High-fill steel corrugated pipe culvert measuring equipment

Abstract

The utility model relates to the technical field of steel corrugated pipe culvert measurement, in particular to high-fill steel corrugated pipe culvert measuring equipment which comprises a walking unit, a horizontal adjusting unit and a measuring unit. The walking unit is used for driving the infrared distance meter to enter the high-fill steel corrugated pipe culvert for measurement, so that the measurement requirements of different spans can be met; the infrared distance meter is connected with the horizontal adjusting unit in a sliding mode, the distance between the infrared distance meter and the top of the high-fill steel corrugated pipe culvert can be directly measured through the infrared distance meter, meanwhile, the deformation span can be measured by moving the infrared distance meter, the deformation range is determined, manual measurement is avoided, and the actual measurement requirement is met. And the infrared distance meter is arranged at the top of the horizontal adjustment unit, so that the measurement precision and reliability are improved, and the actual measurement requirements are met.

Description

Technical Field

[0001] This utility model relates to the field of steel corrugated pipe culvert measurement technology, specifically to a measurement device for high-fill steel corrugated pipe culverts. Background Technology

[0002] Corrugated steel pipe is a type of metal corrugated pipe, typically buried under culverts in highways and railways. As a high-quality highway construction material, it has been widely used in highway and railway engineering for projects such as culverts, passageways, small bridges, tunnels, temporary access roads, drainage pipes, and retaining wall support in various mine roadways. Corrugated steel pipe culverts are a new type of culvert structure that uses corrugated steel pipe as the main load-bearing structure, replacing traditional concrete or masonry structures. Its basic principle is to utilize the special corrugated shape and material properties of the corrugated steel pipe to generate a certain deformation when subjected to external loads, and to resist external pressure through the elastic restoring force of the corrugations, thereby maintaining the overall stability and normal use of the culvert.

[0003] However, in the case of high embankments, since corrugated steel pipe culverts are flexible culverts, the soil pressure in high embankment culverts is relatively large, and the culverts are prone to deformation. Therefore, it is necessary to monitor the deformation of the culverts regularly. If the measurement is carried out on-site by the operators, there are significant safety hazards, low measurement efficiency, and large measurement errors, which cannot meet the actual measurement needs.

[0004] Although Chinese utility model patent application number 202020396639.7 provides a device for measuring the deformation of corrugated steel pipes, which uses an arc-shaped extrusion plate to measure the diameter of the corrugated steel pipe and then uses a telescopic rod to drive the arc-shaped extrusion plate to measure the diameter at different positions of the corrugated steel pipe, thereby determining whether the corrugated steel pipe is deformed; however, while the existing method can measure whether the corrugated steel pipe is deformed, it cannot accurately determine the deformation range and still requires manual assistance for further determination. At the same time, for corrugated steel pipe culverts with large spans, the use of cantilevered arc-shaped extrusion plates will result in large measurement errors, leading to unreliable measurement results that cannot meet practical measurement needs. Utility Model Content

[0005] The purpose of this invention is to provide a measuring device for high-fill corrugated steel pipe culverts, thereby solving the technical problem of low reliability in the current measurement of high-fill corrugated steel pipe culverts.

[0006] The solution of this utility model to the above-mentioned technical problems is as follows:

[0007] A measuring device for high-fill corrugated steel pipe culverts includes a traveling unit, a horizontal adjustment unit, and a measuring unit;

[0008] The measuring unit includes an infrared rangefinder, which is mounted on top of the leveling unit and slidably connected to it. The walking unit is connected to the bottom of the leveling unit.

[0009] Furthermore, the measuring unit also includes a rotation drive, a rotation shaft, and a third telescopic mechanism;

[0010] The rotation drive is coaxial with the rotation shaft, which is horizontal. The rotation drive is connected to one end of the rotation shaft, and the infrared rangefinder is located at the other end of the rotation shaft. The output end of the third telescopic mechanism is connected to the infrared rangefinder, and the third telescopic mechanism drives the infrared rangefinder to reciprocate along the axis of the rotation shaft.

[0011] Both the rotation drive and the third telescopic mechanism are located at the top of the horizontal adjustment unit, and the rotation shaft is located above the walking unit.

