Helical gear type pressure sensing robot

Abstract

The utility model relates to a helical gear type pressure response mechanical hand, and drive arrangement transmission connection has the transmission shaft, be provided with the transmission gear that meshes with the adjustment tooth on the transmission shaft, the transmission gear is set up on the transmission shaft and can slip along its axial direction, the transmission gear always keeps meshing with the adjustment tooth in whole slip stroke, when the transmission shaft rotation is restrained, the force of adjustment tooth acting on the transmission gear drives the transmission gear to slip along the axial direction of transmission shaft, adopt above technical scheme, the utility model sets up the transmission gear as can axial slip, when the massage wheel contacts the user back, the counterforce produced will be transmitted to the adjustment tooth, and then act on the transmission gear, produce axial component force, when the transmission gear is locked in the circumference, the axial component force drives the transmission gear to slip along the axial direction, successfully separates the longitudinal pressure that the massage wheel received from the driving torque of adjustment inclination.

Description

Technical Field

[0001] This utility model relates to the field of massager technology, and in particular to a helical gear type pressure-sensing robotic hand. Background Technology

[0002] Massage chairs have become common health and relaxation devices in modern homes and commercial spaces. Their core massage function is mainly achieved through a robotic arm mounted on the chair frame. A typical robotic arm usually includes a mounting frame that slides up and down along a guide rail on the frame. This mounting frame integrates a massage component that kneads and taps the user's back. This massage component includes massage rollers that squeeze the user's back. At the same time, the mounting frame is driven by a walking component to move along the guide rail, thereby moving and massaging along the user's spine. In addition, the massage component has an internal gear transmission system that can adjust the angle between itself and the mounting frame to control the degree of extension and retraction of the massage component and adjust the massage intensity for the user.

[0003] Due to individual differences among users, the thickness, strength, and fatigue level of their back muscles often vary. When the robotic arm massages different backs, the same pressure applied to different individuals may result in different massage intensities. When detecting massage force, the gear transmission system adjusts the tilt angle of the massage components to achieve the extension and retraction of the robotic arm. The force generated by this action is superimposed on the longitudinal force of the user's back pressing against the massage rollers, making it impossible to accurately determine the longitudinal force. This interferes with the precise control and feedback of the massage intensity, thereby reducing the adaptability and comfort of the massage. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the prior art by providing a helical gear-type pressure-sensing robotic hand to solve the problem of determining and responding to massage intensity.

[0005] The technical solution of this utility model is as follows: A helical gear type pressure-sensitive manipulator includes a mounting frame with a massage component. The massage component includes a massage body and massage arms disposed on the left and right sides of the massage body. It also includes a telescopic adjustment mechanism for controlling the rotation of the massage body relative to the mounting frame. The telescopic adjustment mechanism includes an adjustment tooth disposed on the massage body and a drive device fixedly disposed on the mounting frame. The adjustment tooth is a sector rack structure, and its rotation axis coincides with the rotation axis of the massage body. The drive device is connected to a drive shaft, and a drive gear that meshes with the adjustment tooth is disposed on the drive shaft. The key feature is that the drive gear is a helical gear, and the adjustment tooth is a helical tooth structure that matches the drive gear. The drive gear is sleeved on the drive shaft and can slide along its axial direction. A limiting structure is provided between the drive gear and the drive shaft to constrain their circumferential relative rotation and limit the circumferential sliding stroke of the drive gear. The drive gear always remains engaged with the adjustment tooth throughout the entire sliding stroke. When the rotation of the drive shaft is constrained, the force exerted by the adjusting teeth on the drive gear drives the drive gear to slide along the axial direction of the drive shaft. It also includes a detection device for detecting the condition of the transmission gears and a reset device for resetting the transmission gears that have slipped.

[0006] By employing the above technical solution, a helical gear transmission is used, and the transmission gear is configured to slide axially. When the massage roller contacts the user's back, the resulting reaction force is transmitted to the adjusting gear, which in turn acts on the transmission gear, generating an axial component force. When the transmission gear is locked in the circumferential direction, this axial component force drives the transmission gear to slide axially, successfully separating the longitudinal pressure on the massage roller from the driving torque of the tilt adjustment. The massage force can be indirectly sensed by detecting the axial displacement of the transmission gear through this detection device. This detection is independent of the torque of the driving device, avoiding the superposition and interference of force signals, making the force feedback more accurate.

