Vibrating assembly, mechanical arm and vibrating robot

Abstract

The utility model discloses a vibrating assembly, a mechanical arm and a vibrating robot, and belongs to the technical field of construction machinery. The connecting plate is arranged at the bottom of the connecting block; two ends of the connecting plate respectively protrude out of the connecting block; at least one end of the connecting plate is provided with a vibrating mechanism, the vibrating mechanism comprises a moving plate, a vibrating rod and a driving part, the moving plate is movably connected with the connecting plate, the moving plate selectively moves towards or away from the connecting block, and the vibrating rod is rotatably arranged at the end, away from the connecting block, of the moving plate; the driving piece is rotatably arranged on the side, facing the vibrating rod, of the connecting block, and a telescopic shaft of the driving piece is rotatably connected with the vibrating rod. According to the vibrating assembly designed by the utility model, the driving piece works to drive the vibrating rods to rotate so as to adjust the angle between the vibrating rods and the connecting plate, and the moving plate moves relative to the connecting plate so as to adjust the distance between the two vibrating rods, so that the vibrating assembly can adapt to different vibrating working environments.

Description

TECHNICAL FIELD

[0001] The utility model belongs to construction instrument technical field, concretely relates to vibrating subassembly, mechanical arm and vibrating robot. BACKGROUND

[0002] In the related art, in the field of building construction, especially in the concrete pouring process, vibrating is used to expel air bubbles in the concrete to ensure that its density and strength meet the design requirements. Traditional vibrating operation usually relies on manual operation of a vibrating rod, which is labor-intensive and inefficient. In the prior art, a vibrating robot is provided with two vibrating rods, and the two vibrating rods simultaneously perform vibrating work to improve the vibrating work efficiency. However, the vibrating robot lacks sufficient flexibility due to the limited freedom of the vibrating rods, and it is difficult to adapt to complex construction environments, such as narrow spaces or areas that require specific angle vibrating. SUMMARY

[0003] The utility model aims at at least solving one of the technical problems existing in the prior art. Therefore, one object of the utility model is to provide a construction robot for concrete vibrating.

[0004] The utility model further provides a mechanical arm with the vibrating subassembly.

[0005] The utility model further provides a vibrating robot with the mechanical arm.

[0006] To achieve the above object, the utility model provides the following technical scheme:

[0007] The utility model provides a construction robot for concrete vibrating, which comprises a connecting block, a connecting plate, a vibrating mechanism, a moving plate, a vibrating rod and a driving piece. The connecting plate is arranged at the bottom of the connecting block, and the two ends of the connecting plate protrude from the connecting block. At least one end of the connecting plate is provided with the vibrating mechanism. The vibrating mechanism comprises a moving plate, a vibrating rod and a driving piece. The moving plate is movably connected with the connecting plate. The moving plate can selectively move towards or away from the connecting block. The vibrating rod is rotatably arranged at one end of the moving plate away from the connecting block. The driving piece is rotatably arranged on one side of the connecting block towards the vibrating rod. The driving piece is provided with a telescopic shaft that can selectively move towards or away from itself. The telescopic shaft is rotatably connected with the vibrating rod.

[0008] According to the utility model discloses a vibrating component, through the mobile plate with connecting plate mobile connection, and the mobile plate is away from the one end of connecting plate rotatably arranged vibrating rod, driving piece work can drive vibrating rod rotation to realize the angle between vibrating rod and connecting plate adjustment, thereby make vibrating component can adapt to different vibrating work environment, and in different vibrating work environment all have good vibrating effect, ensure the vibrating work quality, simultaneously, the mobile plate relative connecting plate movement still can adjust the distance between two vibrating rods, thereby make vibrating component's work adaptability better.

[0009] Further, the mobile plate is provided with a ball groove, the vibrating rod is provided with a ball head, the ball head is rotatably arranged in the ball groove.

[0010] Further, the mobile plate includes: a first part, the first part is movably connected with the connecting plate, and a first rotating groove is arranged on the side of the first part away from the connecting block;Second part, the second part is connected with the first part, and the second part is provided with a second rotating groove opposite to the first rotating groove, and the first rotating groove and the second rotating groove jointly define the ball groove.

