connecting pin; the outer ends of the two groups of traction rods are respectively fixedly provided with outer connecting rings, the two groups of outer connecting rings are respectively coaxially sleeved with the corresponding outer connecting pins fixed on the upper end surfaces of the front axle and the rear axle, and the two groups of outer connecting rings are rotationally connected with the corresponding two groups of outer connecting pins; the rear traction structure has the same structure as the front traction structure and is symmetrically arranged front and back; the two groups of inner connecting rings on the rear traction structure and the front traction structure are always inside the two groups of outer connecting rings.

[0015] Further, the turning driving part comprises two groups of first telescopic rods arranged front and back, the left ends of the two groups of first telescopic rods are fixed on the same group of first driving rings, the first driving rings are sleeved with first driving pins, the first driving pins are arranged up and down and the upper end of the first driving pin is fixed with a first driving rod, the first driving rod is arranged front and back and the front and back ends of the first driving rod are respectively connected with first connecting rods arranged vertically along the radial direction, the front and back groups of first connecting rods are respectively inserted on second connecting rods arranged horizontally left and right and are rotationally connected with the second connecting rods, the left ends of the front and back groups of second connecting rods are respectively fixedly connected with the wheel supports at the front and back ends; the right ends of the two groups of first telescopic rods are respectively sleeved with the corresponding inner connecting pins and are rotationally connected with the inner connecting pins.

[0016] Further, the turning driving part further comprises two groups of second telescopic rods, the right ends of the two groups of second telescopic rods are fixed on the same second driving ring, the second driving ring is sleeved with a second driving pin, the second driving pin is arranged up and down and the upper end of the second driving pin is fixed with a second driving rod, the second driving rod is arranged front and back and the front and back ends of the second driving rod are respectively connected with third connecting rods arranged vertically along the radial direction, the front and back groups of third connecting rods are respectively inserted on fourth connecting rods arranged horizontally left and right and are rotationally connected with the fourth connecting rods, the right ends of the front and back groups of third connecting rods are respectively fixedly connected with the wheel supports at the front and back ends; the left ends of the two groups of second telescopic rods are respectively sleeved with the two groups of inner connecting pins and are rotationally connected with the inner connecting pins.

[0017] Further, the first telescopic rod comprises a conduit with an open end, a guide rod is coaxially inserted into the open end of the conduit and the conduit and the guide rod are in sliding connection, a damping spring is arranged between the inner end face of the guide rod and the inner bottom face of the conduit, and the first telescopic rod and the second telescopic rod are of the same structure.

[0018] The utility model discloses a connecting part is set up, make modular car body front and rear flexible connection, and when modular car body is in the curve, the connecting part can effectively reflect the change of the traction of the two sides of modular car body front and rear, and the explicit steering signal is exported to the steering part,

[0019] Through setting up the steering drive part, when the modular car body passes the curve, the wheel swings under the traction of the steering drive part, and the probability of wheel and ground skidding is effectively reduced. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is the structural diagram of modular car body of flexible wheel type belt conveyor in the prior art;

[0021] Figure 2 It is the structural diagram of front traction knot in the utility model;

[0022] Figure 3 It is the structural diagram of first support column in the utility model;

[0023] Figure 4 It is the structural diagram of vertical support in the utility model;

[0024] Figure 5 It is the structural diagram of inner connecting ring in the utility model;

[0025] Figure 6 It is the structural diagram of first drive rod in the utility model;

[0026] Figure 7 It is the structural diagram of guide rod in the utility model.

[0027] In the drawing, 1, wheel, 2, front axle, 3, rear axle, 4, front traction structure, 5, rear traction structure, 6, flexible conveying belt, 7, L-shaped trailer hook, 8, cross brace, 9, vertical support, 10, first support column, 11, first connecting plate, 12, second support column, 13, second connecting plate, 14, limit block, 15, outer connecting pin, 16, wheel support, 17, inner connecting ring, 18, inner connecting pin, 19, traction rod, 20, outer connecting ring, 21, first telescopic rod, 22, first drive ring, 23, first drive pin, 24, first drive rod, 25, first connecting rod, 26, second connecting rod, 27, second telescopic rod, 28, second drive ring, 29, second drive pin, 30, second drive rod, 31, third connecting rod, 32, fourth connecting rod, 33, conduit, 34, guide rod, 35, damping spring. Detailed Implementation