[0007] Further features of this invention: There are two transmission gears, both of which are slidably mounted on the transmission shaft. The two transmission gears have the same helix angle and opposite rotation directions. Limiting structures are provided between the two transmission gears and the transmission shaft. The massage body is provided with two sections of adjusting teeth, each section of adjusting teeth meshing with a transmission gear.

[0008] With the above-mentioned further configuration, the two transmission gears with opposite helix angles form a symmetrical force sensing system, which can be positioned close to the left and right massage arms respectively, optimizing the force transmission path, reducing the cumulative error of the transmission chain between the force point and the detection point, and enabling more precise measurement and control of the actual massage force.

[0009] A further feature of this invention is that the reset device is a spring element, and there is only one spring element. The spring element is disposed between two transmission gears, and both ends of the spring element directly or indirectly abut against the two transmission gears.

[0010] By further configuring the above-mentioned components, a spring-loaded element is placed against the two transmission gears, making them symmetrically positioned. This achieves force balance while providing a reverse restoring force to both transmission gears. The preload of the spring-loaded element forms an internal balance system, allowing the two transmission gears to automatically stabilize in a preset equilibrium position when no external force is applied. When one side is compressed and moves laterally, its displacement is converted into a push on the other side through the spring-loaded element, thus balancing some of the forces. The structure is compact and simple, saving space and simplifying assembly.

[0011] A further feature of this invention is that the reset device is a spring element, and there are two spring elements. Each transmission gear has a corresponding support seat on the side away from the other transmission gear. The support seat is fixed relative to the transmission shaft. The two spring elements are respectively disposed between the two transmission gears and the corresponding support seats. The two ends of the spring elements directly or indirectly abut against the transmission gears and the support seats.

[0012] With the above-mentioned further configuration, the reset device is equipped with two elastic elements that independently control the reset of the two transmission gears, so that the reset movement of each transmission gear is driven only by its own elastic element. When one side of the transmission gear moves laterally due to force, it will not cause any interference to the other side through the reset device, thus avoiding the coupling error of the movement on both sides. In addition, the two elastic elements and their support seats are symmetrically distributed, which is beneficial to the mechanical balance of the transmission shaft structure.

[0013] A further feature of this invention is that the limiting structure includes a strip-shaped hole on the transmission gear and a limiting post fixed on the transmission shaft. The length direction of the strip-shaped hole is arranged along the axial direction of the transmission shaft, and the limiting post is accommodated in the strip-shaped hole and abuts against the two long side walls of the strip-shaped hole.

[0014] With the above-mentioned further configuration, the limiting structure adopts the form of a strip hole and a limiting post. The strip hole directly limits the sliding stroke range to prevent the transmission gear from disengaging or excessively compressing the reset device. At the same time, the two long side walls of the strip hole abut against it to lock the transmission gear in circumferential rotation relative to the transmission shaft.

[0015] A further feature of this invention is that the telescopic adjustment mechanism also includes a sliding member that is movably disposed relative to the transmission shaft. The sliding member moves along the axial direction of the transmission shaft, and the elastic member presses against the sliding member to contact the transmission gear.

[0016] With the above-mentioned further configuration, the sliding component acts as a low-friction intermediary, smoothly transmitting the thrust of the elastic component to the transmission gear, while simultaneously transmitting the axial sliding of the transmission gear without damage.

[0017] A further feature of this invention is that the sliding member includes a detection part, which is located in the detection area of ​​the detection device.

[0018] With the above-mentioned further configuration, the slippage of the transmission gear is transmitted to the detection device through the detection unit. The amount of slippage is used to quantify the massage intensity, so that it can detect and determine whether the massage intensity is too high.

[0019] A further feature of this invention is that a walking assembly is provided on the mounting frame. The walking assembly includes a walking transmission shaft rotatably connected to the mounting frame and a walking drive device fixedly mounted on the mounting frame. The output end of the walking drive device is connected to the walking transmission shaft. Both ends of the walking transmission shaft are provided with walking teeth and walking wheels. Both ends of the transmission shaft are provided with walking wheels.

