47 results about "Thigh structure" patented technology

The invention belongs to the related technical field of robots, and discloses a leg structure assembly of a humanoid robot and the humanoid robot, and the leg structure assembly comprises a hip joint assembly and a leg structure assembly, the hip joint assembly comprises three driving modules, and three-degree-of-freedom rotation movement similar to human hips is achieved; the knee joint assembly comprises a knee joint structure, a knee joint driving module and a knee joint transmission assembly, the knee joint driving module is installed at the upper end of the thigh structure, and the knee joint transmission assembly drives the shank structure to bend and stretch; the ankle joint assembly comprises an ankle joint structure, an ankle joint driving module and an ankle joint transmission assembly, the ankle joint driving module is installed at the upper end of the thigh structure and located below the knee joint driving module, and the ankle joint transmission assembly drives the foot structure to achieve plantar flexion / dorsiflexion movement and extroversion / adduction movement. The driving modules are moved upwards to the upper ends of the thigh structures, and the humanoid robot has the advantages of being free of driving modules at the tail ends, concentrated in mass and small in rotational inertia, and the movement frequency of the humanoid robot can be improved.

The invention discloses an active lower limb exoskeleton bearing device which comprises a trunk assembly, a left leg assembly and a right leg assembly. The left leg assembly and the right leg assembly are fixedly connected to the two sides of the trunk assembly, the width between the left leg assembly and the right leg assembly can be adjusted, and the left leg assembly and the right leg assembly comprise thigh structures, shank structures and foot assemblies which are in mirror symmetry; the trunk assembly comprises a back frame, a wearing binding mechanism and a waist supporting mechanism. The length of the shank function module is adjusted, the influence on the walking gait is reduced, and the practical value and the comfort degree are greatly improved.

A robot leg structure imitating tendon motion control comprises a thigh structure, a shank structure and a motion control assembly part, the bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, and a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure; the motion control assembly part is arranged at the top of the thigh structure or above the thigh structure, the motion control assembly part is connected with at least one tendon-imitating driving stay wire structure, and the tendon-imitating driving stay wire structure is used for controlling and connecting the thigh structure, the shank structure and / or the foot plate structure. According to the robot, the dynamic performance, the naturalness and the flexibility are good, the joint load is small, the whole leg can be slender and exquisite, the stability of the joint structure is high, the needed initial driving force is small, therefore, the power consumption can be lower, and the robot has the long-time endurance walking capacity.

The invention discloses a hydraulic humanoid robot leg structure driven by a blade swing cylinder and a direct-drive valve bank, which comprises a thigh structure, a shank structure and a foot plate structure, the thigh structure is provided with a direct-drive multi-way valve bank, the end part of the thigh structure is provided with a hip joint blade swing cylinder actuator and a hip joint yaw shaft piston cylinder actuator, and the hip joint yaw shaft piston cylinder actuator is provided with a hip joint blade swing cylinder. A knee joint pitch shaft blade swing cylinder actuator is installed at the end of the shank structure, and a piston cylinder actuator is installed on the shank structure. By adopting the hydraulic driving scheme of combining the precise blade oscillating cylinder and the piston cylinder and concentrating the servo valve group on the outer side of the thigh, the defects of the existing technical schemes of speed reducer motor driving, lead screw electric cylinders, traditional hydraulic piston cylinders and the like in high-load, high-speed movement and long-term use are successfully overcome. The lower limb structure of the humanoid robot has the characteristics of high torque output, high-speed rotation, excellent heat dissipation and durability, low electromagnetic interference and the like, and provides higher flexibility, reliability and adaptability for the lower limb structure of the humanoid robot.

The invention discloses a wheel-legged cargo carrying robot. The robot comprises a robot body module, a thigh module, a shank module and a transmission mechanism. The thigh module comprises a thigh structure which is movably connected with the web plate. The shank module comprises a shank structure, and the shank structure comprises a shank skeleton, a hub motor, wheels and a damping suspension. And the lower leg skeleton is provided with a limiting and transmission bulge and is movably connected with the lower end of the thigh structure. The wheels are driven by hub motors and installed at the lower ends of the shank skeletons through damping hangers. The transmission mechanism comprises a first driving piece, a second driving piece, a crank rocker assembly and a connecting rod. The robot has a wheel type motion mode, a leg type motion mode and a wheel-leg composite motion mode, and mode switching and obstacle crossing walking are achieved by controlling the first driving part, the second driving part and the hub motor to act cooperatively. The modular and lightweight design is adopted, the terrain trafficability is remarkably enhanced, motion control is accurate and reliable, the structure is compact, and assembly and maintenance are convenient.

