A rotary conveyor

Abstract

The utility model relates to the field of conveying device discloses a rotary conveying device. It includes rotary drive part, rotary bottom plate, the conveying belt module and conveying drive part of installation in rotary bottom plate, and rotary drive part is connected with rotary bottom plate to drive rotary bottom plate to drive the conveying belt module and conveying drive part to rotate, the conveying belt module is provided with two in symmetrical interval, and rotary drive part drives two conveying belt modules to run synchronously, the conveying belt module includes synchronous gear belt, base module and extension expansion module, extension expansion module is detachably connected in the end of base module, and synchronous gear belt is rotatably connected with extension expansion module, and the conveying distance of conveying belt module is adjusted by replacing the extension expansion module of different length and corresponding synchronous gear belt. The utility model is not limited by the included angle between two conveying lines, and the goods can be transferred accurately, and the stability and precision during conveying are improved.

Description

Technical Field

[0001] This utility model relates to the field of conveying device technology, and more specifically, to a rotary conveying device. Background Technology

[0002] Some products require transport via multiple conveyor lines during production, using clamping fixtures or material pallets, to complete different processing steps. Due to space constraints or production process limitations, some conveyor lines are arranged at an angle. To ensure a smooth transfer of products from one conveyor line to another, existing technologies typically incorporate gripper cylinder assemblies and multi-directional linear motion modules between the two conveyors. The gripper cylinder assemblies pick up the clamping fixtures or material pallets, and the multi-directional linear motion modules move them to achieve transfer. However, the multi-directional linear motion modules move linearly in all directions. If the angle between two adjacent conveyor lines is a right angle, the transfer accuracy will be high; if the angle between two adjacent conveyor lines is an obtuse or acute angle, the transfer accuracy will be low, limiting the applicability. Utility Model Content

[0003] To address at least one of the aforementioned problems, this utility model provides a rotary conveying device, comprising a rotary drive, a rotary base plate, a conveyor belt module mounted on the rotary base plate, and a conveying drive. The rotary drive is connected to the rotary base plate to drive the rotary base plate to rotate the conveyor belt module and the conveying drive. Two conveyor belt modules are symmetrically spaced apart, and the rotary drive drives the two conveyor belt modules to operate synchronously. Each conveyor belt module includes a synchronous gear belt, a base module, and an extension module. The extension module is detachably connected to the end of the base module, and the synchronous gear belt is rotatably connected to the extension module. The conveying distance of the conveyor belt module can be adjusted by replacing the extension modules of different lengths and the corresponding synchronous gear belts.

[0004] Optionally, the extension module includes an extension block and a mating gear, the mating gear being rotatably connected to the extension module and meshing with the synchronous gear belt, and the extension module being connected to the base module by bolts.

[0005] Optionally, the conveying drive component is a servo motor, and a motor mounting plate is fixed to the rotating base plate by bolts. The servo motor is fixedly connected to the motor mounting plate by bolts. The two base modules are rotatably connected to the same transmission shaft. The conveying drive component is provided with a drive pulley, and a driven pulley is sleeved on the transmission shaft and rotates synchronously. A transmission timing belt is sleeved on the drive pulley and the driven pulley.

[0006] Optionally, the motor mounting plate is provided with an elongated hole for adjusting the tension of the transmission timing belt, and the rotating base plate is provided with a groove located on the side of the motor mounting plate near the transmission shaft. A blocking component is inserted into the groove, and the blocking component is adapted to limit the movement of the motor mounting plate toward the transmission shaft.

[0007] Optionally, the blocking assembly includes a blocking block and blocking sheets, wherein multiple blocking sheets are stacked, and the thickness of the blocking sheets is less than the thickness of the blocking block.

[0008] Optionally, the groove extends through the rotating base plate, and a baffle plate is bolted to the bottom of the rotating base plate to block the opening of the groove at the bottom of the rotating base plate.