[0020] By adopting the above-mentioned further settings, the robotic arm is integrated with the walking function, which not only provides precise kneading and grasping force, but also moves up and down along the user's back to achieve a comprehensive and adaptive massage from the neck to the waist, ultimately improving the comfort and effect of the massage. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present utility model; Figure 2 This is a schematic diagram of the overall structure of the elastic component after being compressed according to Embodiment 1 of this utility model; Figure 3 This is a schematic diagram of the connection between the transmission shaft and the transmission gear in Embodiment 1 of this utility model; Figure 4 This is a cross-sectional view of the engagement between the transmission shaft and the transmission gear in Embodiment 1 of this utility model; Figure 5 This is a schematic diagram of the overall structure of the transmission gear in Embodiment 1 and Embodiment 2 of this utility model; Figure 6 This is a schematic diagram of the overall structure of Embodiment 2 of this utility model; Figure 7 This is a schematic diagram of the overall structure of the elastic component after being compressed according to Embodiment 2 of this utility model; Figure 8 This is a schematic diagram of the connection between the transmission shaft and the transmission gear in Embodiment 2 of this utility model; Figure 9 This is a cross-sectional view of the engagement between the transmission shaft and the transmission gear in Embodiment 2 of this utility model.

[0022] In the diagram: 1. Mounting bracket; 2. Massage component; 21. Massage body; 211. Adjustment gear; 22. Massage arm; 23. Drive unit; 24. Drive shaft; 4. Drive gear; 41. Strip hole; 5. Limiting post; 6. Detection device; 7. Elastic component; 8. Sliding component; 9. Support base; 10. Detection section; 11. Travel drive shaft; 12. Travel drive unit; 13. Travel gear; 14. Travel wheel. Detailed Implementation

[0023] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] It should be noted that in the description of this utility model, all directional indicators (such as up, down, forward, backward, etc.) are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0025] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. In the description of this utility model, "a number" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model. Example 1

[0027] This embodiment provides a helical gear type pressure-sensing robotic arm, such as Figure 1-5 As shown, the mounting frame 1 includes a massage component 2. The massage component 2 includes a massage body 21 and massage arms 22 disposed on the left and right sides of the massage body 21. It also includes a telescopic adjustment mechanism for controlling the rotation of the massage body 21 relative to the mounting frame 1. The telescopic adjustment mechanism includes adjustment teeth 211 disposed on the massage body 21 and a drive device 23 fixedly disposed on the mounting frame 1. The drive device 23 can be a motor, and the drive device 23 is connected to a drive shaft 24. The telescopic adjustment mechanism also includes two transmission gears 4, both of which are mounted on the transmission shaft 24. Both transmission gears 4 are helical gears, and the two transmission gears 4 have the same thread angle but opposite directions of rotation. Similarly, the massage body 21 is provided with two sections of adjusting teeth 211 with opposite thread angles, and each section of adjusting teeth 211 meshes with a corresponding transmission gear 4. When the drive device 23 is activated, the transmission shaft 24 rotates, which drives the transmission gear 4 to rotate. Through the adjustment gear 211, the massage body 21 swings relative to the mounting frame 1, thereby realizing the extension and retraction adjustment of the massage arm 22 to adjust the massage intensity.

[0028] In this embodiment, the adjusting tooth 211 is a fan-shaped rack structure, and its rotation axis coincides with the rotation axis of the massage body 21. The tooth shape of the adjusting tooth 211 is a helical tooth structure that matches the corresponding transmission gear 4. The transmission gear 4 is sleeved on the transmission shaft 24 and can slide along its axial direction. A limiting structure is provided between the transmission gear 4 and the transmission shaft 24 to constrain the two to prevent relative rotation in the circumferential direction and limit the circumferential sliding stroke of the transmission gear 4. The transmission gear 4 always maintains engagement with the corresponding adjusting tooth 211 throughout the entire sliding stroke. Specifically, the limiting structure includes a strip-shaped hole 41 opened on the transmission gear 4 and a limiting post 5 fixed on the transmission shaft 24. The length direction of the strip-shaped hole 41 is arranged along the axial direction of the transmission shaft 24. The limiting post 5 is accommodated in the strip-shaped hole 41 and abuts against the two long side walls of the strip-shaped hole 41. The length of the long side of the strip-shaped hole 41 directly limits the sliding stroke range to prevent the transmission gear 4 from disengaging or excessively compressing the reset device. At the same time, the abutment between the two long side walls of the strip-shaped hole 41 and the limiting post 5 can lock the rotation of the transmission gear 4 relative to the transmission shaft 24 in the circumferential direction.

