34 results about "Wheel running" patented technology

The climbing steering driving wheel assembly of the cleaning robot comprises an upper integrated seat, and second machine shells are evenly installed at the bottom of one side of the upper integrated seat. During climbing, the miniature reversible air pump can be controlled by the controller to inflate the anti-explosion air bag layer fixed in the steering adjusting wheel through the rotary joint, so that the corrugated air pipe distributed on the outer wall of the anti-explosion air bag layer is expanded, and then the deformed corrugated air pipe can push the storable ground gripping ribs to slide in the limiting storage grooves; according to the steering adjusting wheel, the foldable ground gripping ribs are separated from the outer wall of the steering adjusting wheel, so that the ground gripping force is enhanced by utilizing an anti-skid structure formed by the foldable ground gripping ribs which are arranged at equal angles and protrude outwards, the smooth proceeding of climbing movement is facilitated, and when the steering adjusting wheel runs on the flat ground, the micro reversible air pump reversely drives the anti-explosion air bag layer to exhaust air, so that the anti-skid effect is achieved. And a user can conveniently push the storable ground gripping ribs into the limiting storage grooves for storage, so that the tread is recovered to be smooth, and the flat ground rolling resistance is reduced.

The wheel-foot conversion multi-legged robot comprises a body, the side surface of the body is provided with a plurality of driving parts distributed in the circumferential direction, a multi-joint leg, the proximal end of the multi-joint leg is hinged to the driving part, the multi-joint leg comprises a plurality of joint arms arranged in a straight line and hinged in sequence, wherein the two ends of the joint arm farthest from the proximal end are respectively provided with a walking wheel and a gripping foot, both can support and drive the wheel-foot conversion multi-legged robot, and the robot realizes wheel running and foot running mode conversion by switching the use of the walking wheel and the gripping foot of the multi-joint leg. The multi-legged robot designed by the utility model can be switched between the use of the walking wheel and the gripping foot, and then the wheel running and foot running mode conversion is realized, and the innovative design significantly enhances the obstacle crossing ability of the robot.

The utility model discloses a kind of split eccentric wheels, belong to mechanical equipment technical field, including upper wheel and lower wheel, upper wheel bottom is fixedly connected with cylinder, lower wheel top is correspondingly provided with embedding hole, cylinder is embedded in embedding hole, the split connection of eccentric wheel main part is realized, the pin hole is correspondingly provided in upper wheel front side and lower wheel top, split eccentric wheel further include right angle plate, screw and nut, the front end and bottom of right angle plate are fixedly connected with bolt, bolt is inserted into the pin hole of upper wheel front side and lower wheel top, the positioning connection of right angle plate limits the radial relative sliding of upper wheel and lower wheel, the recess inside of upper wheel front side is fixedly connected with internal thread. The utility model structure is optimized, effectively solve the problem of insufficient split connection reliability, reach the technical effect of guaranteeing eccentric wheel running structure stability and integrity.

The application provides a multi-mode cooperative planetary exploration robot, which adopts a modularized separable design to improve the functional integration and task flexibility, and has the cooperative working ability of three-state switching of wheel running, leg running and flight. The multi-mode cooperative planetary exploration robot comprises a main vehicle body, six-degree-of-freedom legs, a rotor-wheel composite assembly and a damping rocker assembly. The damping rocker assembly is separably connected to the lower end face of the main vehicle body and can be separated from the main vehicle body to serve as an independent exploration vehicle. Four six-degree-of-freedom legs are distributed in a rectangular shape on the bottom surface of the main vehicle body. Each six-degree-of-freedom leg is connected to a rotor-wheel composite assembly at the lower end. In the wheeled state, the arc-shaped sections are perpendicular to the spokes, and a plurality of arc-shaped sections are arranged in the circumferential direction to form a wheel body. In the flight state, the rotor-wheel composite assembly is flipped upward to above the main vehicle body. By changing the length of the spoke, the arc-shaped section connected to the spoke is stretched out. At the same time, the arc-shaped section is flipped to the same horizontal plane as the spoke to serve as a blade together with the spoke.