[0009] Optionally, the base module has a drive pulley rotatably mounted inside, the synchronous gear belt passes through the bottom of the drive pulley and meshes with the drive pulley, the conveying drive component drives the drive pulley to rotate, thereby driving the synchronous gear belt to move, and a spring is installed inside the base module, the spring is located at the bottom of the drive pulley, and is used to drive the synchronous gear belt to abut against the drive pulley.

[0010] Optionally, the top of the spring is recessed with an arc-shaped section, the drive pulley is located at the arc-shaped section, and the synchronous gear belt contacts the arc-shaped section.

[0011] Optionally, two sets of steering auxiliary pulleys are symmetrically arranged above the left and right sides of the drive pulley, and both sets of steering auxiliary pulleys are rotatably connected to the base module; each set of steering auxiliary pulleys includes two auxiliary pulleys arranged vertically, and the synchronous gear belt passes between the two auxiliary pulleys.

[0012] Compared with the prior art, the beneficial technical effects of this utility model are as follows:

[0013] 1. The conveying module can support and transport items, while the rotary drive drives the conveying module and the product to turn. The rotation angle can be adjusted and is not limited by the angle between the two conveyor lines, thus enabling precise transfer of items. At the same time, depending on the length of the product, it can be perfectly adapted by replacing the extension module and the corresponding length of the synchronous gear belt. The modular design allows for the replacement of the corresponding extension module as needed, making assembly convenient and applicable to a wider range of applications.

[0014] 2. Different manufacturers have different tension of synchronous belts. When assembling or replacing the synchronous belt for the first time, first insert a blocking block into the groove through the long slot on the motor mounting plate. As you manually move the motor mounting plate and the conveyor drive component away from the drive shaft little by little, insert the blocking plates into the groove one by one until the tension of the synchronous belt is adjusted. The blocking block and blocking plates will block and limit the movement of the motor mounting plate towards the drive shaft, preventing the bolts from moving in the long slot due to vibration and causing the synchronous belt to loosen.

[0015] 3. The drive pulley acts as a tensioner under the action of the two sets of steering auxiliary pulleys. In addition, the drive pulley is the driving body that drives the synchronous gear belt to move. The synchronous gear belt will press against the drive pulley under the action of the spring, maintaining a stable meshing relationship with the drive pulley, improving the stability of the drive pulley driving the synchronous gear belt to move, thereby improving the stability and accuracy of conveying.

[0016] 4. According to actual production needs, actuators (such as clamping fixtures (for material gripping and fixing), positioning jigs (to achieve precise material positioning), and detection components (to inspect the size and appearance of materials) can be installed at the position after the rotary conveyor rotates, expanding the equipment's functions, meeting diverse production process requirements, greatly reducing the production time of the entire process, and can be connected to multiple conveyor lines. Attached Figure Description

[0017] Figure 1 This is a structural diagram of the rotary conveying device in an embodiment of the present invention;

[0018] Figure 2 This is a structural diagram of the conveyor belt module in an embodiment of the present utility model;

[0019] Figure 3 The explosion of the conveyor belt module in this embodiment of the utility model Figure 1 ;

[0020] Figure 4 The explosion of the conveyor belt module in this embodiment of the utility model Figure 2 ;

[0021] Figure 5 This is an exploded view of the conveyor belt module and the conveyor drive component in the embodiment of this utility model;

[0022] Figure 6 This is an exploded view of the rotating base plate, motor mounting plate, blocking block, blocking plate and shielding plate in the embodiment of this utility model.

[0023] Explanation of reference numerals in the attached drawings: 1. Rotary drive component; 2. Rotary base plate; 21. Motor mounting plate; 22. Groove; 23. Blocking block; 24. Blocking plate; 25. Baffle plate; 3. Conveyor belt module; 31. Synchronous gear belt; 32. Base module; 321. Upper base block; 322. Lower base block; 33. Extension module; 331. Extension block; 332. Matching gear; 34. Drive pulley; 35. Steering auxiliary wheel set; 36. Spring; 37. Drive shaft; 371. Driven pulley; 4. Conveyor drive component; 41. Driving pulley; 42. Transmission synchronous belt. Detailed Implementation

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the following description is provided in conjunction with the appendix. Figure 1-6 This application will be described in further detail.