[0029] Therefore, when the drive device 23 is locked, restricting the rotation of the transmission shaft 24 and the transmission gear 4, the reaction force of the massage wheel contacting the user's back drives the massage body to move, thereby driving the adjustment gear 211 to move. As a result, the force of the adjustment gear 211 acting on the transmission gear 4 is transmitted to the transmission gear 4, generating an axial component force. This axial component force drives the transmission gear 4 to slide axially. The longitudinal pressure on the massage wheel is successfully separated from the driving torque of the tilt angle adjustment. This embodiment also includes a detection device 6 for detecting the axial position of the transmission gear 4. The massage force can be indirectly sensed by detecting the axial displacement of the transmission gear 4 through the detection device 6. This detection is independent of the torque of the drive device 23, avoiding the superposition and interference of force signals, making the force feedback more accurate.

[0030] Specifically, the detection device 6 can be a pressure sensor, position sensor, optical sensor or other types of sensor, and is fixedly installed on the mounting bracket 1. It can be a sensor that detects the lateral movement of the transmission gear 4. A detection part 10 can be fixedly installed on one or both sliding parts 8. The detection part 10 can be a magnet or a reflective sheet, which extends into the detection area of ​​the detection device 6 for detection.

[0031] In this embodiment, a reset device for resetting the sliding of the transmission gear 4 is also provided. The reset device is a spring element 7. There is one spring element 7. The spring element 7 is disposed between the two transmission gears 4. The two ends of the spring element 7 directly or indirectly abut against the two transmission gears 4 respectively.

[0032] Specifically, each transmission gear 4 has a sliding member 8 on the side facing the other transmission gear 4. The sliding member 8 is an annular sleeve structure, sleeved on the transmission shaft 24 and can slide along the axial direction of the transmission shaft 24. The elastic member 7 is placed between the two sliding members 8, and its two ends are fixed or abutted to the sliding members 8 respectively. Thus, under the preload of the elastic member 7, the two transmission gears 4 are pushed away from each other until the friction force and the elastic force of the elastic member 7 are balanced or until the limiting post 5 abuts against the short side wall of the strip hole 41, thereby limiting the initial position of the transmission gear 4.

[0033] Working process: In the initial state, the elastic element 7 pushes the two transmission gears 4 to the short side wall of the strip hole 41 against the limiting post 5 through the sliding element 8, and the detection part 10 is located at the reference position of the detection device 6. When the massage component 2 is working, the drive device 23 drives the transmission gear 4 to rotate, and drives the massage component 2 to extend and retract through the meshing structure with the adjusting gear 211. After the drive device 23 is locked, the transmission shaft 24 and the transmission gear 4 are locked in rotation. The reaction force generated by the massage arm 22 contacting the user's back is acted on by the adjusting gear 211 and its axial component pushes the transmission gear 4 to slide axially. Since the helix angles of the two transmission gears 4 are set in opposite directions, they slide towards each other, compressing the elastic element 7. The detection device 6 detects the displacement of the detection part 10. The controller judges whether the force is too large or too small based on the displacement and adjusts the drive device 23 in real time to keep the massage force within the set range. When the reaction force generated between the massage arm 22 and the user is released, the elastic element 7 pushes the transmission gear 4 to reset.

[0034] This embodiment achieves symmetrical reset of the two transmission gears 4 through a single elastic element 7. The structure is simple and the cost is low. Furthermore, the preload of the elastic element 7 forms an internal balance system, which enables the two transmission gears 4 to automatically stabilize in the preset position when no external force is applied, thereby improving the symmetry and accuracy of force detection. Example 2

[0035] This embodiment provides another type of helical gear pressure sensing robot, the core of which is to use two independent elastic elements 7 to control the reset of two transmission gears 4 respectively, so as to avoid coupling error of bilateral movement.