[0011] Further, the two ends of the connecting plate are respectively provided with the vibrating mechanism, and the vibrating component further includes: a stator, the stator is connected with the connecting plate, and the stator is provided with a working channel, and the extension direction of the working channel is parallel to the extension direction of the connecting plate;Rotor, the rotor includes a connecting part and a driving part arranged coaxially, the connecting part is rotatably arranged in the working channel, and the connecting plate is provided with a driving part at both ends in the axial direction, the driving part is located outside the working channel, and the outer peripheral wall of the driving part is provided with a first thread;Two driving parts correspond to two first parts respectively, the first part is provided with a connecting channel, the inner peripheral wall of the connecting channel is provided with a second thread, and the first thread of the driving part is matched with the second thread of the corresponding first part.

[0012] Further, the connecting plate is provided with a moving channel through in the extension direction of itself, and the stator is accommodated in the moving channel, and the first part is movably arranged in the moving channel.

[0013] The mechanical arm according to the utility model is briefly described below.

[0014] The mechanical arm according to the utility model comprises: first arm, first arm extends in length direction, second arm, second arm is rotatably arranged at one end of first arm, second arm is suitable for rotating relative to first arm on horizontal plane, vibrating assembly, vibrating assembly is configured as vibrating assembly in any one of above-mentioned embodiments, connecting block is rotatably arranged at the other end of first arm, connecting block is suitable for rotating relative to first arm on vertical plane.

[0015] The vibrating robot according to the utility model is briefly described below.

[0016] The mechanical arm according to the utility model comprises: mounting main body, mechanical arm, mechanical arm is configured as mechanical arm in above-mentioned embodiments, and mechanical arm is connected with mounting main body.

[0017] Further, the top of the mounting main body is provided with a column extending in the height direction, the second arm is movably connected with the column, and the second arm is suitable for moving relative to the column in the height direction.

[0018] Further, the bottom of the mounting main body is provided with a walking unit, wherein the walking unit comprises a connecting seat and two transmission crawler wheels, the top of the connecting seat is rotatably connected with the bottom of the mounting main body, the mounting main body is suitable for rotating relative to the connecting seat on the horizontal plane, and the two transmission crawler wheels are rotatably arranged on the two sides of the connecting seat respectively.

[0019] Other advantages, objects and features of the utility model will be described in the subsequent specification, and are obvious to those skilled in the art to some extent, or those skilled in the art can be taught from the practice of the utility model. The objects and other advantages of the utility model can be realized and obtained by the following specification. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to make the purpose, technical scheme and beneficial effect of the utility model more clear, the utility model provides the following drawings for description:

[0021] Fig. 1 It is the schematic view of the vibrating robot of the utility model;

[0022] Fig. 2 It is the sectional view of the vibrating rod, the moving plate and the connecting plate of the utility model;

[0023] Fig. 3 It is the schematic view of the two vibrating rods of the utility model respectively rotating relative to the connecting plate.

[0024] The marks in the drawings are as follows:

[0025] 1, vibrating robot;

[0026] 10. The connecting block;

[0027] 20. The connecting plate;

[0028] 31. The moving plate; 311. The first sub-body; 3111. The connecting passage; 312. The second sub-body; 32. The vibrator; 321. The ball head; 33. The driving member; 331. The telescopic shaft;

[0029] 41. The stator; 42. The rotor; 421. The connecting part; 422. The driving part;

[0030] 51. The first arm; 52. The second arm;

[0031] 61. The mounting body; 62. The column; 631. The connecting seat; 632. The transmission crawler wheel. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with embodiments and drawings. The illustrative embodiments and their descriptions are only used to explain the present application and not to limit the present application.

[0033] In the following description, numerous specific details are set forth to provide a thorough understanding of the present application. However, it will be apparent to one of ordinary skill in the art that the present application can be practiced without these specific details. In other instances, well-known structures, circuits, materials or processes have not been described in detail in order to avoid obscuring the present application.

[0034] Reference throughout this specification to "one embodiment", "an embodiment", "one example", or "an example", means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present application. Therefore, the appearance of the phrases "in one embodiment", "in an embodiment", "in one example", or "in an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics can be combined in any suitable

[0035] In the description of this utility model, it should be understood that the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this utility model.

