Rail-type walking mechanism

Abstract

The utility model provides a kind of track type walking mechanism, comprising: spreader, vehicle body skid, turnover main shaft and walking mechanism, further comprising: first sensing component for monitoring the first attitude of spreader, second sensing component for monitoring the second attitude of vehicle body skid, third sensing component for monitoring the connection condition of vehicle body and vehicle body skid, control module and communication module;Control module, the data detected by first sensing component, second sensing component and third sensing component are sent to the drive controller and / or control platform of drive motor by communication module.The utility model monitors the attitude of spreader, vehicle body skid and the connection condition of vehicle body and vehicle body skid, realizes the monitoring of self state, provides analysis data for avoiding vehicle body domain vehicle body skid to separate, and further guarantee work safety.

Description

Technical Field

[0001] This utility model relates to the field of automobile manufacturing technology, and in particular to a track-type walking mechanism. Background Technology

[0002] EMS conveyor refers to an Electric Monorail System, a type of overhead suspended material transport equipment widely used in automobile manufacturing production lines (especially welding, painting, and final assembly workshops). In the painting workshop, the paint job line uses a roller coating process that requires the car body to be rotated.

[0003] Existing CN114538279A and CN118387762A disclose a self-propelled transport mechanism capable of flipping to meet process requirements. In particular, CN118387762A discloses a 360-degree flipping EMS conveyor, including a lifting device, a car body skid, a drive mechanism, and a traveling mechanism. The lifting device has a receiving space, and the car body skid is fixedly located within this space. A car body shell to be flipped is placed on the car body skid, and the car body shell is located within the receiving space of the lifting device. At the process work station, the drive mechanism drives the car body skid to flip together with the car body to achieve the operation. Because the car body needs to be flipped, separation can easily occur if the connection is faulty. Therefore, a track-type traveling mechanism is urgently needed to monitor its own status and provide analytical data to prevent the car body and car body skid from detaching. Utility Model Content

[0004] One of the objectives of this utility model is to provide a track-type traveling mechanism that monitors the posture of the lifting device, the vehicle body skid, and the connection between the vehicle body and the skid, thereby enabling the monitoring of its own status and providing analytical data to prevent the vehicle body and skid from detaching, thus ensuring operational safety.

[0005] This utility model provides a track-type traveling mechanism, including a lifting device, a vehicle skid, a tilting main shaft, and a traveling mechanism. The tilting main shaft is fixedly connected to the vehicle skid and rotatably connected to the lifting device. The tilting main shaft is locked and separated from the lifting device through a locking and separating device. A connecting body is provided on one side of the tilting main shaft to engage with the power output end of a drive motor located at a workstation. The mechanism also includes:

[0006] A first sensing component for monitoring the first attitude of the spreader, a second sensing component for monitoring the second attitude of the vehicle skid, a third sensing component for monitoring the connection between the vehicle body and the vehicle skid, a control module, and a communication module.

[0007] The control module transmits the data detected by the first, second, and third sensing components to the drive controller and / or control platform of the drive motor via the communication module.

[0008] Preferably, the drive motor is mounted on the first guide rail; the first guide rail is mounted on the base; a frame is mounted on the base and near the drive motor; a second guide rail is mounted on the frame; the first servo motor drives the first guide rail to engage and disengage the power output end of the drive motor from the coupling body; the second servo motor drives the second guide rail to move the guide pin located on the second guide rail toward the locking and disengaging device and to achieve the locking and disengaging action of the locking and disengaging device between the tilting spindle and the lifting device.