[0036] like Figure 5-9 As shown, the basic structure of this embodiment is the same as that of Embodiment 1, including a mounting frame 1, a massage component 2, an adjustment gear 211, a drive device 23, a transmission shaft 24, a transmission gear 4, and a detection device 6. There are also two transmission gears 4, with the same helix angle and opposite directions. The adjustment gear 211 is also selected in two segments, each meshing with one transmission gear 4. The difference is that when the transmission shaft 24 is locked, the force between the massage arm 22 and the user drives the two transmission gears 4 to slide in opposite directions.

[0037] The reset device in this embodiment uses two elastic elements 7, each of which is a compression spring. In the axial direction of the transmission shaft 24, a support seat 9 is provided on the side of each transmission gear 4 away from the other transmission gear 4. The support base 9 is fixedly mounted on the transmission shaft 24. Two elastic members 7 are respectively disposed between the two transmission gears 4 and the corresponding support base 9. One end of the elastic member 7 directly or indirectly abuts against the transmission gear 4, and the other end directly abuts against the support base 9. In this embodiment, one end of the elastic member 7 indirectly abuts against the transmission gear 4 through the sliding member 8. Specifically, each transmission gear 4 has a sliding member 8 on the side facing away from the other transmission gear 4. The sliding member 8 is an annular sleeve structure. The sliding member 8 is sleeved on the transmission shaft 24 and can slide along the axial direction of the transmission shaft 24. One end of the elastic member 7 contacts the sliding member 8, and the other end contacts the support seat 9. Thus, under the preload of the elastic member 7, the transmission gear 4 is pushed towards the other transmission gear 4 until the limiting post 5 abuts against the short side wall of the strip hole 41, thereby limiting the initial position of the transmission gear 4.

[0038] The setup of the detection device 6 and the detection section 10 is similar to that in Embodiment 1. The detection section 10 is fixed on the sliding member 8, and the detection device 6 is set corresponding to the detection section 10 to detect the lateral displacement of the transmission gear 4.

[0039] Working process: In the initial state, the elastic element 7 pushes the transmission gear 4 to the limit post 5 against the short side wall of the strip hole 41 through the sliding element 8. When the massage arm 22 is subjected to a reaction force, the transmission gear 4 slides axially, compressing the corresponding elastic element 7. The detection device 6 detects the displacement of the detection part 10. The controller calculates the force based on the displacement and adjusts the drive device 23. Since the two elastic elements 7 act independently, the lateral movement of the transmission gear 4 on one side will not interfere with the other side through the reset device, avoiding the coupling error of the two-sided movement and improving the independence and accuracy of force detection.

[0040] In this embodiment, the two elastic elements 7 and their support seats 9 are symmetrically distributed and independently control the reset of the two transmission gears, so that the reset movement of each transmission gear 4 is driven only by its own elastic element 7. When one side of the transmission gear 4 moves laterally due to force, it will not interfere with the other side through the reset device, thus avoiding the coupling error of the two sides of the movement. In addition, the symmetrical distribution of the two elastic elements 7 and their support seats 9 is beneficial to the mechanical balance of the transmission shaft 24 structure.

[0041] In both embodiments, the mounting frame 1 is further provided with a walking component for driving the robotic arm to move along the massage chair guide rail. The walking component includes a walking transmission shaft 11 rotatably connected to the mounting frame 1 and a walking drive device 12 fixedly mounted on the mounting frame 1. The walking drive device 12 can be a motor, and the output end of the walking drive device 12 is connected to the walking transmission shaft 11 through gear or belt transmission. Both ends of the walking transmission shaft 11 are provided with walking teeth 13 and walking wheels 14, and both ends of the rotating shaft 31 are also provided with walking wheels 14, thereby realizing the smooth movement of the robotic arm on the guide rail.

