254 results about "Wheel train" patented technology

The utility model discloses a mechanical tray four-way vehicle, and belongs to the field of logistics storage. According to the mechanical wheel train switching mechanism, the tray jacking action and the wheel train rail changing action are completed in the switching process, and the purposes of achieving cooperative linkage of jacking and rail changing and improving the transmission efficiency of wheel train lifting rail changing and material supporting lifting are achieved on the basis that the overall dimension of the mechanism is effectively reduced and the internal space of a vehicle body is fully utilized. The walking mechanism is provided with a frame and a longitudinal walking wheel train, the lifting frame body is installed in the walking mechanism, is in transmission connection with a driving assembly and is provided with a transverse walking wheel train, and the lifting structure is vertically connected to the top of the walking mechanism in a lifting mode.

The invention discloses a wide crawler walking device suitable for seabed thin and soft geology, which realizes stable walking of a deep-sea heavy-load mining operation platform on a thin and soft substrate through a high-tooth large-width composite material crawler walking mechanism, and provides a power driving guarantee for later operation of a heavy and heavy collection device. The crawler walking module is used for providing enough traction force for the mining vehicle, so that the mining vehicle can normally run on the complex bottom surface of the seabed. A crawler walking device is located in a chassis, the overall width of a vehicle body is reduced, a main beam of the chassis penetrates through trolley frames on the two sides, chassis secondary beams are welded to outer side panels of the trolley frames, the bearing capacity of the chassis is improved, the trolley frames are of a simple frame structure, and through holes and open grooves are machined in left and right outer side plates of the trolley frames and used for installing driving wheels, guide wheels and bearing wheels. Welding or bolt connection of other wheel train installation type structural parts is omitted, the lightweight design is met, and the structural strength is enhanced.

The invention relates to the technical field of pipeline robots, and discloses a miniature wheel type pipeline robot which comprises a bending assembly, walking units are connected to the two ends of the bending assembly correspondingly, each walking unit comprises two wheel train assemblies, each wheel train assembly comprises a walking mechanism and a reducing mechanism, and each walking mechanism comprises a stator coil, a rotor, a rotating disc and a plurality of elastic wheel legs. The stator coil is matched with the rotor, the rotating disc and the rotor are coaxially fixed, the elastic wheel leg comprises an elastic piece and a walking wheel, the walking wheel is rotatably arranged at one end of the elastic piece, the other end of the elastic piece is fixedly connected with the rotating disc, the end, provided with the walking wheel, of the elastic piece stretches outwards, and a rotating shaft of the walking wheel inclines relative to the axis of the rotating disc. The elastic wheel legs are evenly distributed on the circumference, and the two wheel train assemblies are connected and symmetrically arranged. The diameter changing mechanism can enable the ends, away from the rotating disc, of the elastic pieces to be synchronously retracted inwards, and the bending assembly can enable the two walking units to be bent. The miniature wheel type pipeline robot is suitable for being used in a small-pipe-diameter multi-way pipe network.

The invention relates to the technical field of workpiece conveying, in particular to a gear train component machining, conveying and positioning system. Comprising a base and a lower conveying belt in transmission connection with the top of the base. The lower conveying belt is evenly and fixedly connected with the lower trays in the transmission direction. A limiting column is arranged on the upper surface of the lower tray; the center of the upper surface of the base is fixedly connected with a top base through a supporting plate. The lower surface of the top seat is in transmission connection with an upper conveying belt; the upper conveying belt is evenly and fixedly connected with the upper trays in the transmission direction. The lower surface of the upper tray is provided with upper supporting holes allowing the upper ends of the limiting columns to be inserted therein. The limiting columns are clamped into the upper supporting holes of the upper tray in the conveying process of the lower conveying belt, so that the upper ends and the lower ends of the limiting columns are positioned, and the limiting columns drive the stacked annular blanks to be more stable in the conveying process; and the situation that the limiting column is unstable due to impact force such as inertia is avoided.

