CN115230857A

CN115230857A - Four-leg walking bicycle

Info

Publication number: CN115230857A
Application number: CN202210909026.2A
Authority: CN
Inventors: 王�琦
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-07-29
Filing date: 2022-07-29
Publication date: 2022-10-25

Abstract

The invention provides a four-leg walking bicycle, and relates to the technical field of bicycles. The utility model provides a four legs walking bicycle, includes the automobile body, and the locomotive and the rear of a vehicle of above-mentioned automobile body all are equipped with running gear, and above-mentioned running gear is including the mount and two flexible legs that rotate respectively and locate above-mentioned mount both sides that are fixed in above-mentioned automobile body, and above-mentioned flexible leg bottom is equipped with the footboard, and above-mentioned mount is equipped with the drive assembly who is used for driving above-mentioned footboard reciprocating motion. The bicycle has the advantages of strong obstacle crossing capability, good trafficability, suitability for running in uneven places such as mountainous regions and the like, and novelty and attraction to users compared with the traditional bicycle riding mode.

Description

Four-leg walking bicycle

Technical Field

The invention relates to the technical field of bicycles, in particular to a four-leg walking bicycle.

Background

Bicycles, also known as bicycles or bicycles, are typically two-wheeled small land vehicles. After a person rides a vehicle, the person steps on the pedal as power, and the vehicle is a green and environment-friendly vehicle. The bicycle can be used as an environment-friendly vehicle for riding instead of walking and going out; more and more people use bicycles as fitness equipment for riding exercise and bicycle travel; the bicycle itself is also a sports competition, including road bike racing, mountain bike racing, field bike racing, stunt bike racing, and the like.

The prior bicycle mainly travels through two round wheels, the radius of the wheels of the bicycle is smaller, generally about 0.5 meter, and the capacity of passing obstacles is limited. When the wheels of the bicycle pass over small obstacles such as stones, the overall pitch of the bicycle is large, so that the bicycle is generally suitable for running on flat ground. For mountainous regions and other places, the mountain bike is required to be driven when the mountain bike is played in the mountainous regions and other places generally, the price of the mountain bike is high, and the renting cost is also high; although some mountain bikes exist, as more physical strength needs to be consumed when the mountain region is over-barrier, and the mountain region is uneven, the bicycle is easy to topple, so that generally, a professional person needs to be used when the mountain bike is ridden on the mountain region, better physical strength is needed, and the mountain bike is not suitable for most of ordinary people.

Moreover, the use of the bicycle has a long history, and the bicycle is not novel for playing and is not attractive for most people to play.

Disclosure of Invention

The invention aims to provide a four-leg walking bicycle which has strong obstacle crossing capability and better trafficability, is suitable for running in uneven places such as mountainous regions, has a novel idea different from a traditional bicycle riding mode, and is favorable for attracting users.

The embodiment of the invention is realized by the following steps:

the embodiment of the application provides a four-leg walking bicycle, including the automobile body, the locomotive and the rear of a vehicle of above-mentioned automobile body all are equipped with running gear, and above-mentioned running gear is including the mount and two flexible legs of rotating respectively and locating above-mentioned mount both sides that are fixed in above-mentioned automobile body, and above-mentioned flexible leg bottom is equipped with the footboard, and above-mentioned mount is equipped with the drive assembly who is used for driving above-mentioned footboard reciprocating motion.

Further, in some embodiments of the present invention, the driving assembly includes a driving motor disposed on the fixing frame, a mounting frame is disposed at the bottom of the fixing frame, the mounting frame is rotatably disposed with a transmission shaft, and the driving motor is in transmission connection with the transmission shaft;

the transmission shaft is provided with gears on two sides, the pedal is arc-shaped, racks are arranged on the top and the bottom of the pedal, and the gears are meshed with the racks.

Further, in some embodiments of the present invention, a transmission shaft of the driving motor is provided with a first sprocket, the transmission shaft is fixedly sleeved with a second sprocket, and the first sprocket and the second sprocket are in transmission connection through a chain.

Further, in some embodiments of the present invention, the fixing frame is provided with a fixing sleeve, and the top of the telescopic leg is provided with a mounting rotating shaft, and the mounting rotating shaft is rotatably embedded in the fixing sleeve.

Further, in some embodiments of the present invention, the retractable leg includes an outer sleeve rotatably disposed on the fixing frame and a sliding rod slidably disposed inside the outer sleeve, and the pedal is disposed on the sliding rod.