[0009] Preferably, the locking and separating device includes: a locking pin, a guide column, a locking body, and a mounting base; a through hole is provided on one side of the connecting support arm that rotatably connects the lifting device and the tilting spindle, which can respectively accommodate the locking pin, the guide column, and the locking body; the locking pin, the guide column, and the locking body are arranged on the mounting base and respectively pass through the corresponding through hole;

[0010] A tension spring is fitted around the outer periphery of the portion of the locking pin, guide column, and locking body located between the mounting base and the connecting support arm. One end of the tension spring is fixedly connected to the connecting support arm, and the other end is fixedly connected to the mounting base. The end of the locking body away from the mounting base passes through a locking hole opened on the outer edge of the connecting body. When the second servo motor drives the second guide rail, the end of the guide column away from the mounting base cooperates with the guide column sleeve fixedly mounted on one side of the guide pin to guide the guide pin, so that the guide pin pushes against the locking pin. When the guide pin pushes the locking pin away from the connecting body, the locking body disengages from the locking hole, completing the separation between the lifting device and the tilting spindle.

[0011] Preferably, the lifting device includes: a crossbar, a set of first supports symmetrically arranged on both sides of one end of the crossbar, and a set of second supports symmetrically arranged on both sides of the other end of the crossbar; the ends of the first and second supports away from the crossbar are respectively fixedly connected to the two ends of the connecting support arm.

[0012] Preferably, the vehicle body skid is fixedly connected to the tilting main shaft via at least one fixed connection component;

[0013] The fixed connection assembly includes: a connecting ring, a support column, and at least one triangular reinforcing connector; the connecting ring is sleeved on the outer periphery of the flipping main shaft and fixedly connected to the flipping main shaft; one end of the support column is fixedly connected to the connecting ring, and the other end is fixedly connected to the bottom of the vehicle body skid; one of the two sides of the triangular reinforcing connector located on both sides of the right angle is fixedly connected to the side of the support column, and the other side is fixedly connected to the bottom of the vehicle body skid.

[0014] Preferably, the walking mechanism includes: a set of drive devices symmetrically arranged on the upper surfaces at both ends of the crossbar;

[0015] The driving device includes an active unit, a driven unit, and a carrier; the active unit and the driven unit are respectively located at both ends of the carrier; a carrier seat is sleeved in the middle of the carrier; the bottom of the carrier seat is fixedly connected to the crossbar; the upper part of the carrier seat is columnar, sleeved in the middle of the carrier, and can rotate relative to the carrier.

[0016] The active unit includes: a first C-shaped body, an active wheel, a walking drive motor, at least one first guide wheel, and at least one first limiting wheel; the first limiting wheel is located in the groove of the first C-shaped body and close to the side of the track after the first C-shaped body is engaged with the track; the first guide wheel cooperates with the guide groove on the track to achieve guidance;

[0017] The driven unit includes: a second C-shaped body, a driven wheel, at least one second guide wheel, and at least one second limiting wheel; the second limiting wheel is located in the groove of the second C-shaped body and is close to the side of the track after the second C-shaped body is engaged with the track; the second guide wheel cooperates with the guide groove on the track to achieve guidance;

[0018] The bottom of the first C-shaped main body and the second C-shaped main body are respectively fixedly connected to connecting columns, and the other end of the connecting column passes through one end of the carrier and can rotate relative to the carrier.

[0019] Preferably, the vehicle body skid includes: a support platform and multiple vehicle body connectors; the vehicle body connectors are disposed on the upper surface of the support platform; the vehicle body connectors include: a U-shaped main body and locking members symmetrically disposed at both ends of the U-shaped main body; the lower end of the U-shaped main body is rotatably disposed on the support platform via a setting column.

[0020] Preferably, the first sensing component includes two first three-axis gyroscopes respectively disposed at both ends of the crossbar of the lifting device.

[0021] Preferably, the second sensing component includes a second three-axis gyroscope disposed on either of the two sides of the support platform away from the rotating spindle.

[0022] Preferably, the third sensing component includes:

[0023] The first pressure sensing unit is installed on the U-shaped body of the vehicle body connector and the vehicle body mating surface of the locking component;

[0024] And / or,

[0025] A second pressure sensing unit is installed at the bottom of the opening of the U-shaped body of the vehicle body connector.