The invention relates to the technical field of mechanical watch tourbillon, in particular to a rotation inertia adjustable double-shaft tourbillon structure which comprises a frame plate, a first direction shaft, an outer tourbillon, a second direction shaft, an inner tourbillon, an escapement mechanism and a transmission wheel train. The inner tourbillon is rotationally connected with the outer tourbillon through a second direction shaft, the escapement mechanism is arranged in the inner tourbillon and comprises an escapement wheel, an escapement fork and a hairspring balance wheel, four adjusting columns are arranged on the surface of the hairspring balance wheel in the circumferential direction of the hairspring balance wheel at equal intervals, the adjusting columns are sleeved with C-shaped weights, and the C-shaped weights are in interference fit with the adjusting columns; the transmission wheel train is used for driving the inner tourbillon to rotate around the second direction shaft while driving the outer tourbillon to rotate around the first direction shaft and driving the escapement wheel to rotate at the same time. The balance wheel has the effect that the rotation inertia of the balance wheel can be flexibly adjusted.

The invention relates to a product transfer device and method suitable for a solar wing. The device comprises an overturning module, a limiting module, a pressing module, a wheel train module, a posture adjusting module and a mounting frame. The overturning module is mounted on the mounting frame, is used for supporting the simulation wall module provided with the solar wing plate module, and is overturned at an angle relative to the mounting frame and braked at any position; the pressing module is used for locking and positioning the simulation wall module on the overturning module; the limiting module is used for limiting and buffering the overturning module in the horizontal direction; the attitude adjusting module is used for adjusting the attitude of transverse rolling and pitching of the simulation wall module provided with the solar wing plate module; the wheel train module is mounted at the bottom of the mounting frame and used for achieving omni-directional movement and vibration reduction of the transfer device; and the rotating shaft module is used for positioning the simulation wall module.

The invention belongs to the technical field of suspension vibration reduction, and particularly relates to a suspension system design method which comprises the following steps: determining the load gravity center of a whole vehicle according to the overall arrangement requirement, preliminarily arranging an action system, and respectively arranging a wheel train and a suspension guide mechanism. In the aspect of wheel train arrangement, according to the principle that the load gravity center and the elastic center coincide as much as possible, the wheel train position is preliminarily arranged, random road excitation is generated, an equivalent linear dynamics model of a vehicle is established, and dynamics matching calculation is carried out. In the aspect of suspension guide mechanism arrangement, a hydro-pneumatic suspension mathematical model is generated, the determined suspension damping ratio is input into the hydro-pneumatic suspension mathematical model to guide damping valve design and generate nonlinear damping characteristics, and meanwhile, the calculated axle loads are input into the hydro-pneumatic suspension mathematical model to generate nonlinear damping characteristics. The method is used for generating and calculating non-linear elastic characteristics and comprehensively evaluating whether vehicle body vibration response characteristics, suspension heat balance temperature rise characteristic curves and key and heavy part reliability analysis results meet design index requirements or not.

The invention belongs to the field of vehicle reliability detection, and particularly relates to a real-time acquisition device and method for the axial force of a wheel connecting bolt. Comprising a wheel adapter plate, a data transmission slip ring, a large electric connector, a small electric connector, a flexible supporting assembly, a data acquisition unit and an axial force measuring bolt. A working strain gauge is embedded in an axial stress concentration area of the axial force measuring bolt, a temperature compensation strain gauge is pasted on a bolt head to form a half-bridge measuring circuit, and a strain signal rotating along with a wheel is transmitted to a fixed end data acquisition unit through a signal lead via a small electric connector and a data transmission slip ring. The acquisition unit can calculate real-time axial force according to a pre-stored calibration coefficient and output the real-time axial force to a vehicle-mounted terminal or a remote server in a wireless or wired mode. According to the method, the whole-course waveform data of the axial force of the wheel connecting bolt can be continuously obtained under any vehicle speed, load and temperature conditions, changes caused by dynamic impact and heat effect are accurately captured, and the precision and traceability of wheel train connection fatigue life prediction and safety evaluation are improved.