Furthermore, in some embodiments of the present invention, a first linear steering engine is disposed in the outer sleeve, and the sliding rod is connected to a telescopic end of the first linear steering engine; still include the treater, above-mentioned flexible leg is equipped with angle sensor, and above-mentioned angle sensor and above-mentioned first straight line steering wheel all with above-mentioned treater communication connection.

Further, in some embodiments of the present invention, the vehicle body is provided with a first limiting component and a second limiting component for limiting the rotation angle of the telescopic leg, and the telescopic leg is located between the first limiting component and the second limiting component.

Further, in some embodiments of the present invention, the first limiting assembly includes a first mounting rod and a first elastic member disposed on the first mounting rod.

Further, in some embodiments of the present invention, the second limiting assembly includes a second mounting rod and a second elastic member disposed on the second mounting rod.

Further, in some embodiments of the present invention, a second linear steering engine is disposed between the second mounting rod and the second elastic member, the second linear steering engine is disposed on the second mounting rod, and the second elastic member is disposed at a telescopic end of the second linear steering engine.

Compared with the prior art, the embodiment of the invention at least has the following advantages or beneficial effects:

the embodiment of the invention provides a four-leg walking bicycle which comprises a bicycle body, wherein both a head and a tail of the bicycle body are provided with running mechanisms, each running mechanism comprises a fixed frame fixed on the bicycle body and two telescopic legs respectively rotatably arranged on two sides of the fixed frame, pedals are arranged at the bottoms of the telescopic legs, and the fixed frame is provided with a driving assembly used for driving the pedals to reciprocate.

During the in-service use, the user can sit on the automobile body, because the running gear of locomotive and rear of a vehicle rotates the flexible leg of locating above-mentioned mount both sides respectively including the mount and two that are fixed in above-mentioned automobile body, flexible leg bottom is equipped with the footboard, so four footboards are equivalent to four feet of automobile body, the walking of automobile body is realized to above-mentioned footboard reciprocating motion through drive assembly drive, through footboard and ground contact, consequently, this bicycle is crossed the ability reinforce of obstacle, there is better trafficability characteristic, be applicable to and go in unevenness's such as mountain region local, and different with the mode that traditional bicycle was ridden, be rich in the new ideas, do benefit to the attraction user.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

FIG. 1 is a front elevational view of a bicycle provided in accordance with an embodiment of the present invention;

FIG. 2 is a side view of a mount and drive assembly provided by an embodiment of the present invention;

FIG. 3 is a schematic view of the structure of the extendable leg and the pedal provided by the embodiment of the present invention;

FIG. 4 is a partial cross-sectional view of a telescoping leg and step provided by an embodiment of the present invention;

fig. 5 is a front view of a extendable leg provided in embodiment 2 of the present invention.

An icon: 1, a vehicle body; 2-a fixed mount; 3-a pedal; 4-driving a motor; 5-a mounting rack; 6-a transmission shaft; 7-a gear; 8-a rack; 9-a first sprocket; 10-a second sprocket; 11-a chain; 12-a fixed sleeve; 13-installing a rotating shaft; 14-an outer sleeve; 15-a slide bar; 16-a first linear steering engine; 17-a first mounting bar; 18-a first elastic member; 19-a second mounting bar; 20-a second elastic member; 21-a second linear steering engine; 22-rotating rods; 23-a cross-bar; 24-a sway bar; 25-rotating steering engine.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.

In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, the orientations or positional relationships are only used for convenience of describing the present invention and simplifying the description, but the terms do not indicate or imply that the devices or elements indicated must have specific orientations, be constructed in specific orientations, and operate, and therefore, should not be construed as limiting the present invention. Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not require that the components be absolutely horizontal or vertical, but may be slightly inclined. For example, "horizontal" merely means that its direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Example 1

Referring to fig. 1 to 4, the present embodiment provides a four-legged walking bicycle, which includes a bicycle body 1, wherein a head and a tail of the bicycle body 1 are both provided with a traveling mechanism, the traveling mechanism includes a fixed frame 2 fixed to the bicycle body 1 and two telescopic legs respectively rotatably disposed at two sides of the fixed frame 2, a pedal 3 is disposed at a bottom of the telescopic legs, and the fixed frame 2 is provided with a driving assembly for driving the pedal 3 to reciprocate.

During the in-service use, the user can sit on automobile body 1, because the running gear of locomotive and rear of a vehicle rotates the flexible leg of locating above-mentioned mount 2 both sides respectively including mount 2 and two that are fixed in above-mentioned automobile body 1, flexible leg bottom is equipped with footboard 3, so four footboard 3 are equivalent to four feet of automobile body 1, realize the walking of automobile body 1 through 3 reciprocating motion of above-mentioned footboard of drive assembly drive, contact with ground through footboard 3, consequently, this bicycle crosses the ability reinforce of obstacle, there is better trafficability characteristic, be applicable to and travel in unevenness such as mountain region, and different with the mode of traditional bicycle of riding, be rich in new ideas, do benefit to and attract the user.