[0025] This utility model provides a rotary conveying device, see reference. Figure 1 The rotary conveyor includes a rotary drive 1, a rotary base plate 2, conveyor belt modules 3 mounted on the rotary base plate 2, and a conveyor drive 4. The rotary drive 1 is connected to the rotary base plate 2 to drive the rotary base plate 2 to rotate the conveyor belt modules 3 and the conveyor drive 4. Two conveyor belt modules 3 are symmetrically spaced, and the rotary drive 1 drives the two conveyor belt modules 3 to operate synchronously. Items to be conveyed are transported from the previous conveyor line to the two conveyor belt modules 3. After the rotary drive 1 drives the rotary base plate 2 to turn the conveyor belt modules 3 and the conveyor drive 4, the two conveyor belt modules 3 will then transport the product to the next conveyor line or the next workstation. The rotation angle of the rotary drive 1 can be adjusted according to different rotation angles, and it is not limited by the angle between the two conveyor lines, thus having a wider range of applications.

[0026] A support frame is mounted at the bottom of the rotary drive unit 1 to ensure that the conveyor belt module 3 is at the same height as the corresponding conveyor line. Preferably, the rotary drive unit 1 is a servo rotary electric cylinder (existing technology), which allows for programmed control of the rotation angle according to rotation requirements. The servo rotary electric cylinder is bolted to the top of the support frame, and the rotating base plate 2 is bolted to the rotating part of the servo rotary electric cylinder. In another embodiment, the rotary drive unit 1 can be a rotary cylinder or an electric rotary platform.

[0027] Reference Figure 1 and Figure 2The two conveyor belt modules 3 have identical structures; the following description uses one conveyor belt module 3 as an example. The conveyor belt module 3 includes an annular synchronous gear belt 31, a base module 32, and extension modules 33. The base module 32 is bolted to the top of the rotating base plate 2. Two extension modules 33 are provided, each detachably bolted to one end of the base module 32. The two ends of the synchronous gear belt 31 are rotatably mounted on the two extension modules 33. Depending on the product length, the extension modules 33 and corresponding lengths of synchronous gear belts 31 can be perfectly matched to adjust the conveying distance of the conveyor belt module 3. The modular design allows for easy replacement of the corresponding extension modules 33, making assembly convenient and applicable to a wider range of applications.

[0028] Reference Figures 2 to 4 The base module 32 includes an upper base block 321 and a lower base block 322. The lower base block 322 is fixedly connected to the rotating base plate 2 by bolts. The top of the lower base block 322 has an installation cavity, and the upper base block 321 is inserted into the installation cavity and fixedly connected to the lower base block 322 by bolts.

[0029] A drive pulley 34 is rotatably connected to the upper block 321 of the base. A portion of the synchronous gear belt 31 is located within the mounting cavity and passes through the bottom of the drive pulley 34, meshing with it. The conveying drive component 4 drives the drive pulley 34 to rotate, thereby moving the synchronous gear belt 31. Two sets of steering auxiliary pulley groups 35 are symmetrically arranged above the left and right sides of the drive pulley 34. The following description uses one set of steering auxiliary pulley groups 35 as an example. Each set of steering auxiliary pulley groups 35 includes two auxiliary pulleys arranged vertically. One auxiliary pulley is rotatably connected to the upper block 321 of the base; the other auxiliary pulley is rotatably connected to the lower block 322 of the base. The synchronous gear belt 31 passes between the two auxiliary pulleys, and the upper and lower auxiliary pulleys limit the vertical movement of the synchronous gear belt 31 at corresponding positions. Thus, the drive pulley 34 acts as a tensioning pulley under the action of the two sets of steering auxiliary pulleys. As the upper block 321 of the base is inserted into the mounting cavity, the drive pulley 34 presses down against the synchronous gear belt 31, thereby tightening the synchronous gear belt 31.