The invention provides a design method of a two-wheeled wheel-legged robot, which relates to the field of wheeled robots, and comprises the following steps: determining a machine body of the two-wheeled wheel-legged robot, adopting a leg four-bar mechanism as a leg configuration, and taking the leg four-bar mechanism and the machine body as a five-bar mechanism together, a universal leg rod length parameter calculation method is deduced based on a planar five-connecting-rod model, key geometric parameters are determined, and robot structure design is completed; establishing a wheel type motion dynamical model and a leg type jump phase motion dynamical model, deducing a universal motor model selection method, calculating driving wheel and joint motor parameters, and completing wheel train design and whole machine motion simulation; carrying out finite element analysis and lightweight design on the key parts; and finally, an LQR control strategy is adopted, and cooperative control verification is completed through analysis and simulation software. Wheeled efficient movement and leg type terrain adaptive capacity are fused, limitation of a single movement mode is broken through, and the environment adaptive boundary of the robot is expanded.

The invention relates to the technical field of reconnaissance robots, in particular to an arm-swinging crawler-type reconnaissance robot which comprises a chassis, a power assembly, a loading assembly and a swinging arm assembly, the power assembly is located in the chassis, the loading assembly is assembled on the chassis, and the swinging arm assembly comprises walking driving wheels, a swinging arm shaft, a supporting plate, a crawler belt and thrust wheels. The four walking driving wheels are arranged on the two sides of the chassis in a pairwise opposite mode, the swing arm shaft penetrates through the center of each walking driving wheel, one end of each swing arm shaft is connected with the power assembly, the other end of each swing arm shaft is connected with the supporting plate, the end, away from the swing arm shafts, of the supporting plate is connected with the thrust wheel, and the track is arranged on the outer sides of the thrust wheel and the walking driving wheels in a sleeving mode. During arm swinging, the four swing arm motors and the swing arm speed reducer are directly connected with the swing arm shafts, the swing arm shafts rotate to drive the supporting plates to rotate, the thrust wheels move downwards, the robot is erected, arm swinging of the wheel train is achieved, the four wheels can swing arms independently, and trafficability and stability are high.

The utility model relates to the technical field of AGVs, and discloses a high-precision submerging and lifting AGV which comprises a vehicle body chassis assembly, a driving wheel train arranged above the vehicle body chassis assembly, a transferring assembly and a lifting platform assembly arranged above the transferring assembly. The transferring assembly is arranged in the middle of the mounting bottom plate and comprises two sets of linear guide rails which are arranged in parallel and mounted on the mounting bottom plate, each set of linear guide rail is provided with two sliding blocks, the sliding blocks do linear reciprocating motion on the linear guide rails, and a lead screw transmission assembly is arranged between the two sets of linear guide rails. By means of the arranged transferring assembly, during use, the lifting installation plate and the lifting unit can be driven by the lead screw transmission assembly to move horizontally, so that horizontal movement of the lifting platform assembly is achieved, adjustment of three freedom degrees of front-back, left-right and rotation can be achieved, and higher butt joint precision can be achieved when an AGV takes and places materials.

The invention belongs to the technical field of humanoid robots, and particularly relates to a heavy-load anti-explosion humanoid robot moving chassis which comprises a frame assembly. The loading assembly is fixed above the frame assembly and acquires surrounding environment information by arranging a sensor group on the frame assembly; the wheel train assembly comprises four wheels distributed at the four corners of the frame assembly and a driving assembly connected with each wheel, and each driving assembly comprises a walking motor, a steering motor, a steering output piece and a walking connecting piece; the steering motor and the walking motor cooperate to achieve linear walking, steering walking, transverse movement and in-situ rotation of the movable frame assembly. The invention has the advantages of high control precision, small turning radius, difficult wear of tires, low noise and the like, and is suitable for a working scene requiring high precision in a narrow space.

The invention relates to the technical field of grinding equipment, in particular to a double-sided grinding machine planetary gear train multi-station positioning mechanism which comprises a rack, a grinding table arranged above the rack and a sealing cover installed through a lifting mechanism and further comprises a sun gear and an outer gear ring which are concentrically distributed on the surface of the grinding table, and the sun gear is connected with a driving mechanism; an annular grinding disc arranged between the sun gear and the outer gear ring and a grinding disc arranged on the sealing cover form a closed grinding cavity; and the workpiece mounting mechanisms are arranged in the closed grinding cavity. By means of the spring and the sliding block linkage mechanism arranged in the planetary gear, the clamp can form floating clamping force in the radial direction and the axial direction. When abrasive dust accumulation on the two sides of the workpiece is not uniform, the vertical sliding block achieves axial displacement through elastic compensation of the first spring, the horizontal sliding block adjusts radial clamping force through the second spring, and it is guaranteed that the workpiece always keeps uniform contact pressure with the upper grinding disc and the lower grinding disc.