[0028] The present invention will now be described in detail with reference to the accompanying drawings and embodiments:

[0029] like Figures 2 to 7 As shown, the modular vehicle body steering system of this utility model is a flexible wheel belt conveyor. The lower ends of the front axle 2 and rear axle 3 of the modular vehicle body are connected to the wheels through steering parts. The steering parts are rotatably connected to the corresponding front axle 2 and rear axle 3 along the vertical axis. The lower end of the steering parts is rotatably connected to the wheel 1 through the wheel axle. A connecting part is provided between the front axle 2 and the rear axle 3. The connecting part includes a front traction structure 4 and a rear traction structure 5. The left and right ends of the front traction structure 4 are respectively hinged to the front end of the front axle 2 and the front end of the rear axle 3. The left and right ends of the rear traction structure 5 are respectively hinged to the rear end of the front axle 2 and the rear end of the rear axle 3. A steering drive part is also provided inside the front traction structure 4 and the rear traction structure 5. The steering drive part is used to drive the steering part to rotate along the vertical axis within a set range.

[0030] After the designated goods are loaded into the flexible conveyor belt 6 at the upper end of the support, the tractor drives several modular bodies connected in sequence to move in a straight line. The several modular bodies that are hinged in sequence follow the tractor and move in a straight line.

[0031] When the vehicle turns, the flexible conveyor belt 6 bends as the modular body passes through the curve. This causes a displacement difference between the two sets of front wheels 1 and the two sets of rear wheels 1 fixed under the flexible conveyor belt 6, resulting in different degrees of tension in the front traction structure 4 and the rear traction structure 5. The tension drives the steering drive unit located inside the front traction structure 4 and the rear traction structure 5. The steering drive unit causes the steering drive wheel 1 to deflect in the direction of the vehicle's front until it is on the set turning circumference, thus forming the turning posture of the modular body.

[0032] In order to facilitate the articulation of the car head and the modular car body; the utility model discloses, the right end surface of car head is fixedly connected L shaped trailer hook 7, L shaped trailer hook 7 includes the horizontal setting cross brace 8 and vertical support 9, and the left end of cross brace 8 is fixed car head, and the right end is fixed vertical support 9 lower part, and vertical support 9 upper part is also fixedly set spherical anti -unhooking joint;First support column 10 is vertically fixed and set in the lower end of front axle 2, and first support column 10 is connected with vertical support 9 through first connecting plate 11, and first connecting plate 11 left and right two ends are respectively provided with left mounting hole and right mounting hole, and vertical support 9 and first support column 10 are respectively arranged with corresponding left mounting hole and right mounting hole, and vertical support 9 and first support column 10 are respectively rotatably connected with corresponding left mounting hole and right mounting hole;When the car head and the modular car body need to be disconnected, make vertical support 9 from left mounting hole, namely the car head and the modular car body can be disconnected;Second support column 12 is vertically fixed and set in the lower end of rear axle 3, and second support column 12 is connected with the first support column 10 in the modular car body of adjacent right side through second connecting plate 13;To realize the sequential connection of several modular car bodies.

[0033] In order to form stable support for flexible transport belt 6;In the utility model, front axle 2 is along the front and rear horizontal setting cuboid structure, and the upper end surface of front axle 2 is fixedly set limiting block 14, and the upper end surface of limiting block 14 is provided with arc-shaped limiting groove and closely contacts the lower end surface of flexible transport belt 6;

