CN110104201B - Self-adaptive full-automatic rapid rail transfer system - Google Patents

Abstract

The invention discloses a self-adaptive full-automatic rapid rail changing system, wherein two rail changing executing assemblies which are oppositely placed are arranged on the same rail changing rotary table, two rail changing executing assemblies which are oppositely parallel are arranged on the same side guide rail section group, and a rail changing driving assembly and a traveling driving assembly are arranged on the same side of a chassis. The advancing driving assembly transmits power to the track transfer executing assembly through the single-side synchronous toothed belt, and the track transfer driving assembly transmits the power to the track transfer executing assembly through the double-side synchronous toothed belt. In the initial state, the orbital transfer rotary table is connected and matched with a plurality of guide rail sections in the guide rail assembly to form a continuous track. When the device works, the two groups of orbital transfer executing assemblies in the direction perpendicular to the advancing direction respectively rotate for 90 degrees along the opposite direction, the orbital transfer guide rails on the orbital transfer rotary table are driven to rotate for 90 degrees, and the butt joint of the orbital transfer guide rails in the guide rail perpendicular direction is completed, so that the right-angle orbital transfer action is completed.

Description

Self-adaptive full-automatic rapid rail transfer system

Technical Field

The invention relates to a self-adaptive full-automatic rapid orbital transfer system. The system is particularly suitable for rail transfer among similar parallel rails in a small range and a narrow space, has strong self-adaptive capacity, and can be applied to planes and curved surfaces.

Background

The connection of fastening holes is an important part in the aircraft assembly manufacturing, and the aircraft assembly accounts for about half or even more of the total labor of the aircraft manufacturing due to large product size, complex shape, large number of parts and connecting pieces. And the processing in solid hole on the aircraft skin at present adopts artifical manual system hole, the workman is when processing the riveting hole, fix the bushing plate at treating the processing position, through the hand drill, sequence processing is carried out in proper order along the inherent direction of bushing plate, current this kind of processing mode, the system hole level receives narrow and small curved surface space on the one hand, on the other hand receives workman's technical influence great, system hole quality is uneven, can't guarantee the assembly precision, make the poor stability of final product, its assembly connection quality directly influences product structure fatigue resistance ability and reliability, system hole inefficiency simultaneously, the assembly efficiency of aircraft has been influenced.

Disclosure of Invention

The invention aims to solve the problem that the existing automatic hole making equipment for the airplane skin has low hole making efficiency and is influenced by a narrow curved surface space. The invention designs a self-adaptive full-automatic rapid rail changing system, wherein every two rail changing executing assemblies which are oppositely placed are arranged on the same rail changing rotary table, and every two rail changing executing assemblies which are oppositely parallel are arranged on the same side guide rail section group; the track transfer driving assembly and the advancing driving assembly are arranged on the same side of the chassis; the advancing driving component is a power source for advancing the whole system forwards, power is transmitted to the track change execution through the single-side synchronous toothed belt (12), and the whole transmission chain can complete the advancing action of the system; the orbit transfer driving assembly is an orbit transfer power source of the whole system, four legs in the orbit transfer executing assembly are oppositely arranged in pairs, and the whole transmission chain formed by the advancing driving assembly, the orbit transfer driving assembly and the orbit transfer executing assembly is completely independent and does not interfere with each other during working; the orbital transfer driving assembly transmits power to the orbital transfer executing assemblies through the synchronous toothed belts (11) on the two sides, the two orbital transfer executing assemblies vertical to the guide rail direction drive the supporting seats on the orbital transfer rotary table to rotate 90 degrees respectively towards opposite directions, and butt joint of the supporting seats in the guide rail vertical direction is completed, so that orbital transfer action is completed. In the initial state, the orbital transfer rotary table is connected and matched with a plurality of guide rail sections in the guide rail assembly to form a continuous track. When the device works, the two groups of orbital transfer executing assemblies in the direction perpendicular to the advancing direction respectively rotate for 90 degrees along the opposite direction, the orbital transfer guide rails on the orbital transfer rotary table are driven to rotate for 90 degrees, and the butt joint of the orbital transfer guide rails in the guide rail perpendicular direction is completed, so that the right-angle orbital transfer action is completed. The two action processes of rail transfer and advancing are completely independent and are not influenced. The rail changing mode is simple in action, efficient and rapid.

The whole orbital transfer action of the orbital transfer system designed by the invention does not need manual participation, thereby effectively reducing the labor intensity of workers and improving the processing efficiency and the processing precision.

The self-adaptive full-automatic rapid orbital transfer system has the advantages that:

firstly, the orbital transfer driving component drives a bevel gear to move through a motor, and a first synchronous toothed belt 110 is utilized to drive belt wheels on four orbital transfer executing components to rotate in opposite directions in pairs to complete orbital transfer movement. Specifically, in the rotating process of one orbital transfer driving assembly, motion is transmitted to an orbital transfer driving straight gear (1C) and an orbital transfer driven straight gear (1G) through an orbital transfer rotating sleeve (16A); and then the track transfer motion is completed through the meshing of the track transfer driving straight gear (1C) and the track transfer driven straight gear (1G).

The advancing drive in the invention is that the advancing drive component (9) and a belt wheel (namely a second synchronous cog belt 120) on the same side rotate in the same direction, and the motion is transmitted to a third track transfer execution component and a fourth track transfer execution component through transmission shafts (9R and 9Q); then the walking movement is completed by the meshing of the AC straight gear (1F) and the rack on the EB supporting seat (5G).

The orbital transfer system designed by the invention can realize orbital transfer between parallel guide rails by rotating the EA supporting seat (5F) and the EB supporting seat (5G) on the first orbital transfer turntable component by 90 degrees in opposite directions and rotating the FA supporting seat (6F) and the FB supporting seat (6G) on the second orbital transfer turntable component by 90 degrees in opposite directions.

The rail transfer action and the walking action of the rail transfer system designed by the invention are respectively controlled by two motors, and the two parts do not interfere with each other and respectively act during implementation. Stopping advancing, performing track change, and then recovering the advancing action.

The guide rail component (7) designed by the invention is a self-adaptive multi-section guide rail combination; the track changing unit is fast and accurate in track changing during track changing.

The open chassis designed by the invention enables the four legs to be placed on one side in pairs, integrates rail transfer execution and walking execution, and can greatly improve the working efficiency of a rail transfer system.

And compared with the existing hole making technology, the hole making by applying the rail-changing system designed by the invention has full-automatic rail changing and can automatically finish the work from processing one row of holes to processing the other row of holes. The manual intervention is effectively reduced, the workload of workers in the process of drilling the aircraft skin is greatly reduced, and the drilling efficiency and the machining precision are greatly improved.

Drawings

Fig. 1 is a block diagram of the adaptive fully automatic fast track change system of the present invention.

Fig. 1A is another view structural diagram of the adaptive full-automatic fast track-changing system according to the present invention.

Fig. 1B is a block diagram of the adaptive fully automatic rapid traverse system of the present invention without the guide rail assembly.

Fig. 1C is another perspective view of the adaptive fully automatic quick change track system of the present invention without the guide rail assembly.

Fig. 2 is a structural view of a chassis in the present invention.

Fig. 2A is another perspective view of the chassis of the present invention.

Fig. 3 is a structural view of the track transfer drive assembly of the present invention.

Fig. 3A is an exploded view of the orbital transfer drive assembly of the present invention.

Fig. 4 is a structural view of a travel drive assembly in the present invention.

Fig. 4A is an exploded view of the travel drive assembly of the present invention.

Fig. 5 is a structural view of a first orbital transfer table assembly of the invention.

Fig. 5A is an exploded view of a first orbital transfer table assembly of the invention.

Fig. 5B is a view showing a turntable structure of the first orbital transfer turntable assembly of the present invention.

Fig. 6 is a structural view of a second orbital transfer table assembly of the invention.

Fig. 6A is a turntable structure view of a second orbital transfer turntable assembly in the present invention.

Fig. 6B is an exploded view of a second orbital transfer turntable assembly of the invention.

Fig. 7 is a structural view of the guide rail assembly of the present invention.

Fig. 7A is an exploded view of the track assembly of the present invention.

Fig. 7B is a structural view of a moving rail changing part of the guide rail assembly of the present invention.

Fig. 7C is an exploded view of the moving track change portion of the track assembly of the present invention.

Fig. 8 is a structural diagram of a track transfer executing assembly and a chassis according to the present invention.

Fig. 8A is another perspective view of the track-changing actuator and the chassis of the present invention.

Fig. 8B is a diagram of a branch structure of four track change execution units in the present invention.

Fig. 8C is a cross-sectional view of a first track change execution assembly in the present invention.

Fig. 8D is an exploded view of the first orbital transfer actuator assembly of the present invention.

Fig. 8E is a structural view of the lower bracket a of the first track change actuator assembly in the present invention.

Fig. 8F is another perspective view of the lower bracket of the first track transfer actuating assembly according to the present invention.

Fig. 8G is a structural view of the bracket on a of the first track change actuator assembly in the present invention.

Fig. 8H is an exploded view of the upper roller assembly of the first orbital transfer actuator assembly of the present invention.

Fig. 8I is an exploded view of the lower rolling assembly of the first orbital transfer actuator assembly of the present invention.

Fig. 8J is an assembly position diagram of the orbital transfer transmission and the pinch roller of the first orbital transfer executing assembly of the present invention.

Fig. 9 is an exploded view of a second orbital transfer actuator assembly of the invention.