The invention provides a movable chassis and a vehicle. The mobile chassis comprises: a frame having a first side and a second side opposite to each other; the at least two left wheel sets are arranged on the first side and are arranged at intervals in the front-back direction of the frame; the at least two right wheel sets are arranged on the second side and are arranged at intervals in the front-back direction of the frame; each of the left wheel set and the right wheel set comprises a wheel and a power device; the wheels are connected with the frame, the power devices are connected with the wheels, and the power devices of all the wheel sets are mutually independent. A wheel train is at least divided into four wheel sets, power devices of all the wheel sets are mutually independent, four-drive distributed cooperative control is achieved, power is strong, differential steering and central pivot steering modes are achieved, and different driving torques and rotating speeds can be distributed to a front axle wheel train and a rear axle wheel train in actual use.

The invention discloses an electric power construction accessory bent steel bar straightening device, and relates to the technical field of steel bar straightening, the electric power construction accessory bent steel bar straightening device comprises two straightening wheel sets which are arranged on a rack and are perpendicular to each other, and each straightening wheel set comprises a plurality of wheel train units which are rotationally connected in sequence; wherein one straightening wheel set is rotationally arranged relative to the machine frame along the conveying path of steel bar straightening so that the straightening wheel set can rotate to be parallel to the other straightening wheel set, and the two straightening wheel sets can be bent together to form an arc-shaped structure matched with a bent steel bar. Each wheel train unit comprises a supporting rod and two rollers, the distance between the two rollers is adjustable, and the supporting rods between every two adjacent wheel train units are rotationally connected with each other. The front section of the bent reinforcing steel bar does not need to be straightened in advance by means of other straightening tools, the two straightening wheels are adjusted to form the arc-shaped structure to be matched with the bent reinforcing steel bar, and therefore the bent reinforcing steel bar can penetrate into the straightening wheel set very conveniently, and the device is simple and practical.

The invention discloses a planetary gear complex working condition damage analysis method, which mainly considers accumulated fatigue damage calculation of a planetary gear train under a complex working condition, and comprises the following steps of: establishing a multi-degree-of-freedom planetary gear train torsion nonlinear dynamic model, calculating meshing force, and calculating contact stress and bending stress of gear teeth based on the meshing force. Then, a rain flow counting method is adopted to conduct cycle counting on the tooth surface contact stress and tooth root bending stress time history of each stage of gear to obtain a gear stress spectrum, stress data is subjected to load grading and substituted into a Goodman equation, equivalent symmetric cyclic stress amplitude and frequency are obtained, and on the basis of a known material S-N curve, a gear stress spectrum is obtained; and performing damage calculation on the rotating part by using a Miner damage theory. According to the method, a rain flow counting method and a Goodman equation calculation method are combined, fatigue damage of planetary gear teeth under complex working conditions is analyzed, and planetary gear train fatigue damage prediction is achieved.

The application relates to the technical field of workpiece conveying, in particular to a wheel train part machining conveying positioning system; the wheel train part machining conveying positioning system comprises a base, a lower conveying belt in transmission connection with the top of the base, lower trays uniformly and fixedly connected along a transmission direction of the lower conveying belt, limit columns arranged on the upper surface of the lower trays, a top base fixedly connected with the center of the upper surface of the base through a supporting plate, an upper conveying belt in transmission connection with the lower surface of the top base, upper trays uniformly and fixedly connected along a transmission direction of the upper conveying belt, upper supporting holes provided on the lower surface of the upper trays and used for inserting the upper end of the limit columns, and the like; in the conveying process of the lower conveying belt, the limit columns are clamped into the upper supporting holes of the upper trays, so that the upper end and the lower end of the limit columns are positioned, the limit columns drive the stacked ring-shaped blank parts to be more stable in the conveying process, and the unstable situation caused by the impact force of inertia and the like is avoided.