[0026] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0027] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0029] Figure 1 This is a schematic diagram of a track-type walking mechanism in an embodiment of the present utility model;

[0030] Figure 2 A schematic diagram illustrating the monitoring function of a track-type walking mechanism in an embodiment of this utility model;

[0031] Figure 3 This is a schematic diagram of the drive motor on the workstation in an embodiment of this utility model;

[0032] Figure 4 This is a schematic diagram of the locking and separating device in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of yet another track-type walking mechanism in an embodiment of this utility model;

[0034] Figure 6 This is a schematic diagram of the connection between the flipping main shaft and the vehicle body skid in an embodiment of this utility model;

[0035] Figure 7 This is a schematic diagram of the walking mechanism in an embodiment of the present utility model;

[0036] Figure 8 This is a schematic diagram of the driving device in an embodiment of the present invention;

[0037] Figure 9 This is a schematic diagram of the vehicle body connecting body in an embodiment of this utility model.

[0038] In the picture:

[0039] 1. Lifting device; 2. Vehicle skid; 3. Tilting spindle; 4. Traveling mechanism; 5. Drive motor; 7. Vehicle body; 11. Crossbar; 12. First bracket; 13. Second bracket; 14. Connecting support arm; 15. Locking and separating device; 20. Setting column; 21. U-shaped main body; 22. Locking component; 31. Connecting body; 41. Drive device; 50. Base; 51. Power output end; 52. First guide rail; 53. First servo motor; 54. Second guide rail; 55. Second servo motor; 56. Frame; 57. Guide pin; 58. Guide column sleeve; 61. First sensing component; 62. Second sensing component; 63. Third sensing component 64. Control module; 65. Communication module; 150. Setting seat; 151. Guide column; 152. Locking pin; 153. Locking body; 154. Tension spring; 321. Connecting ring; 322. Support column; 323. Triangular reinforced connecting body; 411. Active unit; 412. Driven unit; 413. Bearing body; 414. Bearing seat; 4111. First C-shaped main body; 4112. Active wheel; 4113. Walking drive motor; 4114. First guide wheel; 4115. First limit wheel; 4121. Second C-shaped main body; 4122. Driven wheel; 4123. Second guide wheel; 4124. Second limit wheel. Detailed Implementation

[0040] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0041] This utility model embodiment provides a track-type walking mechanism, such as Figures 1 to 9 As shown, the device includes a lifting device 1, a vehicle body skid 2, a tilting spindle 3, and a traveling mechanism 4. The tilting spindle 3 is fixedly connected to the vehicle body skid 2 and rotatably connected to the lifting device 1. The tilting spindle 3 is locked and separated from the lifting device 1 via a locking and separating device 15. A connecting body 31 is provided on one side of the tilting spindle 3 to engage with the power output end 51 of the drive motor 5 located at the workstation. The device also includes:

[0042] A first sensing component for monitoring the first attitude of the spreader, a second sensing component for monitoring the second attitude of the vehicle skid, a third sensing component for monitoring the connection between the vehicle body and the vehicle skid, a control module, and a communication module.

[0043] The control module transmits the data detected by the first, second, and third sensing components to the drive controller and / or control platform of the drive motor via the communication module.

[0044] This embodiment adds monitoring components to the mechanical structure of the track-type traveling mechanism, specifically a first sensing component 61, a second sensing component 62, and a third sensing component 63. These components monitor the lifting device 1, the vehicle body skid 2, and the connection between the vehicle body and the skid 2. The monitoring data is then sent to the drive controller and / or control platform of the drive motor 5. The data acquisition and transmission technologies via the communication module are existing mature technologies and will not be elaborated upon here. Specifically, the monitoring data is sent to the drive controller when the device is flipped and to the control platform when it is moving on the track. The control platform can remotely control the movement of the traveling mechanism 4. The control platform and / or drive controller comprehensively analyze the attitude of the lifting device 1, the vehicle body skid 2, and the connection between the vehicle body and the skid 2. Based on the analysis results, emergency control is implemented to prevent the skid 2 from separating from the vehicle body during the operation of the track-type traveling mechanism, thus ensuring operational safety.