[0030] Reference Figures 2 to 4The mounting cavity also includes a spring plate 36, located at the bottom of the drive pulley 34, used to drive the synchronous gear belt 31 to abut against the drive pulley 34. Both ends of the spring plate 36 are bent downwards into arc segments, with the apexes of the two arc segments facing outwards. The other ends of the two arc segments are bent into extension segments, extending towards each other. This gives the spring plate 36 elasticity. The top of the spring plate 36 has a downward-curved arc segment, where the drive pulley 34 is located. The synchronous gear belt 31 contacts the arc segment, increasing the contact area between the spring plate 36 and the synchronous gear belt 31. This allows the spring plate 36 to drive a larger area of ​​the synchronous gear belt 31 to abut against the drive pulley 34, forming a meshing relationship. The drive pulley 34 is the driving body that moves the synchronous gear belt 31. The spring plate 36 improves the stability of the drive pulley 34 in moving the synchronous gear belt 31, thereby improving the stability and accuracy during conveying.

[0031] The extension module 33 includes an extension block 331 and a mating gear 332. The mating gear 332 is located on the top of the extension block 331 away from the base module 32 and is rotatably connected to the extension block 331. A synchronous gear belt 31 is sleeved on the mating gear 332 and meshes with it. A bolt hole is provided on the side of the extension block 331 away from the base module 32. A bolt is inserted into the bolt hole and threadedly connected to the base module 32, thereby connecting the extension block 331 and the base module 32 together.

[0032] Reference Figures 2 to 5 The drive component 4 is a servo motor. A motor mounting plate 21 is fixed to the rotating base plate 2 by bolts, and the servo motor is fixedly connected to the motor mounting plate 21 by bolts. A drive shaft 37 is inserted into the drive pulley 34, and two drive pulleys 34 are respectively sleeved on both ends of the drive shaft 37. The cross-section of the drive shaft 37 is polygonal, and the drive pulleys 34 also have polygonal holes for the drive shaft 37 to be inserted and adapted, so that the drive shaft 37 can drive the drive pulleys 34 to rotate synchronously after rotating. A drive pulley 41 is fixedly installed on the motor shaft of the servo motor; a driven pulley 371 is sleeved on the drive shaft 37 and rotates synchronously. A transmission synchronous belt 42 is sleeved on the drive pulley 41 and the driven pulley 371, and both the drive pulley 41 and the driven pulley 371 mesh with the transmission synchronous belt 42. Thus, after the servo motor drives the drive pulley 41 to rotate, the drive shaft 37 drives the drive pulleys 34 to rotate, which in turn drives the synchronous gear belt 31 to move.

[0033] Reference Figures 2 to 5Since the motor mounting plate 21 is fixedly connected to the rotating base plate 2 by bolts, an elongated hole is provided on the motor mounting plate 21 to facilitate the installation of the synchronous belt 42. The bolts that fix the motor mounting plate 21 to the rotating base plate 2 are inserted into the elongated hole. Therefore, the distance between the motor mounting plate 21 and the drive shaft 37 can be adjusted left, right, and down through the elongated hole. After adjustment, the bolts fixing the motor mounting plate 21 can be tightened directly.

[0034] The rotating base plate 2 is equipped with a blocking component at its top. After the tension of the transmission timing belt 42 is adjusted and the motor mounting plate 21 is fixed, the blocking component will block and limit the movement of the motor mounting plate 21 toward the transmission shaft 37, preventing the transmission timing belt 42 from loosening due to the movement of the bolts in the elongated hole caused by vibration.