The invention discloses a four-way vehicle, and belongs to the technical field of logistics storage equipment. Comprising a frame, a jacking assembly, a primary wheel train and a secondary wheel train, the primary wheel train and the secondary wheel train are arranged on the frame and can be switched to drive the frame to walk in the transverse direction and the longitudinal direction respectively, the jacking assembly is arranged on the frame, and the jacking assembly is used for switching the primary wheel train and the secondary wheel train and picking and placing goods. The mother wheel train comprises a wheel box assembly, the wheel box assembly is connected with the vehicle frame and can vertically ascend and descend relative to the vehicle frame along the connecting position, the wheel box assembly comprises a wheel box base plate, a mother wheel, a first guide device and a second guide device, the first guide device and the second guide device each comprise a limiting bearing, the limiting bearings abut against the vehicle frame, and the wheel box base plate is connected with the mother wheel. When the roller box assembly ascends and descends relative to the frame, the transverse direction and the longitudinal direction of the roller box assembly are limited through the limiting bearings respectively; by the adoption of the dense warehouse for the four-way vehicles, the space utilization rate can be increased, and waste is avoided.

One aspect of the invention relates to a timepiece movement comprising: a calendar mechanism comprising a drive wheel with 31 stable positions driven in one step per day by a time train; a display mechanism of an in-year period driven by the driving wheel in a jump manner, the display mechanism including an in-year period indicator member and an in-year period gear train directly driven by the driving wheel, and the in-year period gear train is configured to drive the in-year period indicator member to rotate; a year cycle gear train including a year cycle drive wheel kinematically coupled in rotation with a year cycle adjustment wheel, the year cycle adjustment wheel being engaged with an indicator member of a period in the year cycle; and the annual period adjusting mechanism is configured to drive the annual period adjusting wheel to rotate through rotation of the winding handle shaft and change the indexing between the annual period driving wheel and the annual period adjusting wheel so as to adjust the display mechanism of the period in the annual period.

The utility model relates to a clock movement and a timer. The timepiece movement comprises: a winding arbor having at least two pull-out positions with respect to a neutral advanced position; a time gear train; the calendar mechanism comprises a calendar ring which is gradually driven by a time gear train and one step per day; an in-year-cycle period display mechanism driven by the calendar ring in a jumping manner, comprising an in-year-cycle period indicator member and an in-year-cycle gear train directly driven by the calendar ring, the gear train being configured to rotationally drive the in-year-cycle period indicator member on each step of the calendar ring; the bidirectional correction mechanism is used for independently correcting the calendar mechanism or the display mechanism according to the rotation direction of the winding handle shaft at the first pull-out position; the bi-directional correction mechanism has a sliding gear movable between two extreme positions for engaging with the calendar ring or the indicator member of the period in the year cycle depending on the direction of rotation of the winding stem in order to correct the calendar mechanism or the display mechanism, respectively.

The invention provides a novel group sawing machine tensioning structure and a group sawing machine thereof, and relates to the field of rope sawing machines, the tensioning structure comprises a main body supporting assembly, a plurality of wheel sets, a pre-tensioning assembly and an adjusting assembly, the plurality of wheel sets form an isosceles trapezoid quadrilateral wheel train, the span of a driving wheel set and a driven wheel set is optimized, and no guide wheel is needed; the supporting wheel set is driven by the pre-tensioning assembly to swing so as to apply pre-tensioning force, the tensioning wheel set is driven by the adjusting assembly to move so as to conduct secondary tensioning, and the tensioning wheel set can be independently adjusted. The group sawing machine comprises the tensioning structure, a rack, a lifting mechanism and a control system. By optimizing the layout, the span between the driving wheel and the driven wheel is reduced, a guide wheel is omitted, meanwhile, the larger cutting height is achieved, and the effects that tensioning operation is convenient and fast, and the device can adapt to different plate thicknesses are achieved.