[0045] In one embodiment, the drive motor 5 is mounted on the first guide rail 52; the first guide rail 52 is mounted on the base 50; a frame 56 is mounted on the base 50 and near the drive motor 5; a second guide rail 54 is mounted on the frame 56; the first servo motor 53 drives the first guide rail 52 to engage and disengage the power output end 51 of the drive motor 5 with the coupling body 31; the second servo motor 55 drives the second guide rail 54 to move the guide pin 57 located on the second guide rail 54 toward the locking and separating device 15 and realize the locking and separating action of the locking and separating device 15 between the rotating spindle 3 and the lifting device 1. When the track-type traveling mechanism moves to the flipping station, the first servo motor 53 controls the first guide rail 52 to move, causing the power output end 51 of the drive motor 5 to move towards the coupling body 31 and finally engage. After engagement, the second servo motor 55 controls the second guide rail 54 to move the guide pin 57 towards the locking and separating device 15, triggering the locking and separating device 15 to unlock the lifting device 1 from the flipping main shaft 3. At this time, when the drive motor 5 drives the flipping main shaft 3 to rotate, the lifting device 1 does not follow the movement. Only the car body skid 2, which is fixed to the flipping main shaft 3, follows the rotation, thus realizing the car body flipping operation.

[0046] In one embodiment, the locking and separating device 15 includes: a locking pin 152, a guide post 151, a locking body 153, and a mounting base 150;

[0047] On one side of the connecting support arm 14, which is rotatably connected to the lifting device 1 and the tilting main shaft 3, there are through holes that can respectively accommodate the locking pin 152, the guide column 151, and the locking body 153; the locking pin 152, the guide column 151, and the locking body 153 are arranged on the mounting base 150 and are respectively inserted into the corresponding through holes; that is, there are three through holes, which are respectively configured to correspond to the locking pin 152, the guide column 151, and the locking body 153;

[0048] A tension spring 154 is fitted around the portion of the locking pin 152, guide post 151, and locking body 153 located between the mounting base 150 and the connecting support arm 14. One end of the tension spring 154 is fixedly connected to the connecting support arm 14, and the other end is fixedly connected to the mounting base 150. The end of the locking body 153 away from the mounting base 150 passes through a locking hole opened on the outer edge of the connecting body 31. When the second servo motor 55 drives the second guide rail 54 to move, the end of the guide post 151 away from the mounting base 150 cooperates with the guide post sleeve 58 fixedly mounted on one side of the guide pin 57 to guide the guide pin 57, so that the guide pin 57 pushes against the locking pin 152. When the guide pin 57 pushes the locking pin 152 away from the connecting body 31, the locking body 153 disengages from the locking hole, completing the separation between the lifting device 1 and the tilting spindle 3. The locking pin 152 is positioned between the guide post 151 and the locking body 153 to achieve force balance on both sides when the guide pin 57 pushes the locking pin 152, preventing jamming due to offset and extending the service life of the locking and separating device 15; in addition, an outer cylinder can be fixedly installed on the side of the connecting support arm 14 away from the mounting seat 150; the outer cylinder is sleeved on the outer periphery of the guide post 151.

[0049] In one embodiment, the lifting device 1 includes: a crossbar 11, a set of first supports 12 symmetrically arranged on both sides of one end of the crossbar 11, and a set of second supports 13 symmetrically arranged on both sides of the other end of the crossbar 11; the ends of the first supports 12 and the second supports 13 away from the crossbar 11 are respectively fixedly connected to both ends of a connecting support arm 14. Furthermore, reinforcing ribs may be provided in the middle of the first supports 12 and the second supports 13; the two sides of the reinforcing ribs are respectively fixedly connected to the first supports 12 and the second supports 13 to enhance the structural strength of the lifting device 1.