Fig. 10 is an assembly position diagram of the orbital transfer transmission and the pinch roller of the second orbital transfer executing assembly in the invention.

Fig. 11 is an assembly position diagram of the orbital transfer transmission and the pinch roller of the third orbital transfer executing assembly in the invention.

Fig. 12 is an assembly position diagram of the orbital transfer transmission and the pinch roller of the fourth orbital transfer executing assembly in the invention.

Fig. 13 is an exploded view of a third orbital transfer actuator assembly of the present invention.

Fig. 14 is an exploded view of a fourth orbital transfer actuator assembly of the invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, fig. 1A, fig. 1B and fig. 1C, the present invention provides an adaptive full-automatic fast track-changing system, which comprises: the track-changing device comprises a chassis 10, a track-changing driving component 8, a traveling driving component 9, 4 groups of track-changing executing components (1, 2, 3 and 4), 2 groups of track-changing turntable components (5 and 6), a guide rail component 7, a first synchronous toothed belt 110 and a second synchronous toothed belt 120; the first orbital transfer turntable component 5 and the second orbital transfer turntable component 6 are identical in structure; the first orbital transfer executing component 1 and the second orbital transfer executing component 2 have the same structure; the third orbital transfer actuator 3 and the fourth orbital transfer actuator 4 have the same structure. The traveling driving assembly 9 is a power source for providing traveling, and transmits power to the fourth track transfer executing assembly 4 and the third track transfer executing assembly 3 through the second timing belt 120, thereby completing a traveling action. The orbital transfer driving component 8 is a power source for providing orbital transfer, and the orbital transfer driving component 8 sequentially transmits power to the fourth orbital transfer executing component 4, the first orbital transfer executing component 1, the second orbital transfer executing component 2 and the third orbital transfer executing component 3 through the first synchronous toothed belt 110, so that orbital transfer action is completed; on one hand, the fourth orbital transfer executing component 4 and the first orbital transfer executing component 1 drive the orbital transfer guide rails on the first orbital transfer turntable component 5 to respectively rotate 90 degrees in the opposite direction by utilizing a power source provided by the orbital transfer driving component 8, so that the butt joint of the orbital transfer guide rails in the vertical direction of the guide rails is completed, and the orbital transfer action is completed; on the other hand, the signals are transmitted to the second orbital transfer executing component 2 through the first orbital transfer executing component 1, so that the second orbital transfer executing component 2 and the third orbital transfer executing component 3 drive the orbital transfer guide rails on the second orbital transfer turntable component 6 to respectively rotate 90 degrees in opposite directions, the butt joint of the orbital transfer guide rails in the vertical direction of the guide rails is completed, and the orbital transfer action is completed. The two action processes of track change and advancing of the self-adaptive full-automatic rapid track change system are completely independent and unaffected. The rail changing mode is simple in action, efficient and rapid. In the present invention, the first and fourth orbital transfer actuators 1 and 4 are perpendicular to the orbital transfer drive assembly 8 in the direction of the rail.

First orbital transfer executing assembly 1

Referring to fig. 1, fig. 1A, fig. 1B, fig. 1C, fig. 8A, fig. 8B, fig. 8C, and fig. 8D, the first orbital transfer executing assembly 1 includes an AA transmission shaft 16, an AC transmission shaft 17, an AB transmission shaft 18, an a pinch roller rotating shaft 19, an AA pulley 1A, AB, a pulley 1B (the external teeth on the AB pulley 1B are engaged with the first synchronous toothed belt 110, as shown in fig. 1B), an a orbital transfer driving spur gear 1C, A, an orbital transfer driven spur gear 1G, A, a walking leg driving spur gear 1D, A, a walking leg driven spur gear 1H, AA, a spur gear 1J, AB, a spur gear 1E, AC, a spur gear 1F, A, a bearing pressing plate 16B, A, a lower bracket 11, an a upper bracket 12, an a upper supporting frame 13, an a upper rolling assembly 14, and an a lower rolling assembly 15. The A upper rolling assembly 14 comprises an AA stop 14A, an upper rolling shaft 14D of an upper rolling body 14B, AA plastic bearing 14C, A and an AB plastic bearing 14E; wherein, the A lower rolling component 15 comprises an AB stop block 15A, a lower rolling body 15B, AC plastic bearing 15C, A lower rolling shaft 15D and an AD plastic bearing 15E.

Referring to fig. 8D, 8E, 8F, 8H, and 8I, the lower a bracket 11 is provided with an AA panel 11A, AB panel 11B, AA arm 11C, AB arm 11D, AC arm 11E and AD arm 11F; the AA panel 11A is provided with an AA shaft hole 11A1 for placing an AC middle shaft section 172 of the AC transmission shaft 17; the AB panel 11B is provided with an AB shaft hole 11B1, an AC shaft hole 11B2 and an AA rectangular through hole 11B 3; the AA rectangular through hole 11B3 is used for placing the AC spur gear 1F; the AB axle hole 11B1 is used for placing one end of the A upper rolling axle 14D, and the AC axle hole 11B2 is used for placing one end of the A lower rolling axle 15D; an AA threaded hole 11C1 is formed in the outer side panel of the AA support arm 11C, and an AB threaded hole 11C2 is formed in the end panel of the AA support arm 11C; the AA threaded hole 11C1 is matched with a screw to fix the AA vertical plate 12A of the upper bracket 12A on the outer side panel of the AA support arm 11C; the AB threaded hole 11C2 is matched with the AE through hole 14A3 on the AA stop 14A, and then a long screw penetrates through the AE through hole 14A3 and then is in threaded connection with the AB threaded hole 11C2, so that one end of the AA stop 14A is fixed on the end panel of the AA support arm 11C. An AC threaded hole 11D1 is formed in the outer side panel of the AB support arm 11D, and an AD threaded hole 11D2 is formed in the end panel of the AB support arm 11D; the AC threaded holes 11D1 are matched with screws to fix the AB vertical plate 12B of the A upper bracket 12 on the outer side panel of the AB support arm 11D; the AD threaded hole 11D2 is matched with an AD through hole 14A2 on the AA stop block 14A, then a long screw penetrates through the AD through hole 14A2 and then is in threaded connection with the AD threaded hole 11D2, and the other end of the AA stop block 14A is fixed on an end panel of the AB support arm 11D. An AE threaded hole 11E1 is formed in an end plate of the AC support arm 11E; the AE screw hole 11E1 is engaged with the AH through hole 15A3 of the AB stopper 15A, and then threaded into the AE screw hole 11E1 after passing through the AH through hole 15A3 with a long screw, so that one end of the AB stopper 15A is fixed to the end plate of the AC arm 11E. An AF threaded hole 11F1 is formed in the end plate of the AD support arm 11F; the AF thread hole 11F1 is matched with the AG through hole 15A2 on the AB stop 15A, and then a long screw is threaded in the AF thread hole 11F1 after penetrating through the AG through hole 15A2, so that the other end of the AB stop 15A is fixed on the end panel of the AD support arm 11F.

Referring to fig. 8D and 8G, the upper bracket 12a is provided with an AA riser 12A, AB, a riser 12B, AA, a cross plate 12C and an AB cross plate 12D; an AA through hole 12A1 is formed in the AA vertical plate 12A, the AA through hole 12A1 is matched with an AA threaded hole 11C1 in an AA support arm 11C of the lower bracket 11A, and the AA vertical plate 12A and the AA support arm 11C are fixed through penetrating through the AA through hole 12A1 and then being connected in the AA threaded hole 11C1 in a threaded mode. Be equipped with AB through-hole 12B1 on the AB riser 12B, the cooperation of AC screw hole 11D1 on AB support arm 11D of AB through-hole 12B1 and A bottom bracket 11 passes through the screw thread connection in AC screw hole 11D1 behind AB through-hole 12B1 realizes that AB riser 12B is fixed with AB support arm 11D's outside panel. The AA transverse plate 12C is provided with an AD shaft hole 12C1 for placing the AA sliding bearing 18A. The AB transverse plate 12D is provided with an AE shaft hole 12D1 for placing the AB sliding bearing 18B. The AA sliding bearing 18A and the AB sliding bearing 18B are sleeved on the AB transmission shaft 18.

Referring to fig. 8D, an AC transverse plate 13A and an AA support sleeve 13B are arranged on the support frame 13 on a; an AC through hole 13A1 is respectively provided at both ends of the AC transverse plate 13A, the AC through hole 13A1 is used for a screw to pass through, and the screw passing through the AC through hole 13A1 is screwed into a KB threaded hole 10a4 (shown in fig. 2) of the chassis 10, thereby realizing the fixing of the a upper support frame 13 on the lower panel of the chassis 10 (shown in fig. 1B). The AA support sleeve 13B is centrally provided with an AF shaft hole 13B1 for placing an AB upper shaft section 181 of the AB drive shaft 18.

Referring to fig. 8C, 8D and 8H, an AH shaft hole 14A1 for placing an AA plastic bearing 14C is provided in the middle of the AA block 14A; two ends of the AH shaft hole 14A1 are respectively an AD through hole 14A2 and an AE through hole 14A 3; the AD through hole 14A2 is matched with an AB threaded hole 11C2 on an AA support arm 11C of the lower bracket 11A, and one end of an AA stop block 14A is fixed on the AA support arm 11C by adopting a screw; the AE through hole 14A3 is matched with an AD threaded hole 11D2 on an AB support arm 11D of the a lower bracket 11, and the other end of the AA stopper 14A is fixed on the AB support arm 11D by a screw. The central portion of the a upper rolling element 14B is provided with an AF through hole 14B1 through which the a upper rolling shaft 14D passes. An AA shaft section 14D1, an AB shaft section 14D2, an AC shaft section 14D3 and an AA shaft shoulder 14D4 are arranged on the upper rolling shaft 14D of the A, and the AA shaft shoulder 14D4 is arranged between the AB shaft section 14D2 and the AC shaft section 14D 3; an AA plastic bearing 14C is sleeved on the AA shaft section 14D 1; an upper rolling body 14B is fixed on the AB shaft section 14D 2; an AB plastic bearing 14E is sleeved on the AC shaft section 14D 3.