This invention relates to the field of straddle-type monorail vehicle operation simulation testing technology, and discloses a method and apparatus for simulating the operation of straddle-type monorail vehicles. The method involves adjusting the test bench to match the vehicle's wheel system, applying a vertical load to simulate vehicle weight using an axle load-simulating actuator, and achieving longitudinal and lateral fixation through a traction rod and pulley system. An onboard detection system acquires track irregularity displacement signals and track spectra from the actual track, which are then imported into a vibration simulation system to drive a vibration simulation device to reproduce the vehicle's operating state. Stability parameters are tested using sensors to complete the overall vehicle vibration reliability test. The corresponding apparatus includes a test bench foundation, a reaction frame, a loading gantry, and a vibration simulation system. This invention can accurately simulate actual operating conditions, achieve fault reproduction and extreme condition assessment, and effectively improve the realism and efficiency of the test.

The present invention discloses a fully automatic cable laying device, comprising: a tractor, a hydraulic lifting mechanism, and a cable laying device body; the hydraulic lifting mechanism is fixed on the tractor and connected to the cable laying device body; the cable laying device body comprises a wheel system bucket mechanism, an earthwork transmission mechanism, a wiring mechanism, and a leveling and backfilling mechanism. The tractor provides forward power, the hydraulic lifting mechanism drives the cable laying device body to rise and fall as a whole, the wheel system bucket mechanism is driven by a hydraulic motor to rotate the wheel system to achieve automatic trenching, the wiring mechanism automatically presses the cable into the dug trench, the excavated earthwork is transmitted to the end of the device by the earthwork transmission mechanism, and the excavated earthwork is backfilled by the leveling and backfilling mechanism. The present invention integrates trenching, laying cables, and burying to replace direct burial laying, has a reasonable structure, is easy to operate, can effectively improve the efficiency of cable laying, and saves material and labor costs.

The utility model discloses a turning RGV (Rail Guided Vehicle) wheel train structure device, which relates to the technical field of logistics conveying systems and comprises a rack, the two driving wheel train assemblies are mounted on one side of the bottom of the rack and arranged on the outer ring of the turning track to walk; the two driven wheel train assemblies are mounted on the other side of the bottom of the rack and arranged on the inner ring of the turning track to walk; the current collection arm is installed at the bottom of the rack, located below the driving wheel train assembly and used for being connected with a sliding contact line on a rail to achieve power supply to the trolley, four wheels of the RGV trolley are provided with wheel train rotating devices (universal wheels), a driven wheel train has a left-right sliding function, and stability of the RGV trolley during turning is guaranteed; slide wire power supply, frequency converter control and stepless speed regulation are adopted; the running state of the RGV can be displayed in real time based on a wireless Ethernet communication system, and all RGVs are scheduled to run coordinately; and a distance detection sensor is arranged to detect position information of the RGVs at the front end and the rear end, and safety is ensured.

A kind of planetary gearbox fault diagnosis method based on circuit resonator belongs to the field of planetary gearbox fault diagnosis. Including the following steps: piezoelectric sheet is connected in parallel with inductor, and an LC resonant circuit is formed. Then the piezoelectric sensor is pasted on the planetary gearbox shell, so that the piezoelectric sheet and the box are coupled as a whole. The time domain voltage signal between the capacitor ends in the resonant circuit when the planetary gearbox is running is collected, and then it is analyzed by resonance demodulation. No need to locate the resonance band through a series of algorithms, because the resonance frequency of the resonant circuit is known. The envelope order spectrum of the resonance band is obtained, and compared with various fault characteristic frequencies, so as to realize fault diagnosis. It can effectively avoid the interference of corresponding running of fixed shaft gear train and other components, and accurately extract the fault characteristics of planetary gear train.

The application discloses a wheel-leg balance robot design capable of active jumping and a control method thereof. The wheel-leg balance robot design is based on a planar parallel five-bar mechanism, and comprehensively considers the leg structure design and wheel train structure design of the wheel-leg balance robot suitable for active jumping. A plurality of sensor modules are adopted for sensing, so that the robot can autonomously perform the jumping function on a complex obstacle road section. Meanwhile, the wheel diameter and the motor torque are matched and designed, so that the robot has strong passability. The joint motor connection structure is improved to improve the design strength of the leg structure. An inverted pendulum model containing a wheel-leg hybrid structure is used to fit the robot movement, an LQR control algorithm is adopted to process the nonlinear system through piecewise linearization, and reference input is added to realize trajectory tracking.