A robot leg based on tendon-imitating motion control comprises a thigh structure, a shank structure and a motion control assembly part, the bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, and a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure; the motion control assembly part is arranged at the top of the thigh structure or above the thigh structure, the motion control assembly part is connected with at least one imitated tendon driving pull wire assembly, and the imitated tendon driving pull wire assembly is used for controlling and connecting the thigh structure, the shank structure and / or the foot plate structure. According to the robot, the dynamic performance, the naturalness and the flexibility are good, far-end driving can be achieved, the whole legs can be slender and exquisite, the joint load is small, so that the rotational inertia is small, the joint structure stability is high, the needed initial driving force is small, the power consumption is lower, and the robot has the long-time endurance walking capacity.

The invention relates to the technical field of robots, and discloses a mechanical leg structure and a robot, and the mechanical leg structure comprises a hip A-axis motor and a hip B-axis motor which are suitable for rotating around an A axis and a B axis respectively; the two-axis motor adapter is connected between the hip A-axis motor and the hip B-axis motor, and the hip A-axis motor and the hip B-axis motor are suitable for rotating around the two-axis motor adapter respectively; the hip B-axis motor structural part is connected with a hip B-axis motor, the hip B-axis motor is suitable for driving the hip B-axis motor structural part to rotate relative to the two-axis motor adapter, and the hip B-axis motor structural part is provided with a thigh hinge part; the thigh structural part is hinged to the thigh hinge part, and the thigh structural part is suitable for rotating around the C axis relative to the hip B-axis motor structural part; and the A shaft, the B shaft and the C shaft are concentric. According to the mechanical leg structure, the mechanical leg structure can freely rotate in multiple directions, interference points are fewer in the rotating process, and a larger rotating angle is achieved.

The invention relates to the technical field of robots, and discloses a mechanical leg assembly and a robot, and the mechanical leg assembly comprises a basic structural part which comprises a cross shaft first hinge part; the hip C-axis motor comprises a cross shaft second hinge part, and the cross shaft second hinge part is arranged on one side of the hip C-axis motor along the axis of the hip C-axis motor; the hip universal joint pin is hinged to the universal joint pin first hinge part and the universal joint pin second hinge part, the hip universal joint pin is suitable for rotating around an A axis relative to the universal joint pin first hinge part and rotating around a B axis relative to the universal joint pin second hinge part, and the A axis is perpendicular to the B axis; the thigh structural part is connected with the hip C-axis motor, the hip C-axis motor is suitable for driving the thigh structural part to rotate around a C axis, the C axis is perpendicular to the A axis and the B axis, and the C axis and the A axis are concentric. According to the mechanical leg assembly, interference points are fewer in the rotating process, and a larger rotating angle is achieved.

A double-foot humanoid robot leg comprises a waist joint supporting piece, a left leg structure and a right leg structure are installed on the two sides of the waist joint supporting piece through lateral joint components respectively, and each of the left leg structure and the right leg structure comprises a thigh structure, a shank structure and a motion control assembly part. The bottom of the thigh structure is rotationally connected with the top of the shank structure through a knee joint structure, a foot plate structure is rotationally installed at the bottom of the shank structure through an ankle joint structure, and the motion control assembly part is installed at the top of the thigh structure, connected with a tendon-imitating driving pull wire assembly and provided with an installation outer shell. A lateral joint connecting part is arranged on the installation outer shell and used for being connected with a lateral joint component. According to the utility model, the dynamic performance, the naturalness and the flexibility are excellent, the far-end driving is realized, the joint load and the rotational inertia are small, the stability of the joint structure is high, and the required initial driving force is smaller, so that the power consumption is lower.