The invention relates to driving stability of left and right wheels during turning of a motor vehicle. Comprising a wheel suspension frame, a frame and a compensation frame, the compensation frame comprises a bottom-layer frame and an upper-layer frame, the bottom-layer frame and the upper-layer frame are of an integrated structure, and compensation frame connecting plates are fixed to the rear side faces of the bottom-layer frame and the upper-layer frame; a connecting hole is formed in the compensation frame connecting plate, a bearing is fixed in the connecting hole, and the compensation frame connecting plate is fixedly connected with a frame through a bolt; a left connecting plate and a right connecting plate are respectively arranged on the bottom layer frame and are fixedly connected with the wheel suspension frame; a left lug plate is arranged on the upper-layer frame and fixedly connected with a left spring of a wheel suspension frame, and a right lug plate is arranged on the upper-layer frame and fixedly connected with a right spring of a vehicle suspension frame. According to the technical scheme, the problem that the front wheel on one side tilts when the vehicle moves at the rear center of gravity at a small radius at a high speed can be thoroughly solved. Compared with the prior art, the structure is simple, the effect is good, the adaptability to uneven road surfaces is better, the comfort degree of the suspension is easy to adjust, and the cost-effectiveness ratio is high.

The application discloses a kind of multi-axle virtual track vehicle's full axle steering control method and system, comprising: the multi-axle track vehicle is divided into multiple steering geometric regions, and the steering geometric region set is weakly coupled together by the method of speed instantaneous center collineation;According to geometric relation, the relationship between the steering angle of each axle in each steering geometric region is determined;At least one tracking control point is selected in each steering region, and the steering angle of a certain axle in each steering geometric region is determined by tracking control point deviation;According to the relationship between the steering angle of each axle in the steering geometric region, the steering angle of other axles in the steering geometric region is obtained;Based on the steering angle of each axle obtained, the full axle steering of multi-axle virtual track vehicle is controlled.The application can realize mutual coordination under each steering geometry, so that each wheel runs through the curve coordinately, and the stability of vehicle operation is improved.

The application relates to a stabilizer bar assembly and a vehicle, the stabilizer bar assembly comprising a housing, a transmission shaft, a first bar, a second bar and an oil cup. The housing is internally provided with a first vane, the transmission shaft is rotationally arranged in the housing, the transmission shaft is provided with a second vane, the first vane, the transmission shaft and the second vane divide the housing into a first cavity and a second cavity, and the oil cup is connected with the first cavity and the second cavity respectively. One end of the first bar is connected to one end of the housing, the other end of the first bar is used for being connected with a wheel on one side of the vehicle, one end of the second bar is connected to the transmission shaft away from the other end of the first bar, and the other end of the second bar is used for being connected with a wheel on the other side of the vehicle. The stabilizer bar assembly and the vehicle provided by the application can ensure that all the wheels can land at the same time when the wheels run on various road conditions through the cooperation of the first bar, the second bar, the housing and the transmission shaft, and the passability and comfort of the vehicle on different road conditions are improved.

The utility model discloses a corn milk seedling transplanter which adopts an engine as a power mechanism, power is transmitted through a gearbox, one part of the power drives a four-wheel walking chassis to operate through a left chain box and a right chain box, the other part of the power is transmitted to a rear operation part, and the rear operation part comprises a hanging cup device and a duckbilled device. The hanging cup device is driven by chain transmission to annularly rotate, the duckbilled planting mechanism moves up and down under the action of a cam mechanism extending out of a gearbox and a connecting rod mechanism, a bottom plate of the hanging cup device can be opened and closed, and through staggered arrangement of bottom plate supporting rods and hanging cup bottom plate lug plates, the hanging cup device can be conveniently and rapidly planted. A watering device is arranged at the upper end of the whole machine, regular and quantitative watering is achieved by electrically controlling the watering quantity, a stubble cleaning mechanism is arranged at the front end of the whole machine, transplanting is rotary tillage operation, and the previous procedure of corn milk seedling transplanting is reduced.