[0036] Example 1:

[0037] like Figs. 1-3 As shown, this utility model provides a vibration assembly, including: a connecting block 10, a connecting plate 20, and a vibration mechanism. The connecting plate 20 is disposed at the bottom of the connecting block 10, and both ends of the connecting plate 20 protrude from the connecting block 10. At least one end of the connecting plate 20 is provided with a vibration mechanism, which includes a movable plate 31, a vibrating rod 32, and a driving member 33. The movable plate 31 is movably connected to the connecting plate 20, and the movable plate 31 can selectively move toward or away from the connecting block 10. The vibrating rod 32 is rotatably disposed at the end of the movable plate 31 away from the connecting block 10. The driving member 33 is rotatably disposed on the side of the connecting block 10 facing the vibrating rod 32. The driving member 33 is provided with a telescopic shaft 331 that can selectively move toward or away from itself, and the telescopic shaft 331 is rotatably connected to the vibrating rod 32.

[0038] In some embodiments, the connecting block 10 serves as the basic structure of the entire assembly, providing support and mounting positions. Specifically, the connecting block 10 is used to connect with other devices (such as a robotic arm). A connecting plate 20 is disposed at the bottom of the connecting block 10, with both ends of the connecting plate 20 protruding from the connecting block 10 to form a wider base. At least one end of the connecting plate 20 is provided with a vibration mechanism (this could be provided at one end of the connecting plate 20 or at both ends). The vibration mechanism includes a movable plate 3. 1. Vibrating rod 32 and driving component 33, movable plate 31 is movably connected to connecting plate 20, movable plate 31 is adapted to move toward or away from connecting block 10 in the extension direction of connecting plate 20, vibrating rod 32 is rotatably provided on the end of movable plate 31 away from connecting block 10 (vibrating rod 32 can generate vibration independently through built-in vibration source, the vibration source can be electric or pneumatic vibrator, etc.), driving component 33 is rotatably connected to the side of connecting block 10 facing vibrating rod 32, and telescopic shaft 331 of driving component 33 is rotatably connected to vibrating rod 32.

[0039] It can be understood that the operation of the driving member 33 can move the telescopic shaft 331 towards or away from itself, and the telescopic shaft 331 moves to drive the vibrating rod 32 to rotate, so that the vibrating rod of the vibrating rod 32 can rotate towards or away from the connecting plate 20 around the connecting point of the vibrating rod 32 and the moving plate 31.

[0040] In some embodiments, the present application is equipped with two vibrating rods 32, so that the two vibrating rods 32 can rotate towards or away from each other, that is, the two vibrating rods 32 can be rotated to a parallel state or rotated to have an angle between the two vibrating rods 32, so that the vibrating assembly can work at different angles, improve the operation flexibility and adaptability, and adapt to more vibrating working environment. For example, when concrete is poured in some complex shape, narrow space or difficult to reach area, the vibrating effect can be optimized by adjusting the angle of the vibrating rod 32.

[0041] Of course, it should be noted that the two moving plates 31 can move towards or away from the connecting plate 20, so as to adjust the distance between the two vibrating rods 32, so as to further improve the vibrating working adaptability of the vibrating assembly.

[0042] According to the construction robot for concrete vibrating of the utility model, through the moving plate 31 and the connecting plate 20 are movably connected, and the vibrating rod 32 is movably arranged at the end of the moving plate 31 away from the connecting plate 20, the driving member 33 can drive the vibrating rod 32 to rotate to adjust the angle between the vibrating rod 32 and the connecting plate 20, so that the vibrating rod 32 can adapt to different vibrating working environment, and has good vibrating effect in different vibrating working environment, which ensures the vibrating working quality, and the movement of the moving plate 31 relative to the connecting plate 20 can also adjust the distance between the two vibrating rods 32, so that the working adaptability of the vibrating assembly is better.