[0012] Further, a sliding groove is provided on the rotating shaft, the sliding groove is provided along the axis of the rotating shaft, the infrared rangefinder cooperates with the sliding groove, and the infrared rangefinder is slidably connected to the rotating shaft through the sliding groove.

[0013] Furthermore, the measuring unit also includes a monitoring transmission device, which is located on top of the leveling unit.

[0014] Further specifying, the measuring unit also includes a protective cover, the rotation drive is located inside the protective cover, one end of the rotation shaft extends through the protective cover into the interior of the protective cover and is connected to the rotation drive; the monitoring remote transmission is located on the top of the protective cover.

[0015] Further defined, the horizontal adjustment unit includes a base plate, a middle adjustment drive, an intermediate plate, a top adjustment drive, a top plate, and a horizontal sensor;

[0016] The base plate, middle plate, and top plate are arranged sequentially from bottom to top. The middle plate is rotatably connected to the base plate in the longitudinal direction, and the top plate is rotatably connected to the middle plate in the transverse direction. The horizontal sensor is arranged on the top plate. The middle adjustment drive and the top adjustment drive are both connected to the horizontal sensor signal. The middle adjustment drive is arranged between the base plate and the middle plate and is connected to the middle plate. The top adjustment drive is arranged between the middle plate and the top plate and is connected to the top plate.

[0017] The infrared rangefinder is installed on the top of the top plate, and is located outside the horizontal sensor; the walking unit is connected to the bottom of the base plate.

[0018] Further specifying, the central adjustment drive includes a first telescopic mechanism, and the base plate is provided with a first rotating shaft and a first support seat;

[0019] The intermediate plate is rotatably connected to the base plate via a first rotating shaft. The first rotating shaft is connected to one side of the upper surface of the base plate via a first support seat. The first rotating shaft is arranged in the longitudinal direction and is parallel to the base plate. The first telescopic mechanism is arranged on the other side of the upper surface of the base plate. The first telescopic mechanism is arranged vertically, and the top of the first telescopic mechanism is in contact with the lower surface of the intermediate plate. The horizontal sensor is connected to the first telescopic mechanism.

[0020] Further specifying, the top adjustment drive includes a second telescopic mechanism, and the middle plate is provided with a second rotating shaft and a second support seat;

[0021] The top plate is rotatably connected to the middle plate via a second rotating shaft. The second rotating shaft is connected to one side of the upper surface of the middle plate via a second support base. The second rotating shaft is set in the horizontal direction and is parallel to the middle plate. The second telescopic mechanism is set on the other side of the upper surface of the middle plate. The second telescopic mechanism is set vertically, and the top of the second telescopic mechanism is in contact with the lower surface of the top plate. The horizontal sensor is signal-connected to the second telescopic mechanism.

[0022] Further specifying, the walking unit includes a walking drive and two tracked wheels;

[0023] The walking drive is located outside the leveling unit and connected to the leveling unit. The two track wheels are located on opposite sides of the leveling unit, and the walking drive is connected to the track wheels via a transmission.

[0024] Further defined, the track wheel includes a track, a drive wheel and two driven wheels, the walking drive is connected to the drive wheel, the two driven wheels are rotatably connected to the side end of the horizontal adjustment unit, and the track is connected to the drive wheel and the driven wheels respectively.

[0025] The beneficial effects of this utility model are as follows:

[0026] 1. This utility model utilizes a walking unit to drive an infrared rangefinder into the interior of a high-fill corrugated steel pipe culvert for measurement, thereby meeting the measurement needs of different spans. By sliding the infrared rangefinder to the horizontal adjustment unit, the distance between the rangefinder and the top of the high-fill corrugated steel pipe culvert can be directly measured. Simultaneously, the rangefinder can be moved to measure the deformation span, determine the deformation range, avoid manual measurement, and meet practical measurement requirements. Furthermore, placing the infrared rangefinder on top of the horizontal adjustment unit improves measurement accuracy and reliability, further satisfying practical measurement needs.