This satisfies both the requirement to narrow the gap between reference contacts and the requirement for high-speed train operation. [Solution] The track inspection device of the present invention comprises a reference beam, a wheel running on the rail to be measured, two reference contactors, an arm, a wheel running on the opposite rail, a contactor on the opposite side, a spring for the opposite side, a guide roller, a stopper for the turnout section, a pressure roller, a guard spring, and a measuring unit. The two reference contactors are arranged at different positions on the reference beam and come into contact with the gauge surface of the rail to be measured. The contactor on the opposite side is arranged at the end of the arm on the opposite rail side and comes into contact with the gauge surface of the opposite rail. The guide roller is arranged at the end of the arm on the opposite rail side so as to face the gauge surface of the opposite rail. The stopper for the turnout section limits the extension range of the arm at the gauge gap section. The pressure roller is arranged between the two reference contactors on the reference beam and comes into contact with the guardrail.

The invention provides a multi-mode cooperative planetary exploration robot which adopts a modular separable design to improve the function integration level and the task flexibility. And the robot has the collaborative operation capability of switching three states of wheel running, leg running and flying. The multi-mode cooperative planetary exploration robot comprises a main vehicle body, six-degree-of-freedom legs, a rotor-wheel composite assembly and a damping rocker arm assembly. The damping rocker arm assembly is detachably connected to the lower end face of the main vehicle body and can be separated from the main vehicle body to serve as an independent detection trolley. The four six-degree-of-freedom legs are distributed on the bottom surface of the main vehicle body in a rectangular shape; the lower end of each six-degree-of-freedom leg is connected with a rotor wing-wheel composite assembly. In the wheel type state, the arc-shaped sections are perpendicular to the spokes, and the multiple arc-shaped sections are arranged in the circumferential direction to form a wheel body; in the flying state, the rotor wing-wheel composite assembly is turned upwards to the position above the main vehicle body; the lengths of the spokes are changed, and the spokes extend to stretch out the arc-shaped sections connected with the spokes; and meanwhile, the arc-shaped sections are overturned to be in the same horizontal plane with the spokes and serve as blades together with the spokes.

The utility model relates to the technical field of wheels, and discloses a wheel hub structure for enhancing the stability of a wheel, which comprises a hub body, a plurality of spokes are annularly distributed and fixedly connected outside the hub body, a plurality of spoiler grooves are arranged inside the spokes, two spoilers are fixedly connected outside the spokes, and the spoilers are arranged in the spoiler grooves. A plurality of fixing holes are annularly formed in the hub body, a center locking hole is formed in the hub body, a plurality of positioning columns are annularly distributed and fixedly connected to the rear side of the hub body, and a plurality of portable assemblies facilitating heat dissipation of the hub body during driving are arranged in the hub body. According to the utility model, aerodynamics is optimized by means of the spoiler grooves and the spoiler, air resistance and energy loss are effectively reduced, the stability and controllability of the wheel during running are greatly enhanced, and the fixing holes and the central locking holes are matched with each other, so that the installation accuracy is guaranteed, the unbalance of the wheel is reduced, and the service life of the wheel is prolonged. And a reliable installation foundation guarantee is provided for the stability of the wheel.

A tire escape device includes a track storage module and a track, wherein the track storage module is arranged in the vehicle body above the wheel, a rotating mechanism is arranged in the track storage module, an electromagnetic adsorption module for connecting with the first end of the track is arranged on the rotating mechanism, the rotating mechanism drives the track to wind in the storage module, or the rotating mechanism drives the track to unfold outward from the storage module, and the second end of the track extends to the rear of the wheel running direction along the outer circumferential surface of the wheel to the bottom of the wheel. The tire escape device does not affect the appearance of the vehicle and the daily wind resistance, does not occupy the limited storage space in the vehicle, can realize the smooth escape of the wheel from the trouble, does not need the user to replace the special structure tire or manually lay the track, saves the cost, improves the user experience, and is convenient for realizing the winding storage of the track.