Referring to fig. 8C, 8D, and 8I, an AI shaft hole 15A1 for placing the AC plastic bearing 15C is provided in the middle of the AB stopper 15A; two ends of the AI shaft hole 15A1 are respectively an AG through hole 15A2 and an AH through hole 15A 3; the AG through hole 15A2 is matched with an AE threaded hole 11E1 on an AC support arm 11E of the A lower bracket 11, and one end of an AB stop block 15A is fixed on the AC support arm 11E by adopting a screw; the AH through hole 15A3 is fitted into an AF screw hole 11F1 of the AD arm 11F of the a lower bracket 11, and the other end of the AB stopper 15A is fixed to the AD arm 11F by a screw. The central portion of the a lower rolling element 15B is provided with an AI through hole 15B1 through which the a lower rolling shaft 15D passes. The lower rolling shaft 15D is provided with an AD shaft section 15D1, an AE shaft section 15D2, an AF shaft section 15D3 and an AB shaft shoulder 15D4, and the AB shaft shoulder 15D4 is arranged between the AE shaft section 15D2 and the AF shaft section 15D 3; an AC plastic bearing 15C is sleeved on the AD shaft section 15D 1; a lower rolling element 15B is fixed on the AE shaft section 15D 2; an AD plastic bearing 15E is sleeved on the AF shaft section 15D 3. In the present invention, an EA support arm 5F1 (as shown in fig. 5A) for placing an EA support seat 5F is disposed between the upper rolling element 14B and the lower rolling element 15B, the outer portion of the EA support arm 5F1 is provided with the same external teeth as the AC spur gear 1F, and both ends of an EA guide through hole 5F11 of the EA support arm 5F1 are respectively provided with one end of a BB guide rail segment 7B2 and the other end of a BC guide rail segment 7B 3. Since the a upper rolling element 14B and the a lower rolling element 15B are placed in parallel, the a upper rolling element 14B rotates on the a upper rolling shaft 14D, and the a lower rolling element 15B rotates on the a lower rolling shaft 15D, flexible orbital transfer can be realized during orbital transfer, which is different from rigid orbital transfer.

Referring to fig. 8C, 8D and 8J, the AA transmission shaft 16 is provided with an AA upper shaft segment 161, an AA middle shaft segment 162 and an AA lower shaft segment 163. The AA transmission shaft 16 is sequentially sleeved with an AA belt wheel 1A, A track-changing rotating sleeve 16A, AC bearing 16E and an AA straight gear expansion sleeve 16F from top to bottom. A walking leg driving straight gear 1D is mounted outside the AA straight gear expansion sleeve 16F, and the walking leg driving straight gear 1D is meshed with the walking leg driven straight gear 1H. Namely, an AA belt wheel 1A is sleeved on an AA upper shaft section 161 of the AA transmission shaft 16; an AA middle shaft section 162 of the AA transmission shaft 16 is arranged in the A orbital transfer rotating sleeve 16A, and an AC bearing 16E is sleeved at the lower end part of the AA middle shaft section 162; an AA straight gear expansion sleeve 16F is sleeved on an AA lower shaft section 163 of the AA transmission shaft 16. In the present invention, the a-rail rotating sleeve 16A is a hollow structure. The middle part of the A orbit-changing rotating sleeve 16A is provided with an A center through hole 16A6, and the A center through hole 16A6 is used for the AA transmission shaft 16 to pass through; an AA sleeve section 16A1, an AB sleeve section 16A2 and an AC sleeve section 16A3 are arranged outside the A orbital transfer rotating sleeve 16A; an AA sleeve shoulder 16A4 is arranged between the AA sleeve section 16A1 and the AB sleeve section 16A 2; an AB sleeve shoulder 16a5 is located between the AB sleeve segment 16a2 and the AC sleeve segment 16 A3. The A orbital transfer rotating sleeve 16A is sequentially sleeved with an AB belt wheel 1B, AA bearing 16C, AB bearing 16D and an A orbital transfer driving straight gear 1C from top to bottom; namely, an AB belt wheel 1B is sleeved on the AA sleeve section 16A 1; sleeved on the AB sleeve section 16a2 are an AA bearing 16C and an AB bearing 16D (the AB bearing 16D is placed in the KA shaft hole 10A of the chassis 10, as shown in fig. 2); sleeved on AC sleeve segment 16a3 is a-transition drive spur gear 1C. The A orbital transfer driving spur gear 1C is meshed with the A orbital transfer driven spur gear 1G. The AA bearing 16C is placed in the shaft hole of the a bearing pressing plate 16B, the two ends of the a bearing pressing plate 16B are provided with lugs, the lugs are provided with through holes, and the a bearing pressing plate 16B is screwed into the KA threaded holes 10a3 of the chassis 10 (as shown in fig. 2) after passing through the through holes on the lugs by screws, so that the a bearing pressing plate 16B is fixed on the upper panel of the chassis 10.

Referring to fig. 8C and 8D, an AC upper shaft section 171, an AC middle shaft section 172 and an AC lower shaft section 173 are provided on the AC transmission shaft 17. The AC transmission shaft 17 is sequentially sleeved with an AA rand 17A, AB straight gear 1E, AB rand 17B, AC sleeve 17C, AB straight gear expansion sleeve 17D and an AC nut 17E from top to bottom. An AC spur gear 1F is installed outside the AB spur gear expansion sleeve 17D, and the AC spur gear 1F is meshed with teeth outside an EA support arm 5F1 of the EA support seat 5F. Namely, an AB straight gear 1E is sleeved on an AC upper shaft section 171 of the AC transmission shaft 17 (the AA straight gear 1J is meshed with the AB straight gear 1E); an AB collar 17B and an AC sleeve 17C are sleeved on the AC middle shaft section 172 of the AC transmission shaft 17 (an opening is arranged on the AC sleeve 17C); an AC lower shaft section 173 of the AC transmission shaft 17 is sleeved with an AB straight gear expansion sleeve 17D and an AC nut 17E.

Referring to fig. 8C and 8D, the AB transmission shaft 18 is provided with an AB upper shaft section 181, an AB middle shaft section 182 and an AB lower shaft section 183. The AB transmission shaft 18 is sequentially sleeved with an A upper support frame 13, an AA sliding bearing 18A (an A orbital transfer driven spur gear 1G is sleeved outside the AA sliding bearing 18A) and an AB transmission cylinder 18C from top to bottom. Namely, the AB upper shaft section 181 of the AB drive shaft 18 is placed in the AF shaft hole 13B1 of the a upper support frame 13. An AB middle shaft section 182 of the AB transmission shaft 18 is sleeved with an AA sliding bearing 18A; the AB lower shaft section 183 of the AB drive shaft 18 is disposed in the AG shaft hole 18C1 of the AB drive cylinder 18C. The AB transmission cylinder 18C is provided with an AG shaft hole 18C1, an upper cylinder 18C2, a middle cylinder 18C3 and a lower cylinder 18C 4; the AG shaft hole 18C1 is used for placing an AB lower shaft section 183 of the AB transmission shaft 18; the upper cylinder 18C2 is used for sleeving a walking leg driven spur gear 1H (the walking leg driving spur gear 1D is meshed with the walking leg driven spur gear 1H); the middle cylinder 18C3 is used for sleeving an AB sliding bearing 18B; the lower cylinder body 18C4 is used for being sleeved with an AA straight gear 1J, and the AA straight gear 1J is meshed with the AB straight gear 1E.

Referring to fig. 2, 2A, 8A, 8J, the a pinch roller rotating shaft 19 includes an a external gear 19B and an a mounting shaft 19A; the A external gear 19B is sleeved on the A mounting shaft 19A and moves circularly around the A mounting shaft 19A, and the lower end of the A mounting shaft 19A is fixed in the KC shaft hole 10A2 of the chassis 10. In the present invention, as shown in fig. 1B and 1C, the teeth on the outer ring of the a external gear 19B are meshed with the first synchronous toothed belt 110.

Second orbital transfer executing component 2

Referring to fig. 1, 1A, 1B, 1C, 8A, 8B, 9 and 10, the second orbital transfer performing assembly 2 includes a BA drive shaft 26, a BC drive shaft 27, a BB drive shaft 28, a B pinch roller rotating shaft 29, a BA pulley 2A, BB pulley 2B (external teeth on the BB pulley 2B are engaged with the first synchronizing cog belt 110, as shown in fig. 1B), a B orbital transfer drive spur gear 2C, B an orbital transfer driven spur gear 2G, B a walking leg drive spur gear 2D, B a walking leg driven spur gear 2H, BA a spur gear 2J, BB a spur gear 2E, BC a spur gear 2F, B bearing press plate 26B, B lower bracket 21, a B upper bracket 22, a B upper support bracket 23, a B upper rolling assembly 24 and a B lower rolling assembly 25. The B upper rolling assembly 24 comprises a BA stop block 24A, an upper rolling shaft 24D of an upper rolling body 24B, BA plastic bearing 24C, B and a BB plastic bearing 24E; wherein, the B lower rolling component 25 comprises a BB stop 25A, a lower rolling body 25B, BC plastic bearing 25C, B lower rolling shaft 25D and a BD plastic bearing 25E.