As shown in fig. 1-4, in some embodiments of the present invention, the driving assembly includes a driving motor 4 disposed on the fixing frame 2, a mounting frame 5 is disposed at the bottom of the fixing frame 2, the mounting frame 5 is rotatably disposed with a transmission shaft 6, and the driving motor 4 is in transmission connection with the transmission shaft 6;

both sides of the transmission shaft 6 are provided with gears 7, the pedals 3 are arc-shaped, the tops and the bottoms of the pedals 3 are provided with racks 8, and the gears 7 are meshed with the racks 8. The transmission shaft of the driving motor 4 is provided with a first chain wheel 9, the transmission shaft 6 is fixedly sleeved with a second chain wheel 10, and the first chain wheel 9 is in transmission connection with the second chain wheel 10 through a chain 11.

The telescopic leg includes an outer tube 14 rotatably provided in the fixed frame 2 and a slide rod 15 slidably provided in the outer tube 14, and the pedal 3 is provided in the slide rod 15. A first linear steering engine 16 is arranged in the outer sleeve 14, and the sliding rod 15 is connected with the telescopic end of the first linear steering engine 16; still include the treater, above-mentioned flexible leg is equipped with angle sensor, and above-mentioned angle sensor and above-mentioned first straight line steering wheel 16 all with above-mentioned treater communication connection.

As shown in fig. 1, four telescopic legs are respectively and correspondingly provided with a pedal 3, and the total number of the four telescopic legs is four, wherein two telescopic legs and the corresponding pedals 3 are arranged at the position of a vehicle head at intervals, and the other two telescopic legs and the corresponding pedals 3 are arranged at the position of a vehicle tail at intervals, so that four legs of a quadruped animal can be simulated. Before the use, two flexible legs of locomotive and two flexible legs of rear of a vehicle dislocation set respectively, the angle of dislocation set according to data such as the length of footboard 3 can.

For convenience of describing the principle, the two telescopic legs and the two pedals 3 of the vehicle head are named as a telescopic leg at the left side position of the vehicle head, a pedal 3 at the left side position of the vehicle head, a telescopic leg at the right side position of the vehicle head and a pedal 3 at the right side position of the vehicle head respectively; the two telescopic legs and the two pedals 3 of the vehicle tail are named as a telescopic leg at the left side position of the vehicle tail, a pedal 3 at the left side position of the vehicle tail, a telescopic leg at the right side position of the vehicle tail and a pedal 3 at the right side position of the vehicle tail respectively.

The telescopic leg at the left side of the vehicle head and the telescopic leg at the right side of the vehicle tail swing in the same motion, and the telescopic leg at the right side of the vehicle head and the telescopic leg at the left side of the vehicle tail swing in the same motion, as shown in fig. 1, at this time, a rack 8 at the top of the pedal 3 at the left side of the vehicle head is meshed with a gear 7 at the left side, and a rack 8 at the bottom of the pedal 3 at the right side of the vehicle head is meshed with the gear 7 at the right side; driving motor 4 passes through chain 11 and drives transmission shaft 6 and rotate, transmission shaft 6 drives the gear 7 rotation of its both sides, as shown in fig. 1, 7 anticlockwise rotations of gear this moment, footboard 3 of locomotive left side position is along left gear 7 backward movement, footboard 3 of locomotive right side position is along the gear 7 forward movement on right side simultaneously, when the footboard 3 left end of locomotive left side position moves left gear 7 position, the right-hand member of the footboard 3 of locomotive right side position moves the gear 7 position on right side.

At the moment, a first linear steering engine 16 in a telescopic leg at the left side of the vehicle head is shortened and pulls a sliding rod 15 at the left side of the vehicle head and the pedal 3 to move upwards together, so that the bottom of the pedal 3 at the left side of the vehicle head is positioned at the top of the left side gear 7 and is meshed with the left side gear 7; meanwhile, a first linear steering engine 16 in a telescopic leg at the right side of the vehicle head extends and pushes a sliding rod 15 at the right side of the vehicle head and the pedal 3 to move downwards together, so that the top of the pedal 3 at the right side of the vehicle head is positioned at the bottom of the right side gear 7 and is meshed with the right side gear 7; the walking of the four pedals 3 is realized by the circulation.