The invention discloses a crane wheel running state monitoring method and a related device, and relates to the technical field of wheel running state monitoring, and the method comprises the following steps: obtaining a vibration signal, an acoustic emission signal and an optical measurement signal when a crane wheel runs on a track, carrying out time-frequency conversion and feature extraction on the vibration signal to obtain a vibration feature, the method comprises the following steps of: acquiring an acoustic emission signal, performing mode identification on the acoustic emission signal to obtain a target acoustic emission signal, further determining a crack depth, performing three-dimensional imaging on a wheel rim and a wheel tread based on an optical measurement signal, and further calculating a wheel rim wear rate, a wheel rim deformation rate, a wheel tread wear rate and a wheel tread roundness. And determining whether the crane wheel is scrapped or not based on the vibration characteristics, the crack depth, the wheel flange wear rate, the wheel flange deformation rate, the wheel tread wear rate and the wheel tread roundness. Whether the crane wheel is scrapped or not can be automatically judged by integrating various data, and automatic monitoring of the running state of the crane wheel is completed.

The application belongs to the technical field of amphibious special vehicle, and relates to a steering control method of a single front axle wheel and track composite walking system of a special vehicle. A sensor measures and obtains relevant parameters, and the relevant parameters are determined when the special vehicle is designed; a control component calculates (1) a steering inner track driving force F ti (2) a steering outer track driving force F to ; and the control component controls a driving motor to output a driving force with a value according to the calculated steering inner track driving force F ti and the steering outer track driving force F to . The steering control method of the single front axle wheel and track composite walking system of the special vehicle can be reliably applied to the special vehicle with the single front axle and track composite walking system, and can control the size of the track driving force in real time during driving steering, so that the wheel and track steering torques are consistent according to the bearing proportion, the wheel drags the track or the track drags the wheel is avoided, the additional load of the structure is reduced, the wheel and track are minimized in wear, and the performance is improved.

The application provides a vehicle tire pressure monitoring method and device and a vehicle. The method comprises: acquiring positioning data of a vehicle in a sampling time interval; calculating a first driving distance of the vehicle in the sampling time interval according to the positioning data; acquiring wheel speeds of wheels in the vehicle in the sampling time interval; calculating wheel driving distances of the wheels in the sampling time interval according to the wheel speeds; and determining that a tire of the wheel has a tire pressure abnormality when a difference between the wheel driving distances and the first driving distance does not meet a first preset condition. In this way, the vehicle does not need to be additionally provided with a tire pressure monitoring sensor, the tire pressure of the wheel is determined according to the difference between the wheel driving distances and the first driving distance by comparing the wheel driving distances with the first driving distance, the vehicle can realize tire pressure monitoring without being additionally provided with a tire pressure monitoring sensor, and the implementation cost of tire pressure monitoring can be reduced.

The invention discloses a self-wheel operation equipment low constant speed self-adaptive control device and a rail engineering vehicle, the device comprises a traction control unit and a transmission control unit, the traction control unit corrects the size of a given torque according to acquired ramp information and outputs the torque to the transmission control unit, and the transmission control unit performs torque closed-loop control. And the traction control unit performs upper-layer speed closed-loop control based on a difference value between a given speed value and an actual speed value, so that self-adaptive low-constant-speed control under different working conditions is realized. The technical problems that an existing control mode is slow in response, low in control precision, prone to being affected by impact and low in riding comfort can be solved.