[0043] Embodiment two:

[0044] In this embodiment, the moving plate 31 is provided with a ball groove, and the vibrating rod 32 is provided with a ball head 321, and the ball head 321 is movably arranged in the ball groove. It can be understood that the ball head 321 is movably arranged in the ball groove to realize the rotation of the vibrating rod 32 relative to the moving plate 31, and at this time, the operation of the driving member 33 can move the telescopic shaft 331, and the telescopic shaft 331 moves to drive the connecting rod to rotate towards or away from the connecting block 10, so as to adjust the angle of the vibrating rod 32, so as to more effectively vibrate the concrete and other materials, and ensure the uniformity of the concrete quality.

[0045] According to some embodiments of the utility model, the moving plate 31 comprises: a first split part 311 and a second split part 312, the first split part 311 is movably connected with the connecting plate 20, the side of the first split part 311 away from the connecting block 10 is provided with a first rotating groove, the second split part 312 is connected with the first split part 311, the second split part 312 is provided with a second rotating groove opposite to the first rotating groove, and the first rotating groove and the second rotating groove jointly define a ball groove.

[0046] In some embodiments, the connecting plate 20 extends along the width direction, the connecting plate 20 is provided with a vibrating mechanism at both ends in the extension direction, the first split part 311 is movably connected with the moving plate 31, the first split part 311 moves relative to the moving plate 31 to drive the vibrating mechanism to move towards or away from the connecting block 10, the side of the first split part 311 away from the connecting block 10 is provided with a first rotating groove, the second split part 312 is provided with a second rotating groove opposite to the first rotating groove, and after the first split part 311 is connected with the second split part 312, the first rotating groove and the second rotating groove jointly define a ball groove.

[0047] It can be understood that the first split part 311 and the second split part 312 can be welded or connected by fasteners, etc., which is not limited here, and the application divides the moving plate 31 into the first split part 311 and the second split part 312, and the first rotating groove of the first split part 311 and the second rotating groove of the second split part 312 jointly define a ball groove, which can make the installation of the ball head 321 more convenient, thereby improving the assembly efficiency of the vibrating assembly.

[0048] Embodiment three:

[0049] On the basis of embodiment two, both ends of the connecting plate 20 are respectively provided with a vibrating mechanism, and the vibrating assembly further comprises: a stator 41 and a rotor 42, the stator 41 is connected with the connecting plate 20, the stator 41 is provided with a working channel, the extension direction of the working channel is parallel to the extension direction of the connecting plate 20, the rotor 42 comprises a connecting part 421 and a driving part 422 coaxially arranged, the connecting part 421 is rotatably arranged in the working channel, both ends of the connecting plate 20 in the axial direction are respectively provided with the driving part 422, the driving part 422 is located outside the working channel, and the outer peripheral wall of the driving part 422 is provided with a first thread; wherein the two driving parts 422 correspond to the two first split parts 311 respectively, the first split part 311 is provided with a connecting channel 3111, the inner peripheral wall of the connecting channel 3111 is provided with a second thread, and the first thread of the driving part 422 is matched with the second thread of the corresponding first split part 311.

[0050] In some embodiments, the stator 41 is connected with the connecting plate 20 and is provided with a working channel, the direction of the working channel is parallel to the extending direction of the connecting plate 20, the working channel provides a rotating space for the rotor 42, the rotor 42 is composed of a connecting part 421 and a driving part 422 which are coaxially arranged, the connecting part 421 is rotatably arranged in the working channel of the stator 41, the two ends of the connecting part 421 are respectively provided with the driving part 422, the driving part 422 is located outside the working channel, the outer peripheral wall of the driving part 422 is provided with a first thread, the first part 311 of the two moving plates 31 is respectively corresponding to the two driving parts 422, the first part 311 is provided with a connecting channel 3111 which extends in the width direction and is open to the stator 41, the inner peripheral wall of the connecting channel 3111 is provided with a second thread, when the rotor 42 rotates, due to the cooperation of the first thread and the second thread, the first part 311 will move along the width direction, so as to realize the movement of the driving vibrating rod 32 towards or away from the connecting block 10.

[0051] It can be understood that when the rotor 42 rotates, the two moving plates 31 can be driven to move towards or away from each other at the same time, so as to realize the movement of the two vibrating rods 32 towards or away from each other at the same time, so as to realize more efficient adjustment of the distance between the two vibrating rods 32.