Through setting up the treater, four flexible legs are equipped with angle sensor respectively, the swing angle of the flexible leg of accessible angle sensor real-time supervision correspondence, for example when the 3 left ends of footboard when locomotive left side position move 7 positions to left gear, the flexible leg swing angle of locomotive left side position is + A this moment, so can set up the threshold value of angle in advance in the treater, when the angle threshold value reached + A, the first linear steering wheel 16 that the flexible leg of treater control locomotive left side position corresponds shortened can. Therefore, the upward movement and the downward movement of each pedal 3 can be automatically controlled, and the operation is convenient.

Alternatively, the processor of the present embodiment may employ an AT89S51 chip. AT89S51 is a low-power consumption, high-performance CMOS8 bit processor, and a general 8 bit central processing unit and an ISP Flash storage unit are integrated in a chip, so that received information can be processed timely and effectively. It should be noted that the processor may be an integrated circuit chip having signal processing capability. The processor may be a general purpose processor including a central processing unit, a network processor, etc.; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. And is not limited to the AT89S51 chip in this embodiment.

Optionally, the angle sensor of the present embodiment may employ a brand of: uliwei (UNIVO), type: angular tilt sensor of UIS 52. Optionally, the first linear steering engine 16 of this embodiment may be manufactured by: a linear electric steering engine produced by Beijing new eastern aviation equipment GmbH.

Optionally, the vehicle body 1 of the present embodiment may be provided with a storage battery, and the storage battery is electrically connected to the driving motor 4, the processor, and the like, and supplies power to each electrical component through the storage battery.

Optionally, the bottom of the pedal 3 of this embodiment may be provided with a rubber layer, the rubber layer is located beside the rack 8 at the bottom of the pedal 3, and the lowest part of the rubber layer is lower than the lowest part of the rack 8 at the bottom of the pedal 3, so that the wear of the rack 8 can be reduced by the contact between the rubber layer and the ground.

As shown in fig. 1-4, in some embodiments of the present invention, the fixing frame 2 is provided with a fixing sleeve 12, the top of the telescopic leg is provided with a mounting shaft 13, and the mounting shaft 13 is rotatably embedded in the fixing sleeve 12.

According to the invention, the fixing frame 2 is provided with the fixing sleeve 12, the top of the telescopic leg is provided with the mounting rotating shaft 13, and the mounting rotating shaft 13 is rotatably embedded into the fixing sleeve 12, so that the telescopic leg is driven to rotate by the mounting rotating shaft 13 rotating along the fixing sleeve 12, and the operation is convenient. The fixed sleeve 12 can be provided with a bearing, the outer ring of the bearing is fixed on the fixed sleeve 12, and the installation rotating shaft 13 is fixed on the inner ring of the bearing.

As shown in fig. 1 to 4, in some embodiments of the present invention, the vehicle body 1 is provided with a first limiting component and a second limiting component for limiting the rotation angle of the telescopic leg, and the telescopic leg is located between the first limiting component and the second limiting component.

The first limiting component comprises a first mounting rod 17 and a first elastic element 18 arranged on the first mounting rod 17. The second limiting assembly comprises a second mounting rod 19 and a second elastic member 20 arranged on the second mounting rod 19. A second linear steering gear 21 is disposed between the second mounting rod 19 and the second elastic member 20, the second linear steering gear 21 is disposed on the second mounting rod 19, and the second elastic member 20 is disposed on a telescopic end of the second linear steering gear 21.

According to the invention, by arranging the first limiting assembly and the second limiting assembly, when the telescopic leg rotates forwards, the telescopic leg can be abutted against the first elastic piece 18 when the telescopic leg rotates to a set position, and the first elastic piece 18 applies elasticity to the telescopic leg, so that the telescopic leg is prevented from rotating forwards by an overlarge angle. When the telescopic leg rotates backwards, the telescopic leg can be abutted to the second elastic piece 20 when the telescopic leg rotates to a set position, and elasticity is applied to the telescopic leg through the second elastic piece 20, so that the telescopic leg is prevented from rotating backwards by an overlarge angle. Through setting up second straight line steering wheel 21, so when two footboard 3 relative position of same side appear the deviation, accessible second straight line steering wheel 21 extension and promotion second elastic component 20 are close to towards flexible leg, so, can be bigger to the elasticity that flexible leg was applyed, be convenient for promote flexible leg accelerated movement so that two footboard 3 relative position of same side resume. Then the second linear steering engine 21 shortens and pulls the second elastic element 20 to reset. When the second linear steering engine 21 is adopted, the two gears 7 can adopt bicycle flywheels, so that the relative rotation between the gears 7 and the transmission shaft 6 can be realized, and the relative positions of the two pedals 3 can be conveniently adjusted.