[0027] 2. This utility model connects an infrared rangefinder to a rotating shaft, enabling the measurement of the circumferential cross-section at any position in a high-fill corrugated steel pipe culvert, determining whether there is deformation at the corresponding position of the high-fill corrugated steel pipe culvert, thereby enabling the measurement of whether there is deformation at a specified position of the high-fill corrugated steel pipe culvert, meeting different measurement needs; the reliability of the measurement can also be ensured by using a horizontal adjustment unit. Attached Figure Description

[0028] Figure 1 This is a structural diagram of the high-fill corrugated steel culvert measuring device of this utility model;

[0029] Figure 2 This is a schematic diagram of the measuring unit structure of this utility model;

[0030] Figure 3 This is a schematic diagram of the horizontal adjustment unit structure of this utility model;

[0031] Figure 4 This is a schematic diagram of the base plate structure of this utility model;

[0032] Figure 5 This is a schematic diagram of the intermediate plate structure of this utility model;

[0033] In the diagram, 100-walking unit; 110-walking drive; 120-track wheel; 121-track; 122-drive wheel; 123-driven wheel; 200-level adjustment unit; 210-base plate; 211-first pivot; 212-first support seat; 220-middle adjustment drive; 221-first telescopic mechanism; 230-middle plate; 231-second pivot; 232-second support seat; 240-top adjustment drive; 241-second telescopic mechanism; 250-top plate; 260-level sensor; 300-measuring unit; 310-infrared rangefinder; 320-protective cover; 330-rotating shaft; 331-sliding groove; 340-monitoring remote transmission. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of the present utility model. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0035] Example 1

[0036] refer to Figure 1This utility model provides a measuring device for high-fill corrugated steel pipe culverts, including a walking unit 100, a leveling unit 200, and a measuring unit 300 connected in sequence. The walking unit 100 drives the leveling unit 200 and the measuring unit 300 to move within the high-fill corrugated steel pipe culvert. The leveling unit 200 levels the measuring unit 300 before measurement begins. This allows the measuring unit 300 to measure whether there is deformation inside the high-fill corrugated steel pipe culvert, meeting actual measurement needs while ensuring accurate and reliable measurement.

[0037] Specifically, the measurement unit 300 includes an infrared rangefinder 310. The measuring end of the infrared rangefinder 310 is set vertically upward. The operator can determine whether there is deformation at the top of the high-fill steel corrugated pipe culvert by analyzing whether there are abnormal values ​​in the data. The connecting end of the infrared rangefinder 310 is slidably connected to the horizontal adjustment unit 200, so that the infrared rangefinder 310 can move back and forth in the horizontal direction. The operator can move the infrared rangefinder 310 along the axis of the high-fill steel corrugated pipe culvert to obtain the starting and ending positions of abnormal values, thereby obtaining the size of the deformation area, further meeting the actual measurement needs, and ensuring the reliability of the deformation area measurement.

[0038] refer to Figure 2 To further explain, the measuring unit 300 also includes a rotation drive, a rotation shaft 330, and a third telescopic mechanism; the rotation shaft 330 may be a cylindrical structure, one end of the rotation shaft 330 is connected to the rotation drive, and the rotation drive can drive the rotation shaft 330 to rotate around its axis; the connecting end of the infrared rangefinder 310 is connected to the other end of the rotation shaft 330, and a sliding groove 331 is provided on the rotation shaft 330. The sliding groove 331 is opened along the axial direction of the rotation shaft 330, and the sliding groove 331 may be a dovetail groove. Correspondingly, the infrared rangefinder 310 is connected to the sliding groove 331 so that the infrared rangefinder 310 can slide along the sliding groove 331.

[0039] Both the rotation drive and the third telescopic mechanism are located at the top of the horizontal adjustment unit 200. The output end of the third telescopic mechanism is connected to the infrared rangefinder 310, driving the infrared rangefinder 310 to slide along the sliding groove 331. At this time, the third telescopic mechanism can be set inside the rotation shaft 330. The third telescopic mechanism is selected as an electric telescopic rod, and the rotation drive can be selected as a stepper motor. Each rotation does not exceed 1.5 revolutions, thereby ensuring the reliability of the third telescopic mechanism and ensuring that the infrared rangefinder 310 can rotate one revolution around the axis of the rotation shaft 330. After the rotation is completed, it rotates one revolution in the opposite direction to restore the infrared rangefinder 310 to the initial position, which is convenient for the next measurement.