[0034] In order to make the modular car body connected with the car head in sequence can follow the car head turns, namely the wheel 1 swing posture can cooperate with the orientation of car head;In the utility model, the upper end surface of front axle 2 is fixedly set with cylindrical outer connecting pin 15 on the front and rear sides respectively, and the lower end surface of front axle 2 is vertically provided with rotating connecting hole on the front and rear sides respectively;Rear axle 3 is correspondingly arranged with front axle 2 left and right, and rear axle 3 has the same structure with front axle 2;Steering part includes rotating column arranged correspondingly with rotating connecting hole, and rotating column is rotatably connected with front axle 2 through rotating connecting hole, and wheel support 16 is fixedly set on the lower end of rotating column, and wheel axle is horizontally arranged on the lower end of wheel support 16 along the front and rear direction, and wheel axle is coaxially arranged with wheel 1 and rotatably connected with wheel support 16;Front traction structure 4 left and right ends are respectively sleeved on the cylindrical outer connecting pin 15 arranged on the upper surface of the front end of front axle 2 and rear axle 3, and the left and right ends of front traction structure 4 are rotatably connected with the front end of corresponding front axle 2 and rear axle 3 through cylindrical outer connecting pin 15, and rear traction structure 5 left and right ends are respectively sleeved on the cylindrical outer connecting pin 15 arranged on the upper surface of the rear end of front axle 2 and rear axle 3, and the left and right ends of rear traction structure 5 are rotatably connected with the rear end of front axle 2 and rear axle 3 through cylindrical outer connecting pin 15;Namely, the left and right ends of front traction structure 4 are rotatably connected with the front end of front axle 2 and rear axle 3 respectively;The left and right ends of rear traction structure 5 are rotatably connected with the rear end of front axle 2 and rear axle 3 respectively;

[0035] When the vehicle head turns, the vehicle head pulls the L-shaped trailer hook 7 arranged on the right side of the vehicle head, the front axle 2 in the modular vehicle body hinged with the L-shaped trailer hook 7 moves along with the vehicle head, the front axle 2 moving at the same time pulls the wheel support 16 hinged with the front axle 2 to swing to adapt to the movement of the front axle 2, the resultant force of the friction force and the traction force from the ground makes the wheel 1 hinged with the wheel support 16 below the wheel support 16 on the turning circumference of the vehicle head, the front axle 2 is connected with the rear axle 3 through the front traction structure 4 and the rear traction structure 5, so that the rear axle 3 repeats the above-mentioned action to complete the turning of the modular vehicle body along with the vehicle head.

[0036] In the process of turning of the modular vehicle body, since the circumference of the outer circle of the curve is greater than the circumference of the inner circle of the curve, that is, the displacement of the two groups of wheels 1 on the outer side of the curve is greater than the displacement of the two groups of wheels 1 on the inner side of the curve, in order to make the front traction structure 4 and the rear traction structure 5 can adapt to the change of the displacement of the wheel 1:

[0037] In the utility model, the front traction structure 4 includes two groups of traction rods 19 arranged left and right, two groups of traction rods 19 inner ends are fixedly provided with inner connecting rings 17 respectively, two groups of inner connecting rings 17 are coaxially arranged up and down, and two groups of inner connecting rings 17 are coaxially sleeved with the same group of inner connecting pins 18, and each group of inner connecting rings 17 is rotationally connected with the inner connecting pin 18;The outer end of the two groups of traction rods 19 is fixedly provided with an outer connecting ring 20, and the two groups of outer connecting rings 20 are coaxially sleeved and fixed on the corresponding outer connecting pins 15 on the upper end faces of the front axle 2 and the rear axle 3 respectively, and the two groups of outer connecting rings 20 are rotationally connected with the corresponding two groups of outer connecting pins 15, and the rear traction structure 5 has the same structure as the front traction structure 4 and is symmetrically arranged in front and back;In the utility model, the two groups of inner connecting rings 17 on the rear traction structure 5 and the front traction structure 4 are always on the inner side of the two groups of outer connecting rings 20.

[0038] The modular vehicle body of the structure needs the displacement of the two groups of wheels 1 on the outer side of the curve to be greater than that of the two groups of wheels 1 on the inner side of the curve during the turning process; in the utility model, the displacement of the two groups of wheels 1 on the outer side of the curve is made to be greater than that of the two groups of wheels 1 on the inner side of the curve by adjusting the distance between the outer ends of the two groups of traction rods 19 on the front and back sides; at the same time, in order to ensure that the wheels 1 can be actively rotated to the side of the turning direction of the vehicle head during the turning process, the probability of the wheels 1 slipping with the ground is reduced; in the utility model, the steering driving part comprises two groups of first telescopic rods 21 arranged in front and back, the left ends of the two groups of first telescopic rods 21 are fixed on the same group of first driving rings 22, the first driving rings 22 are sleeved with first driving pins 23, the first driving pins 23 are arranged upwards and downwards and the upper end of the first driving pin 23 is fixed with a first driving rod 24, the first driving rod 24 is arranged in front and back and the front and back ends of the first driving rod 24 are respectively connected with first connecting rods 25 arranged vertically along the radial direction, the front and back two groups of first connecting rods 25 are respectively inserted on second connecting rods 26 arranged horizontally and are rotationally connected with the second connecting rods 26, the left ends of the front and back two groups of second connecting rods 26 are respectively fixedly connected with the wheel supports 16 at the front and back ends;