Claims

1. A helical gear type pressure-sensing manipulator, comprising a mounting frame (1) with a massage component (2), the massage component (2) comprising a massage body (21) and massage arms (22) disposed on the left and right sides of the massage body (21), and further comprising a telescopic adjustment mechanism for controlling the rotation of the massage body (21) relative to the mounting frame (1), the telescopic adjustment mechanism comprising an adjustment tooth (211) disposed on the massage body (21) and a drive device (23) fixedly disposed on the mounting frame (1), the adjustment tooth (211) being a fan-shaped rack structure, the rotation axis of which coincides with the rotation axis of the massage body 21; the drive device (23) being drivenly connected to a drive shaft (24), the drive shaft (24) being provided with a drive gear (4), characterized in that: The transmission gear (4) is a helical gear, and the tooth profile of the adjusting tooth (211) is a helical tooth structure that meshes with the transmission gear (4). The transmission gear (4) is axially slidably arranged along the transmission shaft (24). A limiting structure is provided between the transmission gear (4) and the transmission shaft (24) to constrain the relative circumferential rotation between the two and limit the circumferential sliding stroke of the transmission gear (4). The transmission gear (4) always remains meshed with the adjusting tooth (211) throughout the entire sliding stroke. When the rotation of the drive shaft (24) is constrained, the force of the adjusting tooth (211) acting on the drive gear (4) drives the drive gear (4) to slide along the axial direction of the drive shaft (24); It also includes a detection device (6) for detecting the state of the transmission gear (4) and a reset device for resetting the transmission gear (4) from slippage.

2. The helical gear type pressure-sensing manipulator according to claim 1, characterized in that: The number of transmission gears (4) is two. Both transmission gears (4) are slidably mounted on the transmission shaft (24). The two transmission gears (4) have the same helix angle and opposite rotation direction. Limiting structures are provided between the two transmission gears (4) and the transmission shaft (24). The massage body (21) is provided with two sections of adjusting teeth (211), and each section of adjusting teeth (211) meshes with a transmission gear (4).

3. The helical gear type pressure-sensing manipulator according to claim 2, characterized in that: The reset device is an elastic element (7), and there is one elastic element (7). The elastic element (7) is disposed between two transmission gears (4), and the two ends of the elastic element (7) directly or indirectly abut against the two transmission gears (4).

4. The helical gear type pressure-sensing manipulator according to claim 2, characterized in that: The reset device is an elastic element (7), and there are two elastic elements (7). Each transmission gear (4) has a corresponding support seat (9) on the side away from the other transmission gear (4). The support seat (9) is fixedly arranged relative to the transmission shaft (24). The two elastic elements (7) are respectively arranged between the two transmission gears (4) and the corresponding support seat (9). The two ends of the elastic element (7) directly or indirectly abut against the transmission gear (4) and the support seat (9).

5. A helical gear type pressure-sensing manipulator according to claim 3 or 4, characterized in that: The limiting structure includes a strip hole (41) opened on the transmission gear (4) and a limiting post (5) fixed on the transmission shaft (24). The strip hole (41) is arranged along the axial direction of the transmission shaft (24) in the length direction. The limiting post (5) is accommodated in the strip hole (41) and abuts against the two short side walls of the strip hole (41).

6. A helical gear type pressure-sensing manipulator according to claim 3 or 4, characterized in that: The telescopic adjustment mechanism also includes a sliding member (8) that is movably disposed relative to the drive shaft (24). The sliding member (8) moves along the axial direction of the drive shaft (24), and the elastic member (7) presses against the sliding member (8) to contact the drive gear (4).

7. A helical gear type pressure-sensing manipulator according to claim 6, characterized in that: The sliding member (8) includes a detection section (10), which is located in the detection area of ​​the detection device (6).

8. A helical gear type pressure-sensing manipulator according to claim 1, characterized in that: The mounting frame (1) is provided with a walking assembly, which includes a walking transmission shaft (11) rotatably connected to the mounting frame (1) and a walking drive device (12) fixedly mounted on the mounting frame (1). The output end of the walking drive device (12) is connected to the walking transmission shaft (11). Both ends of the walking transmission shaft (11) are provided with walking teeth (13) and walking wheels (14). Both ends of the transmission shaft (24) are provided with walking wheels (14).

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