The B-lower bracket 21 has the same structure as the a-lower bracket 11, and reference may be made to the structure of the a-lower bracket 11 shown in fig. 8E and 8F. The lower bracket 21B is provided with a BA panel 21A, BB, a panel 21B, BA support arm 21C, BB support arm 21D, BC support arm 21E and a BD support arm; a BA shaft hole 21A1 for placing the BC middle shaft section 272 of the BC transmission shaft 27C is arranged on the BA panel 21A; the BB panel 21B is provided with a BB shaft hole, a BC shaft hole 21B2 and a BA rectangular through hole 21B 3; the BA rectangular through hole 21B3 is used for placing a BC spur gear 2F; the BB shaft hole is used for placing one end of the B upper rolling shaft 24D, and the BC shaft hole 21B2 is used for placing one end of the B lower rolling shaft 25D; a BA threaded hole is formed in an outer side panel of the BA support arm 21C, and a BB threaded hole is formed in an end panel of the BA support arm 21C; the BA threaded hole is matched with a bolt to fix a BA vertical plate 22A of the upper bracket 22B on an outer side panel of the BA support arm 21C; the BB threaded hole is matched with the BE through hole 24A3 on the BA stop block 24A, and then a long screw penetrates through the BE through hole 24A3 to BE in threaded connection with the BB threaded hole, so that one end of the BA stop block 24A is fixed on the end panel of the BA support arm 21C. A BC threaded hole is formed in an outer side panel of the BB support arm 21D, and a BD threaded hole is formed in an end panel of the BB support arm 21D; the BC threaded hole is matched with a screw to fix the BB vertical plate 22B of the B upper bracket 22 on the outer side panel of the BB support arm 21D; the BD threaded hole is matched with the BD through hole 24A2 on the BA stopper 24A, and then a long screw is threaded into the BD threaded hole after penetrating through the BD through hole 24A2, so that the other end of the BA stopper 24A is fixed on the end panel of the BB arm 21D. A BE threaded hole is formed in the end face plate of the BC support arm 21E; the BE threaded hole is matched with the BH through hole 25A3 on the BB stop 25A, and then a long screw penetrates through the BH through hole 25A3 to BE in threaded connection with the BE threaded hole, so that one end of the BB stop 25A is fixed on the end panel of the BC support arm 21E. BF threaded holes are formed in the end face plate of the BD supporting arm; the BF screw hole is matched with the BG through hole 25A2 on the BB stop 25A, and then the long screw penetrates through the BG through hole 25A2 and then is in threaded connection with the BF screw hole, so that the other end of the BB stop 25A is fixed on an end panel of the BD support arm.

The B upper bracket 22 has the same structure as the a upper bracket 12, and reference may be made to the structure of the a upper bracket 12 shown in fig. 8G. Referring to fig. 9, the B upper bracket 22 is provided with a BA riser 22A, BB riser 22B, BA cross plate 22C and a BB cross plate 22D; be equipped with BA through-hole 22A1 on the BA riser 22A, the BA screw hole cooperation on BA support arm 21C of BA through-hole 22A1 and B bottom bracket 21 passes through the screw the threaded connection is in the BA screw hole behind the BA through-hole 22A1, and it is fixed to realize BA riser 22A and BA support arm 21C's outside panel. The BB riser 22B is provided with a BB through hole 22B1, the BB through hole 22B1 is matched with a BC threaded hole on a BB support arm 21D of the B lower bracket 21, and the BB riser 22B and the BB support arm 21D are fixed by penetrating through the BB through hole 22B1 and then being in threaded connection in the BC threaded hole through screws. The BA lateral plate 22C is provided with a BD shaft hole 22C1 for placing the BA sliding bearing 28A. The BB cross plate 22D is provided with a BE shaft hole 22D1 for placing the BB sliding bearing 28B. The BA sliding bearing 28A and the BB sliding bearing 28B are sleeved on the BB propeller shaft 28.

Referring to fig. 9, a BC transverse plate 23A and a BA support sleeve 23B are arranged on the B upper support frame 23; two ends of the BC transverse plate 23A are respectively provided with a BC through hole 23A1, the BC through hole 23A1 is used for a screw to pass through, and the screw passing through the BC through hole 23A1 is screwed into a KD threaded hole 10B4 (shown in fig. 2) of the chassis 10, so that the B upper support frame 23 is fixed on the lower panel of the chassis 10 (shown in fig. 1B). The BA support sleeve 23B is centrally provided with a BF shaft hole 23B1 for placing the BB upper shaft section 28A of the BB drive shaft 28.

The BA stopper 24A has the same structure as the AA stopper 14A, and reference may be made to the structure of the AA stopper 14A shown in fig. 8H and 8I. A BH shaft hole for placing a BA plastic bearing 24C is arranged in the middle of the BA stop block 24A; the two ends of the BH shaft hole are respectively provided with a BD through hole and a BE through hole; the BD through hole is matched with a BB threaded hole in a BA support arm 21C of the B lower bracket 21, and one end of a BA stop block 24A is fixed on the BA support arm 21C by adopting a screw; the BE through hole is matched with a BD threaded hole in a BB support arm 21D of the B lower bracket 21, and the other end of the BA stop block 24A is fixed on the BB support arm 21D by using a screw. The center portion of the B upper rolling element 24B is provided with a BF through hole through which the B upper rolling shaft 24D passes. The upper rolling shaft 24D of the B is provided with a BA shaft section, a BB shaft section, a BC shaft section and a BA shaft shoulder, and the BA shaft shoulder is arranged between the BB shaft section and the BC shaft section; a BA plastic bearing 24C is sleeved on the BA shaft section; an upper rolling body 24B is fixed on the BB shaft section; the BC shaft section is sleeved with a BB plastic bearing 24E.

The BB stopper 25A has the same structure as the AB stopper 15A, and the structure of the AB stopper 15A shown in fig. 8H and 8I can be referred to. The middle of the BB stop block 25A is provided with a BI shaft hole for placing a BC plastic bearing 25C; both ends of the BI shaft hole are respectively a BG through hole and a BH through hole; the BG through hole is matched with a BE threaded hole on a BC support arm 21E of the B lower bracket 21, and one end of a BB stop block 25A is fixed on the BC support arm 21E by adopting a screw; the BH through hole is fitted with a BF threaded hole on the BD arm of the B lower bracket 21, and the other end of the BB stopper 25A is fixed on the BD arm by a screw. The center portion of the B lower rolling element 25B is provided with a BI through hole through which the B lower rolling shaft 25D passes. The lower rolling shaft 25D of the B is provided with a BD shaft section, a BE shaft section, a BF shaft section and a BB shaft shoulder, and the BB shaft shoulder is arranged between the BE shaft section and the BF shaft section; a BC plastic bearing 25C is sleeved on the BD shaft section; a B lower rolling body 25B is fixed on the BE shaft section; the BF shaft section is sleeved with a BD plastic bearing 25E. In the invention, an FA arm 6F1 (shown in FIG. 6B) of an FA supporting seat 6F is placed between the B upper rolling body 24B and the B lower rolling body 25B, external teeth identical to the BC spur gear 2F are arranged outside the FA arm 6F1, and one end of a BG guide rail section 7B7 and the other end of a BH guide rail section 7B8 are respectively installed at two ends of an FA guide rail through hole 6F11 on the FA arm 6F 1. Since the B upper rolling element 24B and the B lower rolling element 25B are placed in parallel, the B upper rolling element 24B rotates on the B upper rolling shaft 24D, and the B lower rolling element 25B rotates on the B lower rolling shaft 25D, flexible track transfer can be realized during track transfer, which is different from rigid track transfer.

Referring to fig. 9, the BA drive shaft 26 is provided with an upper BA section 261, a middle BA section 262 and a lower BA section 263. The BA transmission shaft 26 is sequentially sleeved with a BA belt wheel 2A, B track-changing rotating sleeve 26A, BC bearing 26E and a BA straight gear expansion sleeve 26F from top to bottom. A B walking leg driving straight gear 2D is mounted outside the BA straight gear expansion sleeve 26F, and the B walking leg driving straight gear 2D is meshed with a B walking leg driven straight gear 2H. Namely, a BA belt wheel 2A is sleeved on the BA upper shaft section 261 of the BA transmission shaft 26; a BA middle shaft section 262 of the BA transmission shaft 26 is arranged in the B track-changing rotating sleeve 26A, and a BC bearing 26E is sleeved at the lower end part of the BA middle shaft section 262; a BA straight gear expansion sleeve 26F is sleeved on the BA lower shaft section 263 of the BA transmission shaft 26. In the present invention, the B-rail rotating sleeve 26A is a hollow structure. The middle part of the B track-changing rotating sleeve 26A is provided with a B center through hole 26A6, and the B center through hole 26A6 is used for the BA transmission shaft 26 to pass through; the exterior of the B orbital transfer rotating sleeve 26A is provided with a BA sleeve section 26A1, a BB sleeve section 26A2 and a BC sleeve section 26A 3; a BA sleeve shoulder 26a4 is provided between the BA sleeve segment 26a1 and the BB sleeve segment 26a 2; a BB sleeve shoulder 26a5 is located between BB sleeve segment 26a2 and BC sleeve segment 26 A3. The B orbital transfer rotating sleeve 26A is sequentially sleeved with a BB belt wheel 2B, BA bearing 26C, BB bearing 26D and a B orbital transfer driving straight gear 2C from top to bottom; namely, the BB pulley 2B is sleeved on the BA sleeve section 26A 1; sleeved over BB sleeve segment 26a2 are BA bearing 26C and BB bearing 26D (BB bearing 26D is disposed in KD shaft hole 10B of chassis 10, as shown in fig. 2); sleeved on the BC sleeve section 26a3 is a B-shift rail driving spur gear 2C. The B-switching driving spur gear 2C is meshed with the B-switching driven spur gear 2G. The BA bearing 26C is placed in the shaft hole of the B bearing pressing plate 26B, the two ends of the B bearing pressing plate 26B are provided with lugs, the lugs are provided with through holes, and the B bearing pressing plate 26B is screwed into the KC threaded holes 10B3 of the chassis 10 (as shown in fig. 2) after passing through the through holes on the lugs by screws, so that the B bearing pressing plate 26B is fixed on the upper panel of the chassis 10.