[0039] During the turning process of the modular vehicle body, although the direction of the wheels 1 arranged below the front axle 2 can be consistent with the moving direction of the vehicle head in the driving of the two groups of first telescopic rods 21, the turning radius is relatively large; if the wheels 1 arranged below the rear axle 3 can be opposite to the swinging direction of the wheels 1 below the front axle 2, the turning radius of the modular vehicle body can be effectively reduced;

[0040] In order to realize the above functions; in the utility model, the steering driving part further comprises two groups of second telescopic rods 27, the right ends of the two groups of second telescopic rods 27 are fixed on the same second driving ring 28, the second driving ring 28 is sleeved with a second driving pin 29, the second driving pin 29 is arranged upwards and downwards and the upper end of the second driving pin 29 is fixed with a second driving rod 30, the second driving rod 30 is arranged in front and back and the front and back ends of the second driving rod 30 are respectively connected with third connecting rods 31 arranged vertically along the radial direction, the front and back two groups of third connecting rods 31 are respectively inserted on fourth connecting rods 32 arranged horizontally and are rotationally connected with the fourth connecting rods 32, the right ends of the front and back two groups of third connecting rods 31 are respectively fixedly connected with the wheel supports 16 at the front and back ends; the left ends of the two groups of second telescopic rods 27 are respectively sleeved with two groups of inner connecting pins 18 and are rotationally connected with the inner connecting pins 18;

[0041] In the embodiment, the first telescopic rod 21 comprises a catheter 33 with one end opening, a guide rod 34 is coaxially inserted in the opening end of the catheter 33 and the catheter 33 is slidingly connected with the guide rod 34, a damping spring 35 is further arranged between the inner end surface of the guide rod 34 and the inner bottom surface of the catheter 33, and the first telescopic rod 21 and the second telescopic rod 27 are the same in structure.

[0042] When the modular vehicle body is in a curve, the right ends of the two groups of first telescopic rods 21 move away from the center of the curve, and the first telescopic rods 21 pull the first driving rods 24 through the first driving pins 23; the first driving rods 24 drive the first connecting rods 25 to move outward, and the second connecting rods 26 connected with the first connecting rods 25 rotate and drive the wheel supports 16 to rotate outward, so that the wheel shafts point to the center of the curve;

[0043] Similarly, the left ends of the two groups of second telescopic rods 27 move away from the center of the curve, and the third connecting rods 31 move outward, and the fourth connecting rods 32 connected with the third connecting rods 31 rotate and drive the wheel supports 16 to rotate, so that the center of the curve moves to the direction of the wheels 1, that is, the turning radius of the modular vehicle body is reduced.

Claims

1. A flexible wheeled belt conveyor modular vehicle body steering system, characterized by: The lower end of the front axle and the rear axle of the modular vehicle body is connected with the wheel through the steering part, the steering part is rotatably connected with the corresponding front axle and rear axle along the vertical axis, and the lower end of the steering part is rotatably connected with the wheel through the wheel shaft.

2. The flexible wheeled belt conveyor modular vehicle body turning system of claim 1, wherein: The lower end of the front axle is vertically fixed with a first supporting column, the first supporting column is connected with the vertical support through a first connecting plate, the left and right ends of the first connecting plate are respectively provided with a left mounting hole and a right mounting hole, the vertical support is respectively provided through the corresponding left mounting hole and right mounting hole, and the vertical support is rotatably connected with the first supporting column through the corresponding left mounting hole and right mounting hole.

3. The flexible wheeled belt conveyor modular vehicle body turning system of claim 1, wherein: The front axle is in the form of a cuboid structure arranged horizontally along the front and back, and a limiting block is fixedly arranged on the upper end surface of the front axle, and the upper end surface of the limiting block is provided with an arc-shaped limiting groove and closely contacts the lower end surface of the flexible conveying belt.

4. The flexible wheeled belt conveyor modular vehicle body turning system of claim 1, wherein: The upper end surface of the front axle is fixedly provided with a cylindrical outer connecting pin on the front and back sides, and the lower end surface of the front axle is vertically provided with a rotating connecting hole.