[0052] According to some embodiments of the utility model, the connecting plate 20 is provided with a moving channel which penetrates in the extending direction of the connecting plate 20, the stator 41 is accommodated in the moving channel, and the first part 311 is movably arranged in the moving channel. In some embodiments, the stator 41 is accommodated in the moving channel to avoid the stator 41 and the rotor 42 being exposed to the external environment, so as to realize the protection of the stator 41 and the rotor 42, thereby prolonging the service life of the stator 41 and the rotor 42. At the same time, the first part 311 is movably arranged in the moving channel, the inner peripheral wall of the moving channel can limit the outer peripheral wall of the first part 311, so that the first part 311 can stably move towards or away from the stator 41, thereby making the adjustment of the vibrating assembly more stable.

[0053] Embodiment four:

[0054] The utility model provides a kind of mechanical arm, and mechanical arm includes: first arm 51, the first arm 51 extends in length direction;Second arm 52, the second arm 52 is rotatably arranged in one end of the first arm 51, and the second arm 52 is suitable for rotating relative to first arm 51 on horizontal plane;Vibrating assembly, the vibrating assembly is configured as the vibrating assembly in any one of the above embodiments, and the connecting block 10 is rotatably arranged in the other end of the first arm 51, and the connecting block 10 is suitable for rotating relative to first arm 51 on vertical plane.

[0055] In some embodiments, the horizontal rotation between the second arm 52 and the first arm 51 provides a lateral movement ability in a plane, and the vertical rotation of the vibrating assembly on the first arm 51 through the connecting block 10 gives the vibrating assembly an adjustment ability in a vertical plane, so that the adjustment ability of the vibrating assembly in three-dimensional space can be realized through the above arrangement, and on this basis, the angle between the two vibrating rods 32 and the distance between the two vibrating rods 32 can be further adjusted, so that the mechanical arm can adapt to various vibrating work scenes, and the vibrating work applicability and efficiency are improved.

[0056] Therefore, due to the high flexibility of the mechanical arm, the mechanical arm is not limited to a specific type of construction task, but can adapt to various working environments and conditions, thereby enhancing the versatility and utilization rate of the mechanical arm.

[0057] Embodiment five:

[0058] The utility model provides a kind of vibrating robot 1, vibrating robot 1 includes: installation main body 61;Mechanical arm, the mechanical arm is configured as the mechanical arm described in above embodiment, the mechanical arm is connected with the installation main body 61.Due to the vibrating robot 1 according to the utility model is provided with the mechanical arm of above embodiment, so the vibrating robot 1 can be applied to various concrete vibrating work environments and conditions, and can effectively vibrate concrete.

[0059] According to some embodiments of the utility model, the top of the installation main body 61 is provided with a column 62 extending in the height direction, the second arm 52 is movably connected with the column 62, and the second arm 52 is adapted to move relative to the column 62 in the height direction.

[0060] In some embodiments, the second arm 52 is movably connected with the column 62, and the second arm 52 is adapted to move relative to the column 62 in the height direction, to give the mechanical arm an adjustment ability in the height direction, i.e., the second arm 52 moves relative to the column 62 in the height direction to realize the movement of the mechanical arm relative to the column 62 in the height direction, thereby realizing the movement of the vibrating rod 32 in the height direction, further improving the degree of freedom of the vibrating rod 32, so that the adaptability of the vibrating robot 1 can be higher.

[0061] According to some embodiments of the utility model, the vibrating robot 1 further comprises: a walking unit, the walking unit is arranged at the bottom of the installation main body 61;The walking unit comprises a connecting seat 631 and two transmission crawler wheels 632, the top of the connecting seat 631 is rotatably connected with the bottom of the installation main body 61, the installation main body 61 is adapted to rotate relative to the connecting seat 631 in a horizontal plane, and the two transmission crawler wheels 632 are rotatably arranged on both sides of the connecting seat 631.

[0062] In some embodiments, the design of the walking unit allows the vibrating robot 1 to freely move to different positions on the construction site, and through the transmission track wheel 632, the robot can smoothly travel on various ground, and the rotating connection mechanism between the connecting seat 631 and the installation main body 61 allows the working angle and direction of the mechanical arm to be accurately adjusted by rotating the installation main body 61 even after the robot moves to the designated position, without the need to reposition the entire vibrating robot 1.