The invention discloses a guide frame zero position adjusting device and method for a side forced guiding guide rail type rubber wheel train, and the device comprises a four-wheel positioning mechanism which is used for carrying out the four-wheel positioning of four walking wheels; the first axial length adjusting mechanism is arranged on the steering synchronous rod and used for adjusting the angle of the walking wheel; the ray emission instrument is detachably arranged on the outer side face of the wheel hub of the walking wheel, and the ray emission instrument is used for emitting rays parallel to the outer side face of the walking wheel; the second axial length adjusting mechanism is arranged on the steering pull rod and used for adjusting the angle of the guide frame. Positioning adjustment of the walking wheels and the guide wheels of the rubber wheel trains with different heights and different axle distances is achieved, the abrasion problem of the walking tires and the guide wheels is solved, and the running stability of the trains is improved.

The application relates to a dynamic and static dual-purpose conversion device and a wheel train robot, which can solve the problem that the existing wheel train robot cannot adapt to increasingly complex application scenarios. The dynamic and static dual-purpose conversion device comprises a rack, a wheel train conversion mechanism, a sliding shaft fixed to the rack, a rotating shaft staggered with the sliding shaft, a sliding piece slidably arranged on the sliding shaft, a wheel train component rotatably arranged on the rack through the rotating shaft, and a conversion connecting rod hinged with the sliding piece and the wheel train component respectively, the wheel train component has a rolling shaft perpendicular to the rotating shaft, and a conversion driving mechanism is arranged on the rack, and the conversion driving mechanism is connected with the sliding piece to drive the sliding piece to slide along the sliding shaft, so that the wheel train component is switched between a rolling state and a static state through the conversion connecting rod.

The application relates to a Mecanum wheel mobile platform capable of self-adaptive center of mass balance, which comprises a bearing platform, a Mecanum wheel system, a counterweight adjusting system and a controller, the Mecanum wheel system comprises a plurality of Mecanum wheel mechanisms, the plurality of Mecanum wheel mechanisms are symmetrically installed below the bearing platform, the counterweight adjusting system comprises a plurality of counterweight adjusting mechanisms corresponding to the number of the Mecanum wheel mechanisms, the plurality of counterweight adjusting mechanisms are uniformly installed above the bearing platform, the controller is arranged on the bearing platform and is electrically connected with each Mecanum wheel mechanism and counterweight adjusting mechanism, so as to dynamically adjust the rotating speed of each Mecanum wheel by controlling the current output, meanwhile, the position of the counterweight block on the bearing platform is adjusted by each counterweight adjusting mechanism according to the current signal, so as to self-adaptively balance the center of mass of the whole Mecanum wheel mobile platform. The application can effectively realize self-adaptive center of mass balance of the Mecanum wheel mobile platform during movement, has wide application range and low realization cost.

The invention relates to the technical field of food machinery, in particular to a baking tray dry type cleaning device. The device comprises a rack, a chain transmission mechanism, an annular rail, a feeding mechanism, a brush mechanism, a blowing mechanism and a discharging mechanism, the annular rail is provided with a plurality of wheel trains in transmission connection with the chain transmission mechanism, and the wheel trains are provided with material receiving pieces used for receiving baking trays; from the brush mechanism to the inlet of the blowing mechanism, the guide angle of the annular track is bent from the horizontal state to the vertical state so as to drive the material receiving piece to be switched from the horizontal state to the vertical state; the annular track keeps a vertical guide angle at the blowing mechanism; from the outlet of the blowing mechanism to the discharging mechanism, the guide angle of the annular rail is bent from the vertical state to the horizontal state so as to drive the material receiving piece to be switched from the vertical state to the horizontal state. According to the scheme, horizontal sweeping and vertical sweeping of the baking tray can be achieved, and the baking tray sweeping device has the advantages that the automation degree is high, the manual labor intensity is reduced, and the cleaning efficiency is improved.