Optionally, the second linear steering engine 21 of this embodiment may be manufactured by: a linear electric steering engine produced by Beijing new eastern aviation equipment GmbH. Alternatively, the first elastic member 18 and the second elastic member 20 of the present embodiment each employ a spring.

Example 2

Referring to fig. 5, a difference between the present embodiment and embodiment 1 is that the telescopic leg of the present embodiment includes a rotating rod 22 rotatably disposed on the fixing frame 2 and a cross rod 23 fixed at one end of the rotating rod 22, two ends of the cross rod 23 are both provided with a rotating steering engine 25, the rotating ends of the rotating steering engines 25 at the two ends are both provided with a swinging rod 24, and one end of the swinging rod 24 far away from the cross rod 23 is hinged to the top of the pedal 3. Like this footboard 3, two swinging arms 24 and horizontal pole 23 constitute a structure similar to parallelogram together, and the swing back and forth of rotatory steering wheel 25 drive swinging arms 24 can drive flexible leg wholly along the rotation axis extension at dwang 22 top and shorten, so the position of adjustment footboard 3.

In summary, embodiments of the present invention provide a four-legged walking bicycle, which includes a bicycle body 1, wherein a head and a tail of the bicycle body 1 are both provided with a traveling mechanism, the traveling mechanism includes a fixed frame 2 fixed to the bicycle body 1 and two telescopic legs respectively rotatably disposed at two sides of the fixed frame 2, a pedal 3 is disposed at a bottom of the telescopic legs, and the fixed frame 2 is provided with a driving assembly for driving the pedal 3 to reciprocate.

While the present invention has been described with reference to the preferred embodiments, it is to be understood that the invention is not limited to the details of the foregoing illustrative embodiments, and that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A four-leg walking bicycle is characterized in that: the bicycle comprises a bicycle body, the locomotive and the rear of a vehicle of automobile body all are equipped with running gear, running gear is including being fixed in the mount and two of automobile body rotate respectively and locate the flexible leg of mount both sides, flexible leg bottom is equipped with the footboard, the mount is equipped with and is used for the drive footboard reciprocating motion's drive assembly.

2. A four-legged walking bicycle, according to claim 1, characterized in that: the driving assembly comprises a driving motor arranged on the fixing frame, a mounting frame is arranged at the bottom of the fixing frame, a transmission shaft is rotatably arranged on the mounting frame, and the driving motor is in transmission connection with the transmission shaft;

the transmission shaft both sides all are equipped with the gear, the footboard is the arc, footboard top and bottom all are equipped with the rack, the gear with rack toothing.

3. A four-legged walking bicycle, according to claim 2, characterized in that: the transmission shaft of the driving motor is provided with a first chain wheel, the transmission shaft is fixedly sleeved with a second chain wheel, and the first chain wheel is connected with the second chain wheel through chain transmission.

4. A four-legged walking bicycle, according to claim 1, characterized in that: the fixing frame is provided with a fixing sleeve, the top of the telescopic leg is provided with an installation rotating shaft, and the installation rotating shaft is rotatably embedded into the fixing sleeve.

5. A four-legged walking bicycle, according to claim 1, characterized in that: the telescopic legs comprise outer sleeves rotatably arranged on the fixing frames and sliding rods arranged inside the outer sleeves in a sliding mode, and the pedals are arranged on the sliding rods.

6. A four-legged walking bicycle, according to claim 5, characterized in that: a first linear steering engine is arranged in the outer sleeve, and the sliding rod is connected with the telescopic end of the first linear steering engine; still include the treater, flexible leg is equipped with angle sensor, angle sensor with first straight line steering wheel all with treater communication connection.

7. A four-legged walking bicycle, according to claim 6, characterized in that: the automobile body is equipped with and is used for the restriction first spacing subassembly and the spacing subassembly of second of flexible leg turned angle, flexible leg is located first spacing subassembly with between the spacing subassembly of second.

8. A four-legged walking bicycle, according to claim 7, wherein: the first limiting assembly comprises a first mounting rod and a first elastic piece arranged on the first mounting rod.

9. A four-legged walking bicycle, according to claim 7, characterized in that: the second limiting assembly comprises a second mounting rod and a second elastic piece arranged on the second mounting rod.

10. A four-legged walking bicycle, according to claim 9, characterized in that: and a second linear steering engine is arranged between the second mounting rod and the second elastic piece, the second linear steering engine is arranged on the second mounting rod, and the second elastic piece is arranged at the telescopic end of the second linear steering engine.