Referring to fig. 9, the BC transmission shaft 27 is provided with a BC upper shaft section 271, a BC middle shaft section 272, and a BC lower shaft section 273. The BC transmission shaft 27 is sequentially sleeved with a BA rand 27A, BB straight gear 2E, BB rand 27B, BC sleeve 27C, BB straight gear expansion sleeve 27D and a BC nut 27E from top to bottom. The BC spur gear 2F is mounted on the outside of the BB spur gear expansion sleeve 27D, and the BC spur gear 2F is meshed with teeth on the outside of the FA support arm 6F1 of the FA support seat 6F. Namely, BB spur gear 2E is sleeved on BC upper shaft section 271 of BC transmission shaft 27 (BA spur gear 2J is meshed with BB spur gear 2E); a BC middle shaft section 272 of the BC transmission shaft 27 is sleeved with a BB collar 27B and a BC sleeve 27C (an opening is arranged on the BC sleeve 27C); a BC lower shaft segment 273 of the BC transmission shaft 27 is sleeved with a BB straight gear expansion sleeve 27D and a BC nut 27E.

Referring to fig. 9, the BB driving shaft 28 is provided with a BB upper shaft segment 281, a BB middle shaft segment 282, and a BB lower shaft segment 283. BB transmission shaft 28 from last to having cup jointed B support frame 23, BA slide bearing 28A in order down (BA slide bearing 28A's outside has cup jointed B becomes driven spur gear 2G of rail) and BB transmission section of thick bamboo 28C. Namely, the BB upper shaft segment 281 of the BB drive shaft 28 is disposed in the BF shaft hole 23B1 of the B upper support bracket 23. A BA sliding bearing 28A is sleeved on a BB middle shaft section 282 of the BB transmission shaft 28; BB lower shaft section 283 of BB drive shaft 28 is disposed within BG shaft hole 28C1 of BB drive cylinder 28C. The BB driving cylinder 28C is provided with a BG shaft hole 28C1, an upper cylinder 28C2, a middle cylinder 28C3 and a lower cylinder 28C 4; the BG shaft hole 28C1 is used for placing a BB lower shaft section 283 of a BB drive shaft 28; the upper cylinder 28C2 is used for sleeving a B walking leg driven spur gear 2H (a B walking leg driving spur gear 2D is meshed with the B walking leg driven spur gear 2H); the middle cylinder 28C3 is used for sleeving a BB sliding bearing 28B; the lower cylinder body 28C4 is used for being sleeved with a BA straight gear 2J, and the BA straight gear 2J is meshed with a BB straight gear 2E.

Referring to fig. 2, 2A and 10, the B pinch roller rotating shaft 29 includes a B external gear 29B and a B mounting shaft 29A; the B external gear 29B is sleeved on the B mounting shaft 29A and moves circularly around the B mounting shaft 29A, and the lower end of the B mounting shaft 29A is fixed in the KF shaft hole 10B2 of the chassis 10. In the present invention, the teeth on the outer ring of the B external-tooth gear 29B are meshed with the first synchronous toothed belt 110.

Third orbital transfer executing assembly 3

Referring to fig. 1, 1A, 1B, 1C, 8A, 8B, 11 and 13, the third track-changing executing assembly 3 includes a CA transmission shaft 36, a CC transmission shaft 37, a CB transmission shaft 38, a CA pinch roller rotating shaft 39A, CB, a pinch roller rotating shaft 39B, CA, a pulley 3A (the external teeth of the CA pulley 3A are engaged with the second timing belt 120, as shown in fig. 1B), CB pulley 3B (the external teeth on said CB pulley 3B are engaged with first synchronous toothed belt 110, as shown in fig. 1B), C orbital transfer drive spur gear 3C, C orbital transfer driven spur gear 3G, C walking leg drive spur gear 3D, C walking leg driven spur gear 3H, CA spur gear 3J, CB spur gear 3E, CC spur gear 3F, C bearing press plate 36B, C lower bracket 31, C upper bracket 32, C upper support frame 33, C upper rolling assembly 34 and C lower rolling assembly 35. Wherein, the C upper rolling component 34 comprises a CA stop 34A, an upper rolling shaft 34D of an upper rolling body 34B, CA plastic bearing 34C, C and a CB plastic bearing 34E; wherein, C lower rolling assembly 35 comprises CB stop 35A, lower rolling element 35B, CC plastic bearing 35C, C lower rolling shaft 35D and CD plastic bearing 35E.

The C lower bracket 31 has the same structure as the a lower bracket 11, and reference may be made to the structure of the a lower bracket 11 shown in fig. 8E and 8F. The lower C bracket 31 is provided with a CA panel 31A, CB panel 31B, CA arm 31C, CB arm 31D, CC arm 31E and a CD arm 31F; the CA panel 31A is provided with a CA shaft hole 31A1 for placing the CC middle shaft section 372 of the CC transmission shaft 37C; the CB panel 31B is provided with a CB shaft hole, a CC shaft hole 31B2 and a CA rectangular through hole 31B 3; the CA rectangular through hole 31B3 is used for placing the CC spur gear 3F; the CB shaft hole is used for placing one end of the C upper rolling shaft 34D, and the CC shaft hole 31B2 is used for placing one end of the C lower rolling shaft 35D; a CA threaded hole 31C1 is formed in the outer panel of the CA support arm 31C, and a CB threaded hole 31C2 is formed in the end panel of the CA support arm 31C; the CA threaded hole 31C1 is matched with a screw to fix the CA vertical plate 32A of the C upper bracket 32 on the outer side panel of the CA support arm 31C; the CB screw hole 31C2 is fitted into the CE through hole 34A3 of the CA stopper 34A, and then screwed into the CB screw hole 31C2 after passing through the CE through hole 34A3 with a long screw, thereby fixing one end of the CA stopper 34A to the end plate of the CA arm 31C. The outer side panel of the CB support arm 31D is provided with a CC threaded hole 31D1, and the end panel of the CB support arm 31D is provided with a CD threaded hole 31D 2; the CC threaded hole 31D1 is matched with a screw to fix the CB vertical plate 32B of the C upper bracket 32 on the outer side panel of the CB support arm 31D; the CD threaded hole 31D2 is matched with the CD through hole 34A2 on the CA stop 34A, and then a long screw is threaded in the CD threaded hole 31D2 after penetrating through the CD through hole 34A2, so that the other end of the CA stop 34A is fixed on the end panel of the CB support arm 31D. A CE threaded hole 31E1 is formed in the end panel of the CC support arm 31E; the CE screw hole 31E1 is fitted into the CH through hole 35A3 of the CB stopper 35A, and then threaded into the CE screw hole 31E1 after passing through the CH through hole 35A3 with a long screw, thereby fixing one end of the CB stopper 35A to the end panel of the CC arm 31E. The end panel of the CD support arm 31F is provided with a CF threaded hole 31F 1; the CF threaded hole 31F1 is matched with a CG through hole 35A2 on the CB stop 35A, and then a long screw is threaded in the CF threaded hole 31F1 after penetrating through the CG through hole 35A2, so that the other end of the CB stop 35A is fixed on an end panel of the CD support arm 31F.

The C upper bracket 32 has the same structure as the a upper bracket 12, and reference is made to the structure of the a upper bracket 12 shown in fig. 8G. Referring to fig. 13, the C upper bracket 32 is provided with a CA riser 32A, CB riser 32B, CA cross plate 32C and a CB cross plate 32D; the CA riser 32A is provided with a CA through hole 32A1, the CA through hole 32A1 is matched with a CA threaded hole 31C1 on a CA support arm 31C of the C lower bracket 31, and the CA riser 32A and the CA support arm 31C are fixed by a screw passing through the CA through hole 32A1 and then being screwed in the CA threaded hole 31C 1. Be equipped with CB through-hole 32B1 on the CB riser 32B, the CC screw hole 31D1 cooperation on CB through-hole 32B1 and the CB support arm 31D of C bottom bracket 31 passes through the screw CB through-hole 32B1 back threaded connection is in CC screw hole 31D1, realizes that the outside panel of CB riser 32B and CB support arm 31D is fixed. The CA transverse plate 32C is provided with a CD shaft hole 32C1 for placing the CA sliding bearing 38A. The CB transverse plate 32D is provided with a CE shaft hole 32D1 for placing the CB sliding bearing 38B. The CA sliding bearing 38A and the CB sliding bearing 38B are sleeved on the CB transmission shaft 38.