The utility model discloses encapsulated wheel walking simulation test equipment, including main body, operating mechanism, mounting mechanism and replacement subassembly, the operating mechanism includes slide frame, motor, fixed plate, swivel stand and transmission belt, the mounting mechanism includes first spring, spacing frame, installation rod, locating disc and wheel, the replacement subassembly includes contact plate, connecting frame and second spring, under the mutual cooperation of above mechanism and member, the burden of motor and mechanical parts is reduced to the steady rotation of this device, and it is helpful to prolong the service life of equipment and reduce the failure occurrence, in addition, the quick installation function of this device can make operator replace encapsulated wheel in the testing process fast, save time, improve work efficiency, especially when needing frequently replacing different types of wheel to test.

The utility model discloses a kind of multi-row tooth claw formula structures of road surface ice breaking machine, it is related to road surface ice breaking machine technical field, including the rack that can be installed on road surface ice breaking machine;Ice breaking wheel in the form of drum is equipped on the rack, the ice breaking wheel includes support body and the multiple ice breaking teeth of equidistantly arranged in support body outside, the ice breaking tooth includes plate body, tooth tip formed by plate body one end surface cutting and multiple notches opened on plate body, the notch is opened in the side where tooth tip is, multiple notches on multiple ice breaking teeth divide tooth tip into multi-row tooth claw structure.The utility model is through the ice breaking tooth of multi-row tooth claw formula structure and the secondary tooth in notch, can efficiently cut broken ice layer, improve ice breaking effect;The reasonable structure of support body guarantees that ice breaking wheel runs stably, the convenient disassembly design of ice breaking tooth is convenient for maintenance, cooperate with push plate and scraping tooth and can clean broken ice in time, overall enhance the efficiency and practicality of road surface ice breaking operation.

The utility model relates to the technical field of lifting machines, in particular to a shear type lifting machine of an integrated car jacking plate. The device comprises a car jacking plate, a scissor-fork type lifting mechanism and a car loading plate, the bottom of the car jacking plate is provided with a shear fork type lifting mechanism and can be driven by the shear fork type lifting mechanism to ascend and descend, the two sides of the car jacking plate each extend outwards to form two outwards-extending plates, and the two outwards-extending plates are used for allowing wheels on the two sides of a car to run on the car jacking plate; the end, away from the car jacking plate, of each outwards-extending plate is rotationally connected with a car loading plate, and the angle between the top face of each car loading plate and the top face of the corresponding outwards-extending plate is adjustable. The car pushing plate is of an integrated structure, compared with a left shear and a right shear of a traditional shear type machine, the car pushing plate is safer and more reliable, lifting synchronism and stability can be guaranteed during operation, the tedious leveling step is omitted, and production and use are more efficient.

The present disclosure relates to a wheel cover, a wheel assembly and a vehicle, the wheel cover comprising a circular cover body, a plurality of ventilation holes are arranged on the cover body in a circumferential direction of the cover body, each ventilation hole is covered by a corresponding rectifier structure, a side wall of the rectifier structure on a side of the center of the cover body is spaced apart from the cover body to form a rectifier hole, and other side walls of the rectifier structure are sealingly connected to the corresponding ventilation hole wall, the rectifier hole is perpendicular to the radial direction of the cover body, and the corresponding rectifier hole, the inner cavity of the rectifier structure and the ventilation hole jointly define a rectifier channel arranged in the radial direction of the cover body, airflow flows out of the rectifier hole on the leeward side and flows into the rectifier hole on the windward side when the wheel is running, the direction of the airflow flowing into or out of the wheel cover is substantially parallel to the direction of the incoming airflow in front, the flow direction of the airflow is orderly controlled, the phenomenon of turbulent flow around the wheel is avoided to a certain extent, the wind resistance of the wheel is reduced, and the drag reduction effect of the wheel cover is improved.