The invention discloses a leg structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, and solves the problem that the sizes of a motor and a control unit are limited due to the fact that the motor is fixed to the upper ends of a thigh structure and a shank structure, according to the technical scheme, the leg structure mainly comprises a crotch, the thigh structure, the shank structure and a foot end piece; the thigh structure comprises a thigh support, two motors are installed on the thigh support, the shank structure comprises a shank support, a motor is installed on the shank support, a shell of each motor is in a long strip shape, the control unit comprises a plurality of circuit boards, the circuit boards are stacked in the shell in the length direction of the shell, and a first installation cavity is formed in the thigh support. The two motors on the thigh support are both fixed in the first installation cavity, the shank support is provided with a second installation cavity, the motor of the shank support is fixed in the second installation cavity, and a transmission unit of the motor is fixedly connected with the foot end piece. The motor mounting structure is mainly used for enabling the motor to have a larger mounting space.

The invention discloses a robot dog leg structure based on a joint module. The robot dog leg structure comprises a shoulder joint module, a frame, a knee joint module, a hip joint module, a thigh structure, a shank structure and a transmission shaft. The knee joint module and the hip joint module are arranged on the frame side by side, the output end of the knee joint module and the input end of the hip joint module are matched to be located on the same side, and the hip joint module and the knee joint module are both gear motors, so that the gear motors replace an existing motor acceleration and deceleration machine direct connection driving mode; the overall structure is simpler and is more compact in cooperation with the side-by-side arrangement mode, meanwhile, the transverse distance between the knee joint module and the hip joint module is closer, the space compactness is guaranteed, and meanwhile the transmission process is more stable due to the fact that the load ends of the knee joint module and the hip joint module are arranged in a separated mode.

The invention provides a thigh structure and a leg device of a humanoid robot and the humanoid robot. The thigh structure comprises a humanoid thigh shell and a thigh driving assembly; the humanoid thigh shell comprises an outer side shell, an inner side shell and a first covering body, the inner side shell is detachably connected to the outer side shell, a first containing cavity is defined between the inner side shell and the outer side shell, an opening part is formed in the outer surface of the inner side shell, the opening part comprises a first through hole and a non-through area, and the first through hole is communicated with the first through hole. The first covering body detachably covers the opening part, and a second containing cavity is defined between the first covering body and the non-penetrating area. The thigh driving assembly is installed in the first containing cavity, and an electrical wire of the thigh driving assembly is arranged in the second containing cavity.

The invention discloses a lower limb rehabilitation auxiliary robot, which relates to the technical field of rehabilitation medical instruments and comprises a waist structure, a crotch structure, a leg structure, a knee joint structure, an ankle structure and a foot structure. The leg structure is provided with an upper plate, a lower plate and a leg limiting structure, the upper plate and the lower plate are arranged up and down, an inserting groove is formed in the lower end of the upper plate, the upper end of the lower plate is inserted into the inserting groove in a sliding fit mode, a clamping groove penetrating into the inserting groove is further formed in the upper plate, and the leg limiting structure is installed at the clamping groove and used for limiting relative sliding of the upper plate and the lower plate during locking. The leg structures and the waist structure have the functions of flexibly adjusting and locking the length and the width respectively, and SEA series elastic actuators in the knee joint structures provide an elastic receding interval within a certain range for a patient on the included angle parameters of the thigh structures and the shank structures. Full-parameter adaptation, safe elastic driving and efficient rehabilitation training of the body type of the patient can be achieved, and the device is suitable for full-process rehabilitation treatment of different dyskinesia patients.

The present invention discloses a robot dog leg structure based on a joint module, comprising a shoulder joint module, a frame, a knee joint module, a hip joint module, a thigh structure, a calf structure and a transmission shaft; the knee joint module and the hip joint module are arranged side by side on the frame, and the output end of the knee joint module and the input end of the hip joint module are located on the same side, and the hip joint module and the knee joint module are both reduction motors, so that the reduction motor replaces the existing direct connection driving mode of the motor and reducer, and the overall structure is simpler, and the side-by-side arrangement makes the overall structure more compact. At the same time, the lateral distance between the knee joint module and the hip joint module is closer, ensuring a compact sense of space. At the same time, the separate arrangement of the load ends of the knee joint module and the hip joint module can make the transmission process smoother.