[0040] To further explain, in order to obtain the internal condition of the high-fill corrugated steel pipe culvert while avoiding manual entry, the measuring unit 300 also includes a monitoring remote transmission 340; to prevent debris from falling or dust from covering the inside of the high-fill corrugated steel pipe culvert and affecting the driving effect, the measuring unit 300 preferably also includes a protective cover 320.

[0041] The protective cover 320 is located on top of the horizontal adjustment unit 200, and the rotation drive is located inside the protective cover 320. At this time, one end of the rotation shaft 330 passes through the protective cover 320 and extends into the interior of the protective cover 320 to connect with the rotation drive. The monitoring remote transmission 340 is located on top of the protective cover 320.

[0042] Both the monitoring remote transmitter 340 and the infrared rangefinder 310 can be commercially available products. It is preferable to transmit data and images via communication cables, which is convenient for operators to view from outside the high-fill steel corrugated pipe culvert. Alternatively, the data collected by the infrared rangefinder 310 can be stored locally, for example, by setting up a data storage unit inside the protective cover 320. The travel distance of the high-fill steel corrugated pipe culvert measuring equipment can be adjusted with the monitoring remote transmitter 340, and the suspected deformed areas in the image can be measured to meet different measurement needs.

[0043] Example 2

[0044] refer to Figures 3-5 Based on Embodiment 1, the high-fill corrugated steel pipe culvert measuring device provided in this embodiment includes a horizontal adjustment unit 200 comprising a base plate 210, a middle adjustment drive 220, an intermediate plate 230, a top adjustment drive 240, a top plate 250, and a horizontal sensor 260. The horizontal adjustment unit 200 adjusts itself to a horizontal state, enabling the rotating shaft 330 to be set in the horizontal direction, thereby improving the accuracy and reliability of the measurement results.

[0045] The base plate 210, the middle adjustment drive 220, the middle plate 230, the top adjustment drive 240 and the top plate 250 are arranged sequentially from bottom to top. The horizontal sensor 260 is arranged on the upper surface of the top plate 250. The horizontal sensor 260 is located outside the protective cover 320, which is also arranged on the upper surface of the top plate 250.

[0046] The horizontal sensor 260 is connected to the middle adjustment drive 220 and the top adjustment drive 240 respectively. The horizontal sensor 260 determines the horizontal state of the top plate 250. The middle adjustment drive 220 and the top adjustment drive 240 cooperate to adjust the deflection angle of the middle plate 230 and the deflection angle of the top plate 250 to keep the top plate 250 in a horizontal state, thereby ensuring that the measurement results of the infrared rangefinder 310 are more accurate and reliable.

[0047] For further explanation, please refer to Figure 4The base plate 210 has a plate-like structure. The bottom of the base plate 210 is connected to the walking unit 100. The upper surface of the base plate 210 is provided with a central adjustment drive 220, a first rotating shaft 211 and a first support seat 212.

[0048] The first rotating shaft 211 is arranged in the longitudinal direction. The two sides of the first rotating shaft 211 are respectively connected to one side of the base plate 210 through the corresponding first support seat 212. The first rotating shaft 211 and the first support seat 212 can be rotatably connected. The intermediate plate 230 is rotatably connected to the base plate 210 through the first rotating shaft 211, so that the intermediate plate 230 can be angled around the longitudinal direction.

[0049] The middle adjustment drive 220 is located on the other side of the base plate 210. The middle adjustment drive 220 is vertically set and is used to drive the middle plate 230 to deflect up and down and control the deflection angle of the middle plate 230. The middle adjustment drive 220 is height adjusted by the horizontal sensor 260.

[0050] The middle adjustment drive 220 includes a first telescopic mechanism 221. Preferably, the middle adjustment drive 220 also includes a first control switch 222. At this time, the horizontal sensor 260 is electrically connected to the first telescopic mechanism 221 through the first control switch 222 to adjust the deflection angle of the middle plate 230.

[0051] refer to Figure 5 To further explain, the intermediate plate 230 is provided with a top adjustment drive 240, a second rotating shaft 231 and a second support seat 232. The second rotating shaft 231 is arranged on one side of the intermediate plate 230 in the lateral direction and is connected to the intermediate plate 230 through the second support seat 232.