Referring to fig. 13, a CC transverse plate 33A and a CA support sleeve 33B are arranged on the C upper support frame 33; two ends of the CC transverse plate 33A are respectively provided with a CC through hole 33A1, the CC through hole 33A1 is used for a screw to pass through, and the screw passing through the CC through hole 33A1 is screwed into a KF threaded hole 10C4 (shown in fig. 2) of the chassis 10, so that the C upper support frame 33 is fixed on the lower panel of the chassis 10 (shown in fig. 1B). The CA support sleeve 33B is centrally provided with a CF shaft hole 33B1 for placement of the CB upper shaft section 38A of the CB drive shaft 38.

The CA stopper 34A has the same structure as the AA stopper 14A, and reference may be made to the structure of the AA stopper 14A shown in fig. 8H and 8I. The middle of the CA stop block 34A is provided with a CH shaft hole for placing a CA plastic bearing 34C; two ends of the CH shaft hole are respectively provided with a CD through hole and a CE through hole; the CD through hole is matched with a CB threaded hole in a CA support arm 31C of the C lower bracket 31, and one end of a CA stop block 34A is fixed on the CA support arm 31C by adopting a screw; the CE through hole is fitted with a CD screw hole in the CB arm 31D of the C lower bracket 31, and the other end of the CA stopper 34A is fixed to the CB arm 31D with a screw. The central portion of the upper rolling element 34B is provided with a CF through hole through which the C upper rolling shaft 34D passes. The C upper rolling shaft 34D is provided with a CA shaft section, a CB shaft section, a CC shaft section and a CA shaft shoulder, and the CA shaft shoulder is arranged between the CB shaft section and the CC shaft section; a CA plastic bearing 34C is sleeved on the CA shaft section; an upper rolling body 34B is fixed on the shaft section CB; and a CB plastic bearing 34E is sleeved on the CC shaft section.

The CB stopper 35A has the same structure as the AB stopper 15A, and reference may be made to the structure of the AB stopper 15A shown in fig. 8H and 8I. The middle of the CB stop block 35A is provided with a CI shaft hole for placing a CC plastic bearing 35C; the two ends of the CI shaft hole are respectively provided with a CG through hole and a CH through hole; the CG through hole is matched with a CE threaded hole on a CC support arm 31E of the C lower bracket 31, and one end of a CB stop block 35A is fixed on the CC support arm 31E by adopting a screw; the CH through hole is fitted with a CF screw hole on the CD support arm of the C lower bracket 31, and the other end of the CB stopper 35A is fixed on the CD support arm by a screw. The lower rolling element 35B is provided at a central portion thereof with a CI through hole through which the lower rolling shaft 35D passes. A CD shaft section, a CE shaft section, a CF shaft section and a CB shaft shoulder are arranged on the lower rolling shaft 35D, and the CB shaft shoulder is arranged between the CE shaft section and the CF shaft section; a CC plastic bearing 35C is sleeved on the CD shaft section; c, a lower rolling body 35B is fixed on the CE shaft section; the CF shaft section is sleeved with a CD plastic bearing 35E. In the present invention, an ED arm 5G1 (as shown in fig. 5A) for placing an ED support seat 5G is disposed between the C upper rolling element 34B and the C lower rolling element 35B, the exterior of the ED arm 5G1 is provided with external teeth identical to the CC spur gear 3F, and two ends of an EB guide through hole 5G11 on the ED arm 5G1 are respectively provided with one end of an AB guide section 7a2 and the other end of an AC guide section 7 A3. Since C upper rolling element 34B and C lower rolling element 35B are placed in parallel, C upper rolling element 34B rotates on C upper rolling shaft 34D, and C lower rolling element 35B rotates on C lower rolling shaft 35D, flexible orbital transfer can be realized at orbital transfer, which is different from rigid orbital transfer.

Referring to fig. 13, CA drive shaft 36 is provided with an upper CA shaft segment 361, a middle CA shaft segment 362 and a lower CA shaft segment 363. The CA transmission shaft 36 is sequentially sleeved with a CA belt wheel 3A, C track-changing rotating sleeve 36A, CC bearing 36E and a CA straight gear expanding sleeve 36F from top to bottom. The C walking leg driving straight gear 3D is installed outside the CA straight gear expansion sleeve 36F, and the C walking leg driving straight gear 3D is meshed with the C walking leg driven straight gear 3H. Namely, the CA upper shaft section 361 of the CA transmission shaft 36 is sleeved with the CA belt wheel 3A; a CA middle shaft section 362 of the CA transmission shaft 36 is arranged in the C track-changing rotating sleeve 36A, and a CC bearing 36E is sleeved at the lower end part of the CA middle shaft section 362; a CA straight gear expansion sleeve 36F is sleeved on the CA lower shaft section 363 of the CA transmission shaft 36. In the present invention, the C-rail rotating sleeve 36A is a hollow structure. The middle part of the C-shaped orbital transfer rotating sleeve 36A is provided with a C-shaped central through hole 36A6, and the C-shaped central through hole 36A6 is used for the CA transmission shaft 36 to pass through; the outer part of the C orbital transfer rotating sleeve 36A is provided with a CA sleeve section 36A1, a CB sleeve section 36A2 and a CC sleeve section 36A 3; a CA sleeve shoulder 36a4 between CA sleeve segment 36a1 and CB sleeve segment 36a 2; a CB sleeve shoulder 36a5 is located between CB sleeve segment 36a2 and CC sleeve segment 36 A3. The C track-changing rotating sleeve 36A is sequentially sleeved with a CB belt wheel 3B, CA bearing 36C, CB bearing 36D and a C track-changing driving straight gear 3C from top to bottom; namely, the CB pulley 3B is sleeved on the CA sleeve section 36a 1; sleeved on the CB sleeve section 36a2 are a CA bearing 36C and a CB bearing 36D (the CB bearing 36D is placed in the KG shaft hole 10C of the chassis 10, as shown in fig. 2); a C-change orbit driving spur gear 3C is sleeved on the CC sleeve section 36A 3. The C-type orbital transfer driving spur gear 3C is meshed with a C-type orbital transfer driven spur gear 3G. The CA bearing 36C is disposed in the shaft hole of the C bearing pressing plate 36B, two ends of the C bearing pressing plate 36B are provided with lugs, the lugs are provided with through holes, and the C bearing pressing plate 36B is screwed into the KE threaded hole 10C3 of the chassis 10 (as shown in fig. 2) after passing through the through holes on the lugs by screws, so as to fix the C bearing pressing plate 36B on the upper panel of the chassis 10.

Referring to fig. 13, the CC transmission shaft 37 is provided with a CC upper shaft section 371, a CC middle shaft section 372 and a CC lower shaft section 373. The CC transmission shaft 37 is sleeved with a CA clamping ring 37A, CB straight gear 3E, CB clamping ring 37B, CC sleeve 37C, CB straight gear expansion sleeve 37D and a CC nut 37E in sequence from top to bottom. The CC straight gear 3F is installed on the outer portion of the CB straight gear expansion sleeve 37D, and the CC straight gear 3F is meshed with teeth on the outer portion of an ED support arm 5G1 of an ED support seat 5G. Namely, a CB straight gear 3E is sleeved on the CC upper shaft section 371 of the CC transmission shaft 37 (the CA straight gear 3J is meshed with the CB straight gear 3E); a CC middle shaft section 372 of the CC transmission shaft 37 is sleeved with a CB collar 37B and a CC sleeve 37C (the CC sleeve 37C is provided with an opening); and a CC lower shaft section 373 of the CC transmission shaft 37 is sleeved with a CB straight gear expansion sleeve 37D and a CC nut 37E.

Referring to fig. 13, the CB transmission shaft 38 is provided with a CB upper shaft section 381, a CB middle shaft section 382 and a CB lower shaft section 383. The CB transmission shaft 38 is sequentially sleeved with a C support frame 33, a CA sliding bearing 38A (the CA sliding bearing 38A is sleeved with a C track-changing driven spur gear 3G) and a CB transmission cylinder 38C from top to bottom. That is, the CB upper shaft section 381 of the CB drive shaft 38 is disposed in the CF shaft hole 33B1 of the C upper support bracket 33. A CB middle shaft section 382 of the CB transmission shaft 38 is sleeved with a CA sliding bearing 38A; the CB lower shaft section 383 of the CB drive shaft 38 is disposed in the CG shaft hole 38C1 of the CB drive cylinder 38C. The CB transmission cylinder 38C is provided with a CG shaft hole 38C1, an upper cylinder 38C2, a middle cylinder 38C3 and a lower cylinder 38C 4; the CG shaft hole 38C1 is used for placing a CB lower shaft section 383 of the CB transmission shaft 38; the upper cylinder 38C2 is used for sleeving a C walking leg driven spur gear 3H (a C walking leg driving spur gear 3D is meshed with the C walking leg driven spur gear 3H); the middle cylinder 38C3 is used for sleeving the CB sliding bearing 38B; the lower cylinder body 38C4 is used for being sleeved with a CA straight gear 3J, and the CA straight gear 3J is meshed with a CB straight gear 3E.