The invention relates to the technical field of humanoid robots, and discloses a humanoid robot leg structure which comprises a hip structure and further comprises a thigh structure which comprises a rotating part and an extending part, the rotating part is connected with the hip structure, and the extending part is connected with the rotating part; the rotating part and the extending part are respectively used for driving the thigh to rotate and adjusting the length of the thigh; the knee structure is mounted on the extension part, can rotate relative to the thigh structure and can swing back and forth along the thigh structure; the shank structure is mounted on the knee structure and used for adjusting the length of the shank; the foot structure comprises an autorotation part, an adjusting part and a foot plate, the autorotation part is connected with the shank structure, the adjusting part is connected with the autorotation part, and the foot plate is connected with the adjusting part; according to the robot, more movement automation degrees, variable limb lengths and better bionic characteristics can be realized while compact structure and accurate control are ensured, and the movement performance and adaptive capacity of the robot are improved.

The utility model discloses a thigh structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, solves the problem that two motors of the thigh structure are both mounted at the upper ends of thighs, and adopts the technical scheme that the thigh structure mainly comprises a thigh bracket and two motors, each motor comprises a shell, a driving unit, a control unit and a transmission unit, the driving units, the control units and the transmission units are mounted in the motors, first hinge ends are formed at the bottom ends of the thigh supports, second hinge ends are formed at the top ends of the thigh supports, mounting cavities are formed in the thigh supports, the shells of the motors are strip-shaped, and the two motors are laid in the length direction of the thigh supports. The transmission units are in transmission connection with an output shaft of the driving power source and used for outputting torque, the transmission unit of one motor is fixedly connected with the shank through a first hinge end, and the transmission unit of the other motor is fixedly connected with the crotch through a second hinge end. The internal space of the thigh structure is fully utilized, and the width of the top end of the thigh structure is reduced.

A robot thigh hip joint for tendon motion control comprises a thigh structure, a mounting shell structure, a thigh driving device, a first rotation driving device and a second rotation driving device, and the mounting shell structure is rotationally arranged at the top of the thigh structure; the mounting shell structure comprises a thigh driving mounting part, a first rotary driving mounting part and a second rotary driving mounting part, and the first rotary driving mounting part and the second rotary driving mounting part are arranged on the two sides of the thigh driving mounting part correspondingly. And the thigh driving device, the first rotary driving device and the second rotary driving device are respectively mounted in the thigh driving mounting part, the first rotary driving mounting part and the second rotary driving mounting part. The thigh hip joint can be accurately and stably driven to operate, the two opposite far-end driving motors can stably and cooperatively complete driving control work, and the two oppositely-arranged output shafts do not interfere with each other and independently operate to complete driving into control work.

The invention provides a control method and system for an intelligent mobile terminal and the intelligent mobile terminal, and the method comprises the steps: determining a virtual plane in a climbing process of the intelligent mobile terminal according to stair parameters; acquiring a knee joint angle calculated based on data detected by a knee joint motor, a pitch angle calculated based on data detected by an inertial measurement unit (IMU), and the length of a thigh structural member; calculating the distance between the seat and the virtual plane based on the angle and length of the knee joint; calculating an angle difference based on a difference between the distance and an expected distance; a knee joint motor is controlled to conduct angle adjustment according to the angle difference value, and the seat is adjusted to the target height; the hip joint motor is controlled to conduct angle adjustment according to the pitching angle, so that the seat and the ground are kept within a preset included angle range. According to the method, the comfort and safety of the target object carried by the intelligent mobile terminal in the stair climbing process can be improved.

The invention relates to a robot bionic knee joint mechanism, and belongs to the field of robot multi-degree-of-freedom bionic mechanisms. The thigh structural component is vertically arranged; the gear connecting rod component is mounted at the bottom end of the thigh structural component; the driving gear component and the transmission gear connecting rod component take the gear connecting rod component as a shaft; the transmission gear connecting rod component and the driving gear component are meshed and matched with the thigh structure component; the top of the shank structural component is in butt joint with the transmission gear connecting rod component; the transmission gear connecting rod component is meshed with the thigh structural component to rotate to drive the shank structural component to do translational motion relative to the thigh structural component; two ends of the rotary connecting rod component are respectively butted with the middle parts of the driving gear component and the shank structural component; the driving gear component is meshed with the thigh structural component to rotate, and the shank structural component is driven to rotate relative to the thigh structural component through the rotating connecting rod component; the problems that a knee joint bionic mechanism is poor in motion matching, complex in composition, large in size and complex in control are solved.