[0035] Reference Figures 4 to 6 A groove 22 is provided on the rotating base plate 2, located on the side of the motor mounting plate 21 near the drive shaft 37. A blocking assembly is inserted into the groove 22 to form a block. Specifically, the blocking assembly includes a blocking block 23 and a blocking plate 24. The blocking block 23 abuts against the side of the motor mounting plate 21 near the drive shaft 37, and the blocking plate 24 is located on the side of the blocking block 23 away from the motor mounting plate 21. Multiple blocking plates 24 are stacked, and the thickness of the blocking plate 24 is less than the thickness of the blocking block 23. When adjusting the tension of the synchronous belt 42, first insert a blocking block 23 into the groove 22. As the distance between the motor mounting plate 21 and the conveyor drive 4 and the drive shaft 37 is moved little by little manually, blocking plates 24 are inserted into the groove 22 one by one until the tension of the synchronous belt 42 is adjusted. The blocking block 23 and the blocking plate 24 will block and limit the movement of the motor mounting plate 21 towards the drive shaft 37. The baffle plate 24 can fill the gap after the motor mounting plate 21 has moved a small distance, which helps to improve the stability after the tension is adjusted.

[0036] The groove 22 penetrates the rotating base plate 2. A baffle plate 25 is located at the bottom of the rotating base plate 2, blocking the opening of the groove 22. The blocking block 23 and multiple blocking plates 24, placed within the groove 22, are all supported by the baffle plate 25. The bolts securing the motor mounting plate 21 and the rotating base plate 2 simultaneously fix the baffle plate 25, ensuring a fixed connection between the baffle plate 25 and the rotating base plate 2. When the synchronous belt 42 needs to be replaced, the operator can loosen the corresponding bolts to release the baffle plate 25 from the rotating base plate 2, remove the baffle plate 25, and then tap the blocking block 23 and blocking plates 24 downwards from the top of the rotating base plate 2, causing them to fall through the groove 22. Afterwards, the motor mounting plate 21 can be moved, improving the convenience of repairing and replacing the synchronous belt 42.

[0037] The implementation principle of the rotary conveying device in this application embodiment is as follows: the conveying module can support and transport items, while the rotary drive 1 drives the conveying module and the product to turn. The rotation angle can be adjusted and is not limited by the angle between the two conveying lines, thus enabling precise transfer of items. Furthermore, depending on the product length, the extension module 33 and the corresponding length of the synchronous gear belt 31 can be perfectly matched. The modular design allows for the replacement of the corresponding extension module 33 as needed, making assembly convenient and applicable to a wider range of applications. The drive pulley 34 acts as a tensioning pulley under the action of two sets of steering auxiliary pulleys. Additionally, the drive pulley 34 is the driving body that drives the synchronous gear belt 31 to move. The synchronous gear belt 31, under the action of the spring plate 36, will press against the drive pulley 34, maintaining a stable meshing relationship with it, improving the stability of the drive pulley 34 driving the synchronous gear belt 31, thereby improving the stability and accuracy of conveying.

[0038] Similarly, the components included in the "components," "mechanisms," and "devices" of this disclosure can also be flexibly combined. They can be modularly produced according to actual needs and assembled as an independent module; or they can be assembled separately to form a module in this device. The division of the above-mentioned components in this disclosure is only one embodiment for ease of reading and is not intended to limit the scope of protection of this disclosure. Any technical solution that includes the above-mentioned components and has the same function should be understood as an equivalent technical solution of this disclosure.

[0039] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure 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 limitations on this disclosure.

[0040] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In this disclosure, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0042] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] It should be noted that when a component is referred to as "fixed to," "set on," "fixed to," or "mounted on" another component, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected to another component," it can be directly connected to the other component or there may be an intervening component. Furthermore, when a component is considered to be "fixedly connected" to another component, the connection can be detachable or non-detachable, such as through socketing, snap-fitting, integral molding, welding, etc., which are achievable in conventional technologies and will not be elaborated upon here.

[0044] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] The above embodiments are merely illustrative of several implementation methods of this disclosure, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept of this disclosure, and these modifications and improvements all fall within the protection scope of this disclosure.