Referring to fig. 2, 2A, and 11, in the third track-changing actuating assembly 3, there are two pinch roller shafts, i.e., a CA pinch roller shaft 39A and a CB pinch roller shaft 39B. The CA pinch roller rotating shaft 39A comprises a CA external gear 39A2 and a CA mounting shaft 39A 1; the CA external gear 39a2 is fitted around the CA mounting shaft 39a1 and moves circumferentially around the CA mounting shaft 39a1, and the lower end of the CA mounting shaft 39a1 is fixed in the KI shaft hole 10C2 of the chassis 10. In the present invention, the teeth on the outer ring of the CA external-teeth gear 39a2 mesh with the first synchronous toothed belt 110. The CB pinch roller rotating shaft 39B comprises a CB external gear 39B2 and a CB mounting shaft 39B 1; the CB external gear 39B2 is fitted around the CB mounting shaft 39B1 and moves circumferentially around the CB mounting shaft 39B1, and the lower end of the CB mounting shaft 39B1 is fixed in the KJ shaft hole 10C5 of the chassis 10. In the present invention, the teeth on the outer ring of the CB external-tooth gear 39B2 are meshed with the first synchronous toothed belt 110.

Fourth orbital transfer executing assembly 4

Referring to fig. 1, 1A, 1B, 1C, 8A, 8B, 12 and 14, the fourth track-changing actuating assembly 4 includes a DA transmission shaft 46, a DC transmission shaft 47, a DB transmission shaft 48, a DA pinch roller rotating shaft 49A, DB, a pinch roller rotating shaft 49B, DA pulley 4A (external teeth on the DA pulley 4A are engaged with the second timing belt 120, as shown in fig. 1B), DB pulley 4B (the external teeth on DB pulley 4B mesh with first synchronous toothed belt 110, as shown in fig. 1B), D-transfer drive spur gear 4C, D transfer driven spur gear 4G, D walking leg drive spur gear 4D, D walking leg driven spur gear 4H, DA spur gear 4J, DB spur gear 4E, DC spur gear 4F, D bearing press plate 46B, D lower bracket 41, D-upper bracket 42, D-upper support bracket 43, D-upper rolling assembly 44, and D-lower rolling assembly 45. The D upper rolling assembly 44 comprises a DA stop 44A, an upper rolling shaft 44D of an upper rolling body 44B, DA plastic bearing 44C, D and a DB plastic bearing 44E; wherein, D lower rolling assembly 45 comprises DB stop 45A, lower rolling element 45B, DC plastic bearing 45C, D lower rolling shaft 45D and DD plastic bearing 45E.

The D-lower bracket 41 has the same structure as the a-lower bracket 11, and reference may be made to the structure of the a-lower bracket 11 shown in fig. 8E and 8F. The D lower bracket 41 is provided with a DA panel 41A, DB panel 41B, DA supporting arm 41C, DB supporting arm 41D, DC supporting arm 41E and a DD supporting arm 41F; the DA panel 41A is provided with a DA shaft hole 41A1 for placing the DC middle shaft section 472 of the DC transmission shaft 47C; the DB panel 41B is provided with a DB shaft hole, a DC shaft hole 41B2 and a DA rectangular through hole 41B 3; the DA rectangular through hole 41B3 is used for placing the DC spur gear 4F; the DB shaft hole is used for placing one end of the D upper scroll shaft 44D, and the DC shaft hole 41B2 is used for placing one end of the D lower scroll shaft 45D; DA threaded holes 41C1 are formed in the outer side panel of the DA support arm 41C, and DB threaded holes 41C2 are formed in the end panel of the DA support arm 41C; the DA threaded holes 41C1 are matched with screws to fix the DA vertical plate 42A of the D upper bracket 42 on the outer side panel of the DA support arm 41C; the DB screw hole 41C2 is engaged with the DE through hole 44A3 of the DA stopper 44A, and then, a long screw is screwed into the DB screw hole 41C2 after passing through the DE through hole 44A3, so that one end of the DA stopper 44A is fixed to the end plate of the DA arm 41C. A DC threaded hole 41D1 is arranged on the outer panel of the DB support arm 41D, and a DD threaded hole 41D2 is arranged on the end panel of the DB support arm 41D; the DC threaded hole 41D1 is used for fixing a DB vertical plate 42B of the D upper bracket 42 on an outer side panel of the DB support arm 41D by adopting screw matching; the DD threaded hole 41D2 is matched with the DD through hole 44A2 on the DA stop block 44A, and then a long screw is threaded in the DD threaded hole 41D2 after penetrating through the DD through hole 44A2, so that the other end of the DA stop block 44A is fixed on the end panel of the DB support arm 41D. The end plate of the DC support arm 41E is provided with a DE screw hole 41E 1; the DE screw hole 41E1 is engaged with the DH through hole 45A3 of the DB block 45A, and then threaded into the DE screw hole 41E1 after passing through the DH through hole 45A3 with a long screw, thereby fixing one end of the DB block 45A to the end plate of the DC link 41E. The end panel of the DD support arm 41F is provided with a DF threaded hole 41F 1; the DF screw hole 41F1 is matched with the DG through hole 45A2 of the DB block 45A, and then threaded into the DF screw hole 41F1 after passing through the DG through hole 45A2 with a long screw, so as to fix the other end of the DB block 45A to the end plate of the DD arm 41F.

The D upper bracket 42 has the same structure as the a upper bracket 12, and reference may be made to the structure of the a upper bracket 12 shown in fig. 8G. Referring to fig. 14, the D upper bracket 42 is provided with a DA riser 42A, DB riser 42B, DA cross plate 42C and a DB cross plate 42D; DA through holes 42A1 are formed in the DA vertical plates 42A, the DA through holes 42A1 are matched with DA threaded holes 41C1 in DA support arms 41C of the D lower bracket 41, the DA through holes 42A1 are connected in the DA threaded holes 41C1 in a threaded mode after screws penetrate through the DA through holes 42A1, and fixing of the DA vertical plates 42A and the DA support arms 41C is achieved. DB riser 42B is provided with DB through hole 42B1, DB through hole 42B1 is matched with DC threaded hole 41D1 on DB support arm 41D of D lower bracket 41, and the DB riser 42B is fixed with the outer side panel of DB support arm 41D by passing a screw through DB through hole 42B1 and then screwing in the DC threaded hole 41D 1. The DA transverse plate 42C is provided with a DD shaft hole 42C1 for placing the DA sliding bearing 48A. The DB transverse plate 42D is provided with a DE shaft hole 42D1 for placing the DB sliding bearing 48B. The DA sliding bearing 48A and the DB sliding bearing 48B are sleeved on the DB propeller shaft 48.

Referring to fig. 14, a DC transverse plate 43A and a DA support sleeve 43B are arranged on the D upper support frame 43; two ends of the DC transverse plate 43A are respectively provided with a DC through hole 43A1, the DC through hole 43A1 is used for a screw to pass through, and the screw passing through the DC through hole 43A1 is screwed into a KH threaded hole 10D4 (shown in fig. 2) of the chassis 10, so as to fix the D upper support frame 43 on the lower panel of the chassis 10 (shown in fig. 1B). The center of the DA support sleeve 43B is provided with a DF shaft hole 43B1 for placing the DB upper shaft section 48A of the DB drive shaft 48.

The DA stopper 44A has the same structure as the AA stopper 14A, and reference may be made to the structure of the AA stopper 14A shown in fig. 8H and 8I. The middle of the DA stop block 44A is provided with a DH shaft hole for placing a DA plastic bearing 44C; the two ends of the DH shaft hole are respectively provided with a DD through hole and a DE through hole; the DD through hole is matched with a DB threaded hole on a DA support arm 41C of the D lower bracket 41, and one end of a DA stop block 44A is fixed on the DA support arm 41C by adopting a screw; the DE through hole is fitted into a DD threaded hole in a DB arm 41D of the D-lower bracket 41, and the other end of the DA stopper 44A is fixed to the DB arm 41D with a screw. The upper rolling element 44B is provided at a central portion thereof with a DF through hole through which the upper rolling shaft 44D passes. The D upper rolling shaft 44D is provided with a DA shaft section, a DB shaft section, a DC shaft section and a DA shaft shoulder, and the DA shaft shoulder is arranged between the DB shaft section and the DC shaft section; a DA plastic bearing 44C is sleeved on the DA shaft section; an upper rolling body 44B is fixed on the DB shaft section D; the DB plastic bearing 44E is sleeved on the DC shaft section.

The DB stopper 45A has the same structure as the AB stopper 15A, and reference may be made to the structure of the AB stopper 15A shown in fig. 8H and 8I. A DI shaft hole for placing a DC plastic bearing 45C is formed in the middle of the DB stop block 45A; the two ends of the DI shaft hole are respectively provided with a DG through hole and a DH through hole; the DG through hole is matched with a DE threaded hole in a DC support arm 41E of the D lower bracket 41, and one end of the DB stop block 45A is fixed on the DC support arm 41E by a screw; the DH through hole is matched with a DF threaded hole on a DD support arm of the D lower bracket 41, and the other end of the DB stop block 45A is fixed on the DD support arm by adopting a screw. The center portion of the lower rolling element 45B is provided with a DI through hole through which the lower rolling shaft 45D passes. The lower rolling shaft 45D is provided with a DD shaft section, a DE shaft section, a DF shaft section and a DB shaft shoulder, and the DB shaft shoulder is arranged between the DE shaft section and the DF shaft section; a DC plastic bearing 45C is sleeved on the DD shaft section; a lower rolling body 45B is fixed on the DE shaft section D; the DF shaft section is sleeved with a DD plastic bearing 45E. In the present invention, an FD arm 6G1 (as shown in fig. 6B) for placing an FB support seat 6G is disposed between the D upper rolling element 44B and the D lower rolling element 45B, the FD arm 6G1 is externally provided with external teeth similar to the DC spur gear 4F, and both ends of an FB guide through hole 6G11 of the FD arm 6G1 are respectively provided with one end of an AG guide section 7a7 and the other end of an AH guide section 7a 8. Since the D upper rolling element 44B and the D lower rolling element 45B are placed in parallel, the D upper rolling element 44B rotates on the D upper rolling shaft 44D, and the D lower rolling element 45B rotates on the D lower rolling shaft 45D, flexible track transfer can be realized during track transfer, which is different from rigid track transfer.