The application belongs to the technical field of robots and relates to a leg structure of a humanoid robot and the humanoid robot, aiming to synchronously solve the problems of high processing cost of the existing thigh structure, easy shearing failure of the connecting fastener and influence on the appearance caused by exposure. The leg structure comprises an integrated rotary joint, a thigh structure, a lower leg structure and a bearing assembly. The arc-shaped first connecting end of the thigh structure is provided with interval protrusions, the first shell of the joint shell is provided with matching grooves in a split manner, the protrusions are embedded in the grooves and locked by the fasteners arranged along the joint rotation axis. The bearing assembly is arranged in the lower leg sleeve part and rotationally supported outside the second shell of the joint. The flange part is fixedly connected with the joint output flange, and the axial projection of the fastener is located in the sleeve part. The scheme considers the connection strength and appearance concealment, simplifies the processing and reduces the cost.

A robot thigh hip joint control mechanism for tendon motion control comprises a thigh structure, a mounting shell structure, a thigh driving device, a first rotation driving device and a second rotation driving device, and the mounting shell structure is rotationally arranged at the top of the thigh structure; the thigh driving device, the first rotation driving device and the second rotation driving device are installed in the installation shell structure, the output end of the first rotation driving device and the output end of the second rotation driving device are provided with a first output shaft structure and a second output shaft structure respectively, and the first output shaft structure and the second output shaft structure are coaxial and oppositely arranged. A coaxial stable external member structure is installed between the first output shaft structure and the second output shaft structure, and a first output wheel disc structure and a second output wheel disc structure are arranged on the first output shaft structure and the second output shaft structure respectively. The joint structure is easy to control, the output wire coil is installed stably enough, and the joint rotating angle is convenient to disassemble, assemble and monitor and feed back.

The utility model provides a robot leg mechanism and robot, the leg mechanism includes hip steering engine, first connecting piece, thigh structural member, shank structural member, hip front steering engine, knee front steering engine and first connecting rod structure, hip steering engine is used for driving thigh structural member to rotate, hip front steering engine is used for driving thigh structural member to swing back and forth, knee front steering engine is used for driving thigh structural member to swing back and forth. The knee front steering engine is used for driving the shank structural part to swing back and forth relative to the thigh structural part, the motion output end of the hip steering engine is fixedly connected with the first connecting part, the hip front steering engine and the knee front steering engine are both arranged on the thigh structural part, and the motion output end of the hip front steering engine is fixedly connected with the first connecting part; the motion output end of the anterior knee steering engine is in transmission connection with the shank structural part through a first connecting rod structure. According to the robot leg mechanism and the robot, the knee front steering engine is arranged on the thigh structural part, the gravity center of the leg structure is increased, the torque requirement for the steering engine is reduced, and the response speed of the robot is increased.

The utility model discloses a robot dog leg structure based on a joint module. The robot dog leg structure comprises a shoulder joint module, a frame, a knee joint module, a hip joint module, a thigh structure, a shank structure and a transmission shaft. The knee joint module and the hip joint module are arranged on the frame side by side, the output end of the knee joint module and the input end of the hip joint module are matched to be located on the same side, and the hip joint module and the knee joint module are both gear motors, so that the gear motors replace an existing motor acceleration and deceleration machine direct connection driving mode; the overall structure is simpler and is more compact in cooperation with the side-by-side arrangement mode, meanwhile, the transverse distance between the knee joint module and the hip joint module is closer, the space compactness is guaranteed, and meanwhile the transmission process is more stable due to the fact that the load ends of the knee joint module and the hip joint module are arranged in a separated mode.

The utility model discloses an exoskeleton knee joint structure capable of adapting to different leg widths, and aims to solve the problems that an existing exoskeleton knee joint structure supports a skeleton on one side, damage to a knee joint cannot be effectively reduced, even pain and even damage of the knee joint may occur, and a wrapping structure cannot adjust the width size or the adjusting process is complex. The device comprises thigh structures, bionic knee joints, shank structures and binding structures, the thigh structures and the shank structures are hinged through the bionic knee joints, and the binding structures are installed on the inner sides of the thigh structures and the inner sides of the shank structures; each binding structure comprises a BOA screw, a fixing steel wire, an inserting buckle, a fixed binding belt, a movable binding belt and a binding liner, the binding liners in the two binding structures are installed on the inner side of the thigh structure and the inner side of the shank structure respectively, and the fixed binding belts and the movable binding belts are fixed to the two sides of the binding liners respectively.