[0050] In one embodiment, the vehicle skid 2 is fixedly connected to the tilting spindle 3 via at least one fixed connection component;

[0051] The fixed connection assembly includes a connecting ring 321, a support column 322, and at least one triangular reinforcing connector 323. The connecting ring 321 is sleeved on the outer periphery of the tilting main shaft 3 and fixedly connected to it. One end of the support column 322 is fixedly connected to the connecting ring 321, and the other end is fixedly connected to the bottom of the vehicle body skid 2. One side of the triangular reinforcing connector 323 located on both sides of the right angle is fixedly connected to the side of the support column 322, and the other side is fixedly connected to the bottom of the vehicle body skid 2. The triangular reinforcing connector 323 adopts a stable triangular structure, which improves the stability of the connection between the vehicle body skid 2 and the tilting main shaft 3.

[0052] In one embodiment, the walking mechanism 4 includes: a set of drive devices 41 symmetrically arranged on the upper surfaces at both ends of the crossbar 11;

[0053] The driving device 41 includes an active unit 411, a driven unit 412, and a carrier 413. The active unit 411 and the driven unit 412 are respectively disposed at both ends of the carrier 413. A carrier seat 414 is sleeved in the middle of the carrier 413. The bottom of the carrier seat 414 is fixedly connected to the crossbar 11. The upper part of the carrier seat 414 is columnar, sleeved in the middle of the carrier 413, and can rotate relative to the carrier 413.

[0054] The active unit 411 includes: a first C-shaped body 4111, an active wheel 4112, a walking drive motor 4113, at least one first guide wheel 4114, and at least one first limiting wheel 4115; the first limiting wheel 4115 is located in the groove of the first C-shaped body 4111 and is close to the side of the track after the first C-shaped body 4111 is engaged with the track; the first guide wheel 4114 cooperates with the guide groove on the track to achieve guidance;

[0055] The driven unit 412 includes: a second C-shaped body 4121, a driven wheel 4122, at least one second guide wheel 4123, and at least one second limiting wheel 4124; the second limiting wheel 4124 is located in the groove of the second C-shaped body 4121 and is close to the side of the track after the second C-shaped body 4121 is engaged with the track; the second guide wheel 4123 cooperates with the guide groove on the track to achieve guidance;

[0056] The bottom of the first C-shaped main body and the second C-shaped main body 4121 are respectively fixedly connected to connecting columns, and the other end of the connecting column passes through one end of the bearing 413 and can rotate relative to the bearing 413.

[0057] In one embodiment, the vehicle body skid 2 includes a support platform and multiple vehicle body connectors. The vehicle body connectors are disposed on the upper surface of the support platform. Each vehicle body connector includes a U-shaped body 21 and locking members 22 symmetrically disposed at both ends of the U-shaped body 21. The lower end of the U-shaped body 21 is rotatably mounted on the support platform via a mounting post 20. The opening formed by the U-shaped body 21 of the vehicle body connector serves as the clamping area for the vehicle body 7. The locking members 22 perform a locking operation on the vehicle body; the locking members 22 can be configured for threaded locking, and an elastic material is used on the side closest to the vehicle body. Furthermore, the first pressure sensing unit in the third sensing assembly 63 can be embedded in the center of the elastic material.

[0058] In one embodiment, the first sensing component includes two first three-axis gyroscopes respectively disposed at both ends of the crossbar of the lifting device. By monitoring the height and left-right position differences at both ends of the crossbar using the two first three-axis gyroscopes, the first attitude of the lifting device can be determined.

[0059] The second sensing component includes a second three-axis gyroscope positioned on either of the two sides of the support platform away from the main tilting axis. The second attitude of the vehicle skid can be determined by monitoring the height difference between the side and the initial position (the horizontal state of the vehicle skid) using the second three-axis gyroscope.

[0060] The third sensing component includes:

[0061] The first pressure sensing unit is installed on the U-shaped body of the vehicle body connector and the vehicle body mating surface of the locking component;

[0062] And / or,

[0063] A second pressure sensing unit is installed at the bottom end of the opening of the U-shaped main body of the vehicle body connector. The first pressure sensing unit detects the pressure on the contact surface between the vehicle body and the locking component, while the second pressure sensing unit detects the pressure of the vehicle body on the bottom end. By detecting the pressure on the contact surface, the connection between the vehicle body and the vehicle body skid is monitored.