[0052] Similarly, the second rotating shaft 231 can be rotatably connected to the second support base 232, and the top plate 250 is rotatably connected to the middle plate 230 through the second rotating shaft 231, so that the top plate 250 can be adjusted in the lateral direction.

[0053] The top adjustment drive 240 is vertically positioned on the other side of the middle plate 230 to drive the top plate 250 to tilt up and down and adjust the tilt angle of the top plate 250. The top adjustment drive 240 also achieves height adjustment through the horizontal sensor 260.

[0054] The top adjustment drive 240 includes a second telescopic mechanism 241, and the middle adjustment drive 220 preferably also includes a second control switch 242. At this time, the horizontal sensor 260 is electrically connected to the second telescopic mechanism 241 through the second control switch 242 to adjust the deflection angle of the top plate 250.

[0055] Therefore, the level sensor 260, together with the top adjustment drive 240 and the middle adjustment drive 220, enables the top plate 250 to remain level in different environments, thereby making the data measured by the infrared rangefinder 310 more accurate, making the measurement results more reliable, avoiding misjudgment, and improving the efficiency of measurement.

[0056] Example 3

[0057] refer to Figure 1 Based on Embodiment 2, the high-fill corrugated steel pipe culvert measuring equipment provided in this embodiment includes a walking unit 100 comprising a walking drive 110 and two tracked wheels 120. The tracked wheels 120 can better adapt to the internal structure of the high-fill corrugated steel pipe culvert, resulting in a more stable and reliable measurement.

[0058] Two track wheels 120 are installed on opposite sides of the base plate 210, and the travel drive 110 is installed at the rear of the base plate 210. The travel drive 110 is located between the two track wheels 120 and is connected to the two track wheels 120 for driving the track wheels 120 to move, thereby meeting the measurement requirements of high-fill steel corrugated pipe culverts with different spans, making the measurement more reliable and stable.

[0059] To further explain, the track wheel 120 includes a track 121, a drive wheel 122, and two driven wheels 123. The travel drive 110 is connected to the drive wheel 122 for transmission. The two driven wheels 123 are rotatably connected to the side end of the horizontal adjustment unit 200. The track 121 is connected to the drive wheel 122 and the driven wheels 123 for transmission, so that the driven wheel 122 drives the driven wheels 123 to rotate, thereby meeting the travel requirements of the high-fill steel corrugated pipe culvert measuring equipment.

[0060] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this utility model.

Claims

1. A high fill steel corrugated pipe culvert measuring device, characterized by, The application relates to a walking unit (100), a horizontal adjusting unit (200) and a measuring unit (300). The measuring unit (300) comprises an infrared distance meter (310) arranged on the top of the horizontal adjusting unit (200) and in sliding connection with the horizontal adjusting unit (200), and the walking unit (100) is connected with the bottom of the horizontal adjusting unit (200).

2. The high fill steel corrugated culvert measuring device of claim 1, wherein, The measuring unit (300) further comprises a rotating drive, a rotating shaft (330) and a third telescopic mechanism. The rotating drive is coaxially arranged with the rotating shaft (330), the rotating shaft (330) is arranged along the horizontal direction, the rotating drive is connected with one end of the rotating shaft (330), the infrared distance meter (310) is arranged on the other end of the rotating shaft (330), the output end of the third telescopic mechanism is connected with the infrared distance meter (310), and the third telescopic mechanism drives the infrared distance meter (310) to reciprocate along the axis direction of the rotating shaft (330). The rotating drive and the third telescopic mechanism are both arranged on the top of the horizontal adjusting unit (200), and the rotating shaft (330) is located above the walking unit (100).

3. The high fill steel corrugated culvert measuring apparatus of claim 2, wherein, A sliding groove (331) is formed in the rotating shaft (330) along the axis of the rotating shaft (330), the infrared distance meter (310) is matched with the sliding groove (331), and the infrared distance meter (310) is in sliding connection with the rotating shaft (330) through the sliding groove (331).

4. The high fill steel corrugated culvert measuring device of claim 2 or 3, wherein, The measuring unit (300) further comprises a monitoring remote transmission (340) arranged on the top of the horizontal adjusting unit (200).