5. The flexible wheeled belt conveyor modular vehicle body turning system of claim 4, wherein: The steering part comprises a rotating column corresponding to the rotating connecting hole, the rotating column is rotatably connected with the front axle through the rotating connecting hole, a wheel support is fixedly arranged on the lower end of the rotating column, a wheel shaft is horizontally arranged on the lower end of the wheel support along the front and back directions, the wheel shaft is coaxially arranged with the wheel and rotatably connected with the wheel support, the left and right ends of the front traction structure are respectively sleeved on the cylindrical outer connecting pins arranged on the upper surfaces of the front ends of the front axle and the rear axle, and the left and right ends of the front traction structure are rotatably connected with the front ends of the corresponding front axle and rear axle through the cylindrical outer connecting pins, the left and right ends of the rear traction structure are respectively sleeved on the cylindrical outer connecting pins arranged on the upper surfaces of the rear ends of the front axle and the rear axle, and the left and right ends of the rear traction structure are rotatably connected with the rear ends of the front axle and the rear axle through the cylindrical outer connecting pins.

6. The flexible wheeled belt conveyor modular vehicle body turning system of claim 5, wherein: The front traction structure comprises two groups of traction rods arranged left and right, the inner ends of the two groups of traction rods are respectively fixedly provided with inner connecting rings, the two groups of inner connecting rings are coaxially arranged, and the two groups of inner connecting rings are coaxially sleeved on the same group of inner connecting pins, and each group of inner connecting rings is rotatably connected with the inner connecting pin, the outer ends of the two groups of traction rods are respectively fixedly provided with outer connecting rings, the two groups of outer connecting rings are respectively coaxially sleeved on the corresponding outer connecting pins fixed on the upper end surfaces of the front axle and the rear axle, and the two groups of outer connecting rings are rotatably connected with the corresponding two groups of outer connecting pins, the rear traction structure has the same structure as the front traction structure and is symmetrically arranged in front of and behind the front traction structure, and the two groups of inner connecting rings of the rear traction structure and the front traction structure are always located on the inner side of the two groups of outer connecting rings.

7. The flexible wheeled belt conveyor modular vehicle body turning system of claim 6, wherein: The steering driving part comprises two groups of first telescopic rods arranged in front and back, left ends of the two groups of first telescopic rods are fixed on the same group of first driving rings, the first driving rings are sleeved with first driving pins, the first driving pins are arranged in up and down and the upper end of the first driving pin is fixed with a first driving rod, the first driving rod is arranged in front and back and the front and back ends of the first driving rod are respectively connected with first connecting rods arranged in vertical direction, the front and back two groups of first connecting rods are respectively inserted on second connecting rods arranged in horizontal direction and are rotationally connected with the second connecting rods, left ends of the front and back two groups of second connecting rods are respectively fixedly connected with the front and back wheel supports; right ends of the two groups of first telescopic rods are respectively sleeved with corresponding inner connecting pins and are rotationally connected with the inner connecting pins.

8. The flexible wheeled belt conveyor modular vehicle body turning system of claim 7, wherein: The steering driving part further comprises two groups of second telescopic rods, right ends of the two groups of second telescopic rods are fixed on the same second driving ring, the second driving ring is sleeved with a second driving pin, the second driving pin is arranged in up and down and the upper end of the second driving pin is fixed with a second driving rod, the second driving rod is arranged in front and back and the front and back ends of the second driving rod are respectively connected with third connecting rods arranged in vertical direction, the front and back two groups of third connecting rods are respectively inserted on fourth connecting rods arranged in horizontal direction and are rotationally connected with the fourth connecting rods, right ends of the front and back two groups of third connecting rods are respectively fixedly connected with the front and back wheel supports; left ends of the two groups of second telescopic rods are respectively sleeved with two groups of inner connecting pins and are rotationally connected with the inner connecting pins.

9. The flexible wheeled belt conveyor modular vehicle body turning system of claim 8, wherein: The first telescopic rod comprises a catheter with one end opening, a guide rod is coaxially inserted in the opening end of the catheter and the catheter is slidingly connected with the guide rod, a damping spring is further arranged between the inner end surface of the guide rod and the inner bottom surface of the catheter, the first telescopic rod and the second telescopic rod are the same in structure.

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