[0063] Therefore, by adding the walking unit, the vibrating robot 1 can autonomously move on the construction site, reducing the dependence on additional transportation tools and improving work efficiency, and since the installation main body 61 can rotate relative to the connecting seat 631, the operator can quickly adjust the direction and position of the mechanical arm as needed without frequently moving the vibrating robot 1 itself, thereby more efficiently completing the task.

[0064] Finally, it should be pointed out that the above preferred embodiments are only used to illustrate the technical solutions of the present application and are not limiting, and although the present application has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present application.

Claims

1. A vibrating assembly, characterized by include: Connector block; A connecting plate is disposed at the bottom of the connecting block, and both ends of the connecting plate protrude from the connecting block respectively; A vibration mechanism is provided at least one end of the connecting plate. The vibration mechanism includes a movable plate, a vibrating rod, and a driving component. The movable plate is movably connected to the connecting plate and can selectively move toward or away from the connecting block. The vibrating rod is rotatably disposed at the end of the movable plate away from the connecting block. The driving component is rotatably disposed on the side of the connecting block facing the vibrating rod. The driving component is provided with a telescopic shaft that can selectively move toward or away from itself, and the telescopic shaft is rotatably connected to the vibrating rod.

2. The vibrating assembly of claim 1, wherein, The movable plate is provided with a ball groove, and the vibrating rod is provided with a ball head, which is rotatably disposed in the ball groove.

3. The vibrating assembly of claim 2, wherein, The movable plate includes: The first split part is movably connected to the connecting plate, and a first rotating groove is provided on the side of the first split part away from the connecting block. The second split part is connected to the first split part. The second split part is provided with a second rotating groove that is directly opposite to the first rotating groove. The first rotating groove and the second rotating groove together define the ball groove.

4. The vibrating assembly of claim 3, wherein, The vibrating mechanism is provided at both ends of the connecting plate, and the vibrating assembly further includes: The stator is connected to the connecting plate, and the stator is provided with a working channel, the extension direction of which is parallel to the extension direction of the connecting plate; The rotor includes a coaxially arranged connecting part and a driving part. The connecting part is rotatably disposed within the working channel. The connecting plate has driving parts at both ends in the axial direction. The driving parts are located outside the working channel, and the outer peripheral wall of the driving part is provided with a first thread. The two driving parts correspond to the two first split parts respectively. The first split part is provided with a connecting channel. The inner peripheral wall of the connecting channel is provided with a second thread. The first thread of the driving part is engaged with the second thread of the corresponding first split part.

5. The vibrating assembly of claim 4, wherein, The connecting plate is provided with a moving channel extending through it in its own extension direction, the stator is housed in the moving channel, and the first split part is movably disposed in the moving channel.

6. A robot arm, characterized in that, include: The first arm extends in the length direction; The second arm is rotatably disposed at one end of the first arm, and the second arm is adapted to rotate relative to the first arm in a horizontal plane; A vibratory assembly, wherein the vibratory assembly is constructed as described in any one of claims 1-5, wherein the connecting block is rotatably disposed at the other end of the first arm, and the connecting block is adapted to rotate relative to the first arm in a vertical plane.

7. A vibrating robot, characterized in that include: Installation main body; A robotic arm, wherein the robotic arm is constructed as described in claim 6, and the robotic arm is connected to the mounting body.

8. The vibrating robot of claim 7, wherein, The top of the mounting body is provided with a column extending in the height direction, and the second arm is movably connected to the column, and the second arm is adapted to move relative to the column in the height direction.

9. The vibrating robot of claim 8, wherein, Also includes: A walking unit is disposed at the bottom of the mounting body; in The walking unit comprises a connecting seat and two transmission caterpillar wheels, the top of the connecting seat is rotationally connected with the bottom of the mounting body, the mounting body is adapted to rotate in a horizontal plane relative to the connecting seat, and the two transmission caterpillar wheels are respectively rotationally arranged on the two sides of the connecting seat.

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