5. The high fill steel corrugated culvert measuring device of claim 4, wherein, The measuring unit (300) further comprises a protective cover (320), the rotating drive is located in the interior of the protective cover (320), one end of the rotating shaft (330) extends to the interior of the protective cover (320) through the protective cover (320) and is connected with the rotating drive, and the monitoring remote transmission (340) is arranged on the top of the protective cover (320).

6. The high fill steel corrugated culvert measuring device of claim 1, wherein, The horizontal adjusting unit (200) comprises a bottom plate (210), a middle adjusting drive (220), an intermediate plate (230), a top adjusting drive (240), a top plate (250) and a horizontal sensor (260). The bottom plate (210), the intermediate plate (230) and the top plate (250) are sequentially arranged from bottom to top, the intermediate plate (230) is rotationally connected with the bottom plate (210) around the longitudinal direction, the top plate (250) is rotationally connected with the intermediate plate (230) around the transverse direction, the horizontal sensor (260) is arranged on the top plate (250), the middle adjusting drive (220) and the top adjusting drive (240) are both in signal connection with the horizontal sensor (260), the middle adjusting drive (220) is arranged between the bottom plate (210) and the intermediate plate (230) and is connected with the intermediate plate (230), and the top adjusting drive (240) is arranged between the intermediate plate (230) and the top plate (250) and is connected with the top plate (250). The infrared range finder (310) is arranged on the top of the top plate (250), and the infrared range finder (310) is located outside the horizontal sensor (260); the walking unit (100) is connected with the bottom of the bottom plate (210).

7. The high fill steel corrugated culvert measuring device of claim 6, wherein, The middle adjusting drive (220) comprises a first telescopic mechanism (221), and the bottom plate (210) is provided with a first rotating shaft (211) and a first support seat (212); The middle plate (230) is rotationally connected with the bottom plate (210) through the first rotating shaft (211), the first rotating shaft (211) is connected with one side of the upper surface of the bottom plate (210) through the first support seat (212), the first rotating shaft (211) is arranged in the longitudinal direction, the first rotating shaft (211) is parallel to the bottom plate (210), the first telescopic mechanism (221) is arranged on the other side of the upper surface of the bottom plate (210), the first telescopic mechanism (221) is vertically arranged, the top of the first telescopic mechanism (221) is in contact with the lower surface of the middle plate (230), and the horizontal sensor (260) is signal connected with the first telescopic mechanism (221).

8. The high fill steel corrugated culvert measuring device of claim 6, wherein, The top adjusting drive (240) comprises a second telescopic mechanism (241), and the middle plate (230) is provided with a second rotating shaft (231) and a second support seat (232); The top plate (250) is rotationally connected with the middle plate (230) through the second rotating shaft (231), the second rotating shaft (231) is connected with one side of the upper surface of the middle plate (230) through the second support seat (232), the second rotating shaft (231) is arranged in the transverse direction, the second rotating shaft (231) is parallel to the middle plate (230), the second telescopic mechanism (241) is arranged on the other side of the upper surface of the middle plate (230), the second telescopic mechanism (241) is vertically arranged, the top of the second telescopic mechanism (241) is in contact with the lower surface of the top plate (250), and the horizontal sensor (260) is signal connected with the second telescopic mechanism (241).

9. The high fill steel corrugated culvert measuring device of claim 1, wherein, The walking unit (100) comprises a walking drive (110) and two track wheels (120); The walking drive (110) is arranged outside the horizontal adjusting unit (200) and connected with the horizontal adjusting unit (200), and the two track wheels (120) are arranged at opposite side ends of the horizontal adjusting unit (200), and the walking drive (110) is in transmission connection with the track wheels (120).

10. The high fill steel corrugated culvert measuring device of claim 9, wherein, The track wheel (120) comprises a track (121), a driving wheel (122) and two driven wheels (123), the walking drive (110) is in transmission connection with the driving wheel (122), and the two driven wheels (123) are both in rotational connection with the side ends of the horizontal adjusting unit (200); the track (121) is in transmission connection with the driving wheel (122) and the driven wheels (123) respectively.

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