The utility model provides a roller type high-strength kinetic energy conversion wear-resistant car arrester which comprises a car arrester supporting frame, a car arrester supporting cross beam is installed in the middle of the car arrester supporting frame, and car arrester slope supporting frames are connected to the front end and the rear end of the car arrester supporting frame. A car arrester wear-resistant slope main body is mounted on the car arrester slope support frame; according to the car arrester, a plurality of kinetic energy conversion rollers are adopted to convert kinetic energy of wheels so as to reduce the car speed, so that a car running at a high speed is effectively stopped, the kinetic energy of the wheels is quickly converted through cooperation of the multiple sets of kinetic energy conversion rollers, and the high running speed of the wheels is effectively reduced; the service life of the car arrester, namely the rolling wheel, is effectively guaranteed by laying the wear-resistant high-damping shock-absorbing speed-reducing material on the surfaces of the rolling wheel and the slope, property loss or casualties caused by excessive instantaneous kinetic energy or momentum due to instantaneous decrease of the wheel speed are effectively avoided, and good application value is achieved.

The utility model relates to the technical field of handrail rails, in particular to a handrail rail for high-rise emergency escape, which comprises a rail and universal wheels, a separation mechanism is arranged on the rail, the separation mechanism comprises a fixed shaft, a torsion spring and a dust shield, the bottom of the dust shield is clamped with the torsion spring, and the bottom surface of the dust shield is rotatably connected with the fixed shaft. Through the arrangement of the separation mechanism, the two rows of dust shielding plates are separated through the universal wheels and the separation plate so that the universal wheels can roll in the universal wheel grooves, after the universal wheels pass through the dust shielding plates, the torsional springs are limited between the dust shielding plates and the rails, the dust shielding plates can cover the universal wheel grooves again through the bounce force of the torsional springs, and therefore dust and chippings are effectively prevented from entering the dust shielding plates, and the service life of the dust shielding plates is prolonged. Therefore, stagnation of the universal wheel caused by barrier blocking is avoided, meanwhile, jolting of the universal wheel caused by the barrier is avoided, the universal wheel runs more smoothly, and the best escape time is won for escapers.

The utility model discloses a baby carriage with a detachable seat capable of being folded, which comprises a lower handle connecting outer cover and a carriage folding lifting ring, and the lower handle connecting outer cover is sleeved on a handle connecting seat; according to the utility model, the backrest bayonet lock is unlocked to push the arc-shaped backrest to rotate, so that the seat adjusting gear is connected with the armrest and the seat adjusting gear is separated from the seat plate respectively; when the baby carriage is folded, the adjusting gear pushes the front foot adjusting gear push block to move rightwards, the purposes of separating the front foot connection from the rear foot connection and separating the rear foot connection from the handle connection seat are achieved, a user can vertically lift the whole baby carriage upwards by lifting the carriage folding lifting ring, the baby carriage folding action is achieved, operation is easy, and the structure is compact; the handle connecting base and the rear foot are connected in a separated state, the handle is reversed, the handle adjusting cylindrical gear moves leftwards, the handle connecting base and the rear foot are connected in a locked state, the purpose of forward and reverse installation of the handle is achieved, and the front wheel runs forwards or the rear wheel runs forwards.

The invention discloses a self-propelled hydraulic trestle for tunnel construction. The self-propelled hydraulic trestle comprises a trestle body and an inverted arch full-width sliding formwork. The trestle body comprises a trestle main bridge and a front approach bridge and a rear approach bridge which are hinged to the two ends of the trestle main bridge respectively, the rear end of the trestle main bridge is provided with a rear hydraulic jacking supporting leg and walking wheels, the front end of the trestle main bridge is provided with a front hydraulic jacking supporting leg and is sleeved with an automatic trolley in a sliding mode, and the lower surface of the automatic trolley is fixedly provided with a set of hydraulic legs; wherein the walking wheels walk on the surface of a poured area of an inverted arch in a tunnel, and the front hydraulic jacking supporting legs and the hydraulic legs are supported in an unpoured area of the inverted arch in the tunnel; the inverted arch full-width sliding formwork comprises a full-width trolley and a full-width formwork, the full-width trolley is arranged on the trestle main bridge in a sliding and sleeving mode, and a rigid-flexible connection structure is adopted between the full-width trolley and the full-width formwork. The steel and flexible connecting structure has the advantages that the situation that inverted arch pouring construction in the full-width formwork is affected by trestle passing vibration can be avoided through the steel and flexible connecting structure.