The utility model provides a thigh structure, a leg device and a humanoid robot, the thigh structure comprises a humanoid thigh shell and a thigh driving assembly, the humanoid thigh shell comprises an outer side shell, an inner side shell and a first covering body, the inner side shell is detachably connected to the outer side shell, and a first containing cavity is defined between the inner side shell and the outer side shell; a first through hole is formed in the outer surface of the inner side shell, the first through hole communicates with the interior and exterior of the first containing cavity, the first through hole is detachably covered with the first covering body, and the thigh driving assembly is installed in the first containing cavity and used for driving the thigh structure to rotate in the circumferential direction; an electrical wire of the thigh driving assembly is arranged close to the first through hole.

The utility model relates to the technical field of humanoid robots, disclose a humanoid robot lower body structure and humanoid robot thereof, including first driver, second driver, third driver, fourth driver, fifth driver, sixth driver, waist structure, thigh structure, shank structure and foot structure, waist structure includes waist first support, waist second support, waist third support, waist connecting block and two waist connecting rods, through using six drivers, divide into two groups, three in each group, realize lower body structure multidirectional flexible movement, make lower body structure flexible simulation human leg's action. The multi -freedom degree design can improve the adaptability and stability of humanoid robot significantly, solve the problem that the flexibility, reliability is deficient when humanoid robot is applied in complex environment.

The invention discloses a thigh structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, solves the problem that two motors of the thigh structure are both mounted at the upper ends of thighs, and adopts the technical scheme that the thigh structure mainly comprises a thigh bracket and two motors, each motor comprises a shell, a driving unit, a control unit and a transmission unit, the driving units, the control units and the transmission units are mounted in the motors, first hinge ends are formed at the bottom ends of the thigh supports, second hinge ends are formed at the top ends of the thigh supports, mounting cavities are formed in the thigh supports, the shells of the motors are strip-shaped, and the two motors are laid in the length direction of the thigh supports. The transmission units are in transmission connection with an output shaft of the driving power source and used for outputting torque, the transmission unit of one motor is fixedly connected with the shank through a first hinge end, and the transmission unit of the other motor is fixedly connected with the crotch through a second hinge end. The invention is mainly used for fully utilizing the internal space of the thigh structure and reducing the width of the top end of the thigh structure.

A robot knee joint based on tendon motion control comprises a thigh structure, a shank structure and a knee joint rotating supporting shaft, the top of the shank structure is rotationally connected with the bottom of the thigh structure through the knee joint rotating supporting shaft, and one end of the joint rotating supporting shaft is fixedly installed at the top of the shank structure. At least one idle wheel wire coil is rotationally installed on the knee joint rotating supporting shaft, a knee joint output wire coil is further fixedly installed on the knee joint rotating supporting shaft, and the knee joint output wire coil is fixedly connected with the top of the shank structure. The shank structure is fixedly supported at the other end of the knee joint rotating supporting shaft through a knee joint output wire coil, and an encoder aligned with the knee joint rotating supporting shaft is further installed at the bottom of the thigh structure. The device is simple in structure and convenient to mount, demount and maintain subsequently, the idle wheel wire coils and the output wire coils do not interfere with each other, and stable operation can be achieved.

The utility model provides a simulation robot thigh structure which comprises a thigh body, a belt transmission piece and a tension degree adjusting piece, the thigh body comprises an inner shell frame and a hip joint connecting piece, and the hip joint connecting piece is arranged at the upper end of the inner shell frame; the belt transmission part comprises a driving belt wheel, a driven belt wheel and a synchronous belt, the driving belt wheel and the driven belt wheel are rotationally arranged in the inner shell frame, and the synchronous belt is in transmission connection with the driving belt wheel and the driven belt wheel; the tensioning degree adjusting part comprises a swing arm, a tensioning wheel and a driving rod, one end of the swing arm is rotationally arranged in the inner shell frame, the tensioning wheel is rotationally arranged on the swing arm and located on one side of the synchronous belt, and the driving rod is arranged on the inner shell frame and movably connected with the other end of the swing arm. Through the synergistic effect of a swing arm, a tensioning wheel and a driving rod in the tensioning degree adjusting piece, the tensioning degree of the synchronous belt can be effectively adjusted, and it is ensured that the synchronous belt is always kept in the optimal working state.