Claims

1. A rotary conveying device, characterized in that: The system includes a rotary drive (1), a rotary base plate (2), a conveyor belt module (3) mounted on the rotary base plate (2), and a conveyor drive (4). The rotary drive (1) is connected to the rotary base plate (2) to drive the rotary base plate (2) to rotate the conveyor belt module (3) and the conveyor drive (4). Two conveyor belt modules (3) are symmetrically spaced apart, and the rotary drive (1) drives the two conveyor belt modules (3) to operate synchronously. The conveyor belt module (3) includes a synchronous gear belt (31), a base module (32), and an extension module (33). The extension module (33) is detachably connected to the end of the base module (32). The synchronous gear belt (31) is rotatably connected to the extension module (33). The conveying distance of the conveyor belt module (3) can be adjusted by replacing the extension module (33) of different lengths and the corresponding synchronous gear belt (31).

2. The rotary conveying device according to claim 1, characterized in that: The extension module (33) includes an extension block (331) and a mating gear (332). The mating gear (332) is rotatably connected to the extension module, and the mating gear (332) meshes with the synchronous gear belt (31). The extension module is connected to the base module (32) by bolts.

3. The rotary conveying device according to claim 1, characterized in that: The conveying drive component (4) is a servo motor. A motor mounting plate (21) is fixed on the rotating base plate (2) by bolts. The servo motor is fixedly connected to the motor mounting plate (21) by bolts. The two base modules (32) are rotatably connected to the same transmission shaft (37). The conveying drive component (4) is provided with a drive pulley (41). A driven pulley (371) is sleeved on the transmission shaft (37) and rotates synchronously. A transmission synchronous belt (42) is sleeved on the drive pulley (41) and the driven pulley (371).

4. The rotary conveying device according to claim 3, characterized in that: The motor mounting plate (21) is provided with an elongated hole for adjusting the tension of the transmission timing belt (42). The rotating base plate (2) is provided with a groove (22). The groove (22) is located on the side of the motor mounting plate (21) near the transmission shaft (37). A blocking component is inserted in the groove (22). The blocking component is adapted to limit the movement of the motor mounting plate (21) towards the transmission shaft (37).

5. The rotary conveying device according to claim 4, characterized in that: The blocking assembly includes a blocking block (23) and a blocking sheet (24), wherein multiple blocking sheets (24) are stacked, and the thickness of the blocking sheet (24) is less than the thickness of the blocking block (23).

6. The rotary conveying device according to claim 4, characterized in that: The groove (22) penetrates the rotating base plate (2), and a shielding plate (25) is bolted to the bottom of the rotating base plate (2). The shielding plate (25) shields the opening of the groove (22) at the bottom of the rotating base plate (2).

7. The rotary conveying device according to any one of claims 1-6, characterized in that: The base module (32) is rotatably equipped with a drive pulley (34). The synchronous gear belt (31) passes through the bottom of the drive pulley (34) and meshes with it. The conveying drive component (4) drives the drive pulley (34) to rotate, thereby moving the synchronous gear belt (31). The base module (32) is equipped with a spring piece (36). The spring piece (36) is located at the bottom of the drive pulley (34) and is used to drive the synchronous gear belt (31) to abut against the drive pulley (34).

8. The rotary conveying device according to claim 7, characterized in that: The top of the spring piece (36) is recessed into an arc-shaped section, the drive pulley (34) is located at the arc-shaped section, and the synchronous gear belt (31) is in contact with the arc-shaped section.

9. The rotary conveying device according to claim 7, characterized in that: Two sets of steering auxiliary wheel sets (35) are symmetrically arranged above the left and right sides of the drive pulley (34). Both sets of steering auxiliary wheel sets (35) are rotatably connected to the base module (32). Each set of steering auxiliary wheel sets (35) includes two auxiliary wheels arranged vertically, and the synchronous gear belt (31) passes between the two auxiliary wheels.

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