This invention provides a device for improving vehicle handling performance on slippery roads. It includes an intake pipe assembly, a connecting pipe assembly, and an exhaust pipe assembly. The intake pipe assembly is located at the front of the vehicle and opposite the wheels, with its air inlet facing the vehicle's forward direction. The intake pipe assembly, connecting pipe assembly, and exhaust pipe assembly are connected sequentially from front to back, with the connecting pipe assembly and exhaust pipe assembly arranged at a downward angle. The exhaust pipe assembly's outlet faces the road surface in the direction of wheel travel. Air entering the intake pipe assembly through the air inlet is accelerated and ejected from the outlet to blow away accumulated water on the road surface in the direction of wheel travel. This invention ensures that the water drainage effect between the tires and the road surface does not decrease with increasing vehicle speed but rather continuously increases with speed, thereby improving water drainage efficiency and vehicle handling performance on slippery roads.

The invention discloses a low-constant-speed self-adaptive control method for self-wheel running equipment, which comprises the following steps: under an ultralow-constant-speed working condition, issuing a speed instruction by adopting speed outer ring and torque closed-loop control, calculating a difference value between a given speed value and an actual speed value of a cart by a traction control unit, and performing upper-layer speed closed-loop control; and the given torque is calculated through conversion of the first proportional gain and the first integral gain of speed closed-loop control. The transmission control unit automatically adjusts the traction or braking torque through the given torque to compensate the line resistance, the speed is superposed to output the given torque in a closed-loop mode, the traction control unit issues the given torque to the transmission control unit, and the transmission control unit conducts torque closed-loop control. The transmission control unit outputs a control signal to the traction inversion module, and space vector control is carried out on the traction inversion module to achieve rotation speed and torque control of the traction motor. The technical problems that an existing control mode is slow in response, low in control precision, prone to being affected by impact and low in riding comfort can be solved.

The reconfigurable moving mechanism comprises a first chain link, a second chain link and a plurality of auxiliary chain links, the first chain link, the second chain link and the auxiliary chain links are rotationally connected in sequence, the first chain link is formed by combining a pair of circular plates, and the circular plates are provided with circular-arc-shaped protrusions facing the clockwise direction or the anticlockwise direction; the second chain link and the auxiliary chain links are C-shaped circular rings, the second chain link is connected with the topmost end of the arc-shaped protrusion, concave tables matched with one another are arranged on the side portions of the second chain link and the auxiliary chain links, when the concave tables on the first chain link, the second chain link and the auxiliary chain links are sequentially matched and abut against one another, a C-shaped chain can be formed, and the C-shaped chain corresponds to an obstacle crossing scene. When the first chain link, the second chain link and all the auxiliary chain links are sequentially curled and attached, a round wheel can be formed and corresponds to a plane moving scene. The reconfigurable wheel-leg conversion moving mechanism can adapt to different complex terrains, and driving wheel-leg conversion and wheel advancing are achieved through driving of a single motor.

The utility model discloses a kind of dynamic tension control system in continuous electroplating production line middle part, it is related to electroplating production equipment field, including driving wheel, buffer wheel, displacement sensor and auxiliary wheel, the driving wheel is driven by driving motor, auxiliary wheel is set in the rear of driving wheel, buffer wheel is set between driving wheel and auxiliary wheel, buffer wheel provides constant initial tension by swing arm suspension counterweight, buffer wheel moves inward or outward with the tension variation of product, the displacement of buffer wheel is monitored in real time by displacement sensor being set in its outside, the displacement sensor controls driving motor by signal, to adjust the rotating speed of driving wheel.The utility model increases driving wheel and counterweight type buffer wheel in middle part, combines real-time feedback control, realizes the dynamic balance of electroplating production line tension.Effective in reducing spot plating wheel running and positioning hole deformation, improve product precision and yield.