[0064] Since there are multiple connection points between the vehicle body skid and the vehicle body (i.e., multiple vehicle body connectors), equipping each connector with a first and second pressure sensing unit would increase costs. Therefore, selective configuration is necessary to achieve good monitoring performance. The specific selection principles are as follows: Since the edge of the vehicle body contacting the skid can be approximated as a square, the connectors can be arranged in two directions, forming a group. Using the distance between the connector and the main tilting axis as a guide, the connector with the furthest distance is selected. One connector can be chosen from each direction, so each group only needs to have the first and second pressure sensing units configured on two connectors. Furthermore, the line connecting the two connectors in each group forms a certain angle with the main tilting axis; this angle is neither zero nor 90 degrees.

[0065] To achieve a more secure connection between the vehicle body and the vehicle body skid, the vehicle body connector can be finely adjusted to form a vehicle body fixing seat. The vehicle body fixing seat includes a U-shaped body and locking bolts. The locking bolts pass through the locking holes provided in the U-shaped body and the vehicle body, locking the vehicle body in the opening of the U-shaped body. The vehicle body fixing seat can replace the vehicle body connector whose opening direction is perpendicular to the flipping main shaft and is the closest to it to achieve a more secure connection between the vehicle body and the vehicle body skid.

[0066] To ensure controllable stability of the track-type traveling mechanism during travel and vehicle skid tilting, a guide rail is installed on one side of the vehicle skid perpendicular to the tilting axis, with a counterweight sliding on the guide rail. The adjustable position of the counterweight on the guide rail allows for adjustable and controllable balance of the vehicle skid under different conditions, further ensuring stability during transportation and tilting operations. Furthermore, counterweight adjustment during transportation further stabilizes the vehicle skid, resulting in more stable force on the locking and separating device and extending its service life.

[0067] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A track-type traveling mechanism, comprising a lifting device, a vehicle body skid, a tilting main shaft, and a traveling mechanism, wherein the tilting main shaft is fixedly connected to the vehicle body skid and rotatably connected to the lifting device; the tilting main shaft is locked and separated from the lifting device via a locking and separating device; and a coupling body is provided on one side of the tilting main shaft for engaging with the power output end of a drive motor mounted at a workstation; characterized in that, It also includes: a first sensing component for monitoring the first attitude of the spreader, a second sensing component for monitoring the second attitude of the vehicle skid, a third sensing component for monitoring the connection between the vehicle body and the vehicle skid, a control module, and a communication module; The control module transmits the data detected by the first, second, and third sensing components to the drive controller and / or control platform of the drive motor via the communication module.

2. The track-type traveling mechanism as described in claim 1, characterized in that, The drive motor is mounted on the first guide rail; the first guide rail is mounted on the base; a frame is mounted on the base and near the drive motor; a second guide rail is mounted on the frame; the first servo motor drives the first guide rail to engage and disengage the power output end of the drive motor from the coupling body; the second servo motor drives the second guide rail to move the guide pin located on the second guide rail toward the locking and disengaging device and to achieve the locking and disengaging action of the locking and disengaging device between the tilting spindle and the lifting device.

3. The track-type traveling mechanism as described in claim 2, characterized in that, The locking and separating device includes: a locking pin, a guide post, a locking body, and a setting seat; On one side of the connecting support arm that rotatably connects the lifting device and the tilting spindle, there are through holes that can respectively accommodate the locking pin, the guide column, and the locking body; the locking pin, the guide column, and the locking body are arranged on the mounting base and are respectively inserted into the corresponding through holes; A tension spring is fitted around the outer periphery of the portion of the locking pin, guide column, and locking body located between the mounting base and the connecting support arm. One end of the tension spring is fixedly connected to the connecting support arm, and the other end is fixedly connected to the mounting base. The end of the locking body away from the mounting base passes through a locking hole opened on the outer edge of the connecting body. When the second servo motor drives the second guide rail, the end of the guide column away from the mounting base cooperates with the guide column sleeve fixedly mounted on one side of the guide pin to guide the guide pin, so that the guide pin pushes against the locking pin. When the guide pin pushes the locking pin away from the connecting body, the locking body disengages from the locking hole, completing the separation between the lifting device and the tilting spindle.

4. The track-type traveling mechanism as described in claim 1, characterized in that, The lifting device includes: a crossbar, a set of first supports symmetrically arranged on both sides of one end of the crossbar, and a set of second supports symmetrically arranged on both sides of the other end of the crossbar; the ends of the first and second supports away from the crossbar are respectively fixedly connected to the two ends of the connecting support arm.

5. The track-type traveling mechanism as described in claim 1, characterized in that, The vehicle body skid is fixedly connected to the tilting spindle via at least one fixed connection component; The fixed connection assembly includes: a connecting ring, a support column, and at least one triangular reinforcing connector; the connecting ring is sleeved on the outer periphery of the flipping main shaft and fixedly connected to the flipping main shaft; one end of the support column is fixedly connected to the connecting ring, and the other end is fixedly connected to the bottom of the vehicle body skid; one of the two sides of the triangular reinforcing connector located on both sides of the right angle is fixedly connected to the side of the support column, and the other side is fixedly connected to the bottom of the vehicle body skid.

6. The track-type traveling mechanism as described in claim 1, characterized in that, The traveling mechanism includes: a set of drive devices symmetrically arranged on the upper surfaces at both ends of the crossbar; The driving device includes an active unit, a driven unit, and a carrier; the active unit and the driven unit are respectively located at both ends of the carrier; a carrier seat is sleeved in the middle of the carrier; the bottom of the carrier seat is fixedly connected to the crossbar; the upper part of the carrier seat is columnar, sleeved in the middle of the carrier, and can rotate relative to the carrier. The active unit includes: a first C-shaped body, an active wheel, a walking drive motor, at least one first guide wheel, and at least one first limiting wheel; the first limiting wheel is located in the groove of the first C-shaped body and close to the side of the track after the first C-shaped body is engaged with the track; the first guide wheel cooperates with the guide groove on the track to achieve guidance; The driven unit includes: a second C-shaped body, a driven wheel, at least one second guide wheel, and at least one second limiting wheel; the second limiting wheel is located in the groove of the second C-shaped body and is close to the side of the track after the second C-shaped body is engaged with the track; the second guide wheel cooperates with the guide groove on the track to achieve guidance; The bottom of the first C-shaped main body and the second C-shaped main body are respectively fixedly connected to connecting columns, and the other end of the connecting column passes through one end of the carrier and can rotate relative to the carrier.

7. The track-type traveling mechanism as described in claim 1, characterized in that, The vehicle body skid includes: a support platform and multiple vehicle body connectors; the vehicle body connectors are disposed on the upper surface of the support platform; the vehicle body connectors include: a U-shaped main body and locking components symmetrically disposed at both ends of the U-shaped main body; the lower end of the U-shaped main body is rotatably disposed on the support platform via a mounting column.

8. The track-type traveling mechanism as described in claim 1, characterized in that, The first sensing component includes two first three-axis gyroscopes respectively disposed at both ends of the crossbar of the lifting device.

9. The track-type traveling mechanism as described in claim 1, characterized in that, The second sensing component includes a second three-axis gyroscope disposed on either of the two sides of the support platform away from the rotating spindle.

10. The track-type traveling mechanism as described in claim 1, characterized in that, The third sensing component includes: The first pressure sensing unit is installed on the U-shaped body of the vehicle body connector and the vehicle body mating surface of the locking component; And / or, A second pressure sensing unit is installed at the bottom of the opening of the U-shaped body of the vehicle body connector.

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