Referring to fig. 14, the DA transmission shaft 46 is provided with a DA upper shaft section 461, a DA middle shaft section 462 and a DA lower shaft section 463. The DA transmission shaft 46 is sequentially sleeved with a DA belt wheel 4A, D track-changing rotating sleeve 46A, DC bearing 46E and a DA straight gear expanding sleeve 46F from top to bottom. The D walking leg driving straight gear 4D is mounted outside the DA straight gear expansion sleeve 46F, and the D walking leg driving straight gear 4D is meshed with the D walking leg driven straight gear 4H. Namely, the DA upper shaft section 461 of the DA transmission shaft 46 is sleeved with a DA belt wheel 4A; a DA middle shaft section 462 of the DA transmission shaft 46 is arranged in the D track-changing rotating sleeve 46A, and a DC bearing 46E is sleeved at the lower end part of the DA middle shaft section 462; a DA straight gear expansion sleeve 46F is sleeved on the DA lower shaft section 463 of the DA transmission shaft 46. In the present invention, the D-rail rotating sleeve 46A is a hollow structure. The middle part of the D-type orbital transfer rotating sleeve 46A is a D center through hole 46A6, and the D center through hole 46A6 is used for the DA transmission shaft 46 to pass through; a DA sleeve section 46A1, a DB sleeve section 46A2 and a DC sleeve section 46A3 are arranged outside the D orbital transfer rotating sleeve 46A; DA sleeve shoulder 46A4 is located between DA sleeve segment 46A1 and DB sleeve segment 46A 2; between DB sleeve segment 46a2 and DC sleeve segment 46A3 is DB sleeve shoulder 46a 5. The D-type orbital transfer rotating sleeve 46A is sequentially sleeved with a DB belt wheel 4B, DA bearing 46C, DB bearing 46D and a D-type orbital transfer driving straight gear 4C from top to bottom; that is, the DA sleeve segment 46a1 is sleeved with the DB pulley 4B; sleeved on DB sleeve segment 46a2 are DA bearing 46C and DB bearing 46D (DB bearing 46D is disposed in KK shaft hole 10D of chassis 10, as shown in fig. 2A); sleeved on DC sleeve segment 46a3 is D-transition spur gear 4C. The D-type orbital transfer driving spur gear 4C is meshed with the D-type orbital transfer driven spur gear 4G. The DA bearing 46C is disposed in the shaft hole of the D bearing pressing plate 46B, two ends of the D bearing pressing plate 46B are provided with lugs, through holes are formed on the lugs, and the D bearing pressing plate 46B is screwed into the KG threaded hole 10D3 of the chassis 10 (as shown in fig. 2) after passing through the through holes on the lugs by screws, so that the D bearing pressing plate 46B is fixed on the upper panel of the chassis 10.

Referring to fig. 14, a DC upper shaft section 471, a DC middle shaft section 472 and a DC lower shaft section 473 are provided on the DC transmission shaft 47. The DC transmission shaft 47 is sequentially sleeved with a DA clamping ring 47A, DB straight gear 4E, DB clamping ring 47B, DC sleeve 47C, DB straight gear expansion sleeve 47D and a DC nut 47E from top to bottom. A DC spur gear 4F is mounted on the outside of the DB spur gear expansion bush 47D, and the DC spur gear 4F meshes with teeth on the outside of the FD arm 6G1 of the FB support base 6G. Namely, a DC upper shaft section 471 of the DC transmission shaft 47 is sleeved with a DB spur gear 4E (a DA spur gear 4J is meshed with the DB spur gear 4E); a DC middle shaft section 472 of the DC transmission shaft 47 is sleeved with a DB collar 47B and a DC sleeve 47C (the DC sleeve 47C is provided with an opening); a DC lower shaft section 473 of the DC transmission shaft 47 is sleeved with a DB straight gear expansion sleeve 47D and a DC nut 47E.

Referring to fig. 14, a DB upper shaft section 481, a DB middle shaft section 482 and a DB lower shaft section 483 are provided on the DB driving shaft 48. DB transmission shaft 48 from last to having cup jointed D support frame 43, DA slide bearing 48A in order down (DA slide bearing 48A's outside has cup jointed D and has become driven spur gear 4G of rail) and DB transmission section of thick bamboo 48C. That is, the DB upper shaft section 481 of the DB drive shaft 48 is disposed in the DF shaft hole 43B1 of the D upper support bracket 43. A DA sliding bearing 48A is sleeved on the DB middle shaft section 482 of the DB transmission shaft 48; the DB lower shaft section 483 of the DB drive shaft 48 is disposed within the DG shaft aperture 48C1 of the DB drive barrel 48C. The DB transmission cylinder 48C is provided with a DG shaft hole 48C1, an upper cylinder 48C2, a middle cylinder 48C3 and a lower cylinder 48C 4; the DG shaft hole 48C1 is used for placing a DB lower shaft section 483 of the DB transmission shaft 48; the upper cylinder 48C2 is used for sleeving a D walking leg driven spur gear 4H (the D walking leg driving spur gear 4D is meshed with the D walking leg driven spur gear 4H); the middle cylinder 48C3 is used for sleeving a DB sliding bearing 48B; the lower cylinder body 48C4 is used for being sleeved with a DA straight gear 4J, and the DA straight gear 4J is meshed with a DB straight gear 4E.

Referring to fig. 2, 2A and 12, in the fourth track transfer executing assembly 4, there are two pinch roller rotating shafts, namely, a DA pinch roller rotating shaft 49A and a DB pinch roller rotating shaft 49B. The DA pinch roller rotating shaft 49A comprises a DA external gear 49A2 and a DA mounting shaft 49A 1; the DA external gear 49A2 is sleeved on the DA mounting shaft 49A1 and circularly moves around the DA mounting shaft 49A1, and the lower end of the DA mounting shaft 49A1 is fixed in the KM shaft hole 10D2 of the chassis 10. In the present invention, the teeth on the outer race of the DA external gear 49a2 mesh with the first synchronous toothed belt 110. The DB pinch roller rotating shaft 49B comprises a DB external gear 49B2, a DC external gear 49B3 and a DB mounting shaft 49B 1; the DC external gear 49B3 is fitted over the upper end of the DB mounting shaft 49B1, the DB external gear 49B2 is located below the DC external gear 49B3 and fitted over the DB mounting shaft 49B1, the DB external gear 49B2 and the DC external gear 49B3 both move circumferentially around the DB mounting shaft 49B1, and the lower end of the DB mounting shaft 49B1 is fixed to the KN shaft hole 10D5 of the chassis 10. In the present invention, as shown in fig. 1B and 1C, the teeth on the outer ring of the DB external-tooth gear 49B2 are meshed with the first timing belt 110, and the teeth on the outer ring of the DC external-tooth gear 49B3 are meshed with the second timing belt 120.

In the present invention, the four track change executing components cooperate with each other to execute not only the track change action but also the forward travel action of the entire apparatus, and therefore are also referred to as leg mechanisms. The following differences in the design of the device according to the invention are explained again with reference to the components of the first orbital transfer actuator assembly 1: the outer rings of the two bearings 16C and 16D are matched with the KA shaft holes 10A on the chassis 10, namely the end faces of the bearings are matched with the end faces of the shaft holes, and the A bearing pressing plate 16B is firmly pressed on the upper end face of the bearing through screwing of the screws and the KA threaded holes 10A3 on the chassis. The A orbital transfer rotating sleeve 16A is of a hollow structure, the outer surface of the A orbital transfer rotating sleeve is provided with a shaft collar, an inner hole of the A orbital transfer rotating sleeve is provided with a hole shoulder, the outer surface of the A orbital transfer rotating sleeve 16A is matched with the inner hole of the AC bearing 16E, and the end face of the shaft collar is matched with the upper end face of the AC bearing 16E. The lower part of the outer surface of the A orbital transfer rotating sleeve 16A is matched with an inner hole of the A orbital transfer driving straight gear 1C, and the lower end surface of the A orbital transfer rotating sleeve 16A is matched with the lower end surface of the A orbital transfer driving straight gear 1C. AA drive shaft 16 is a shaft having a multi-step shoulder that is concentric with a tracking rotating sleeve 16A so that it can freely rotate within tracking rotating sleeve 16A. The A upper support frame 13 is made of engineering high-quality stainless steel, and the A upper support frame 13 mainly has the function of preventing the AB transmission shaft 18 from being frequently rotated to cause hole abrasion. The AB transmission shaft 18 is inserted into the A upper support frame 13 from bottom to top, and after the AB transmission shaft 18 is matched with the AB transmission shaft, a clamp spring is arranged at the upper end of the AB transmission shaft 18 to fix the axial position of the AB transmission shaft 18. The AB sliding bearing 18B is arranged at the lower end of the AB transmission shaft 18 and is used for being matched with the A walking leg driven orbital transfer straight gear 1H, the A walking leg driven orbital transfer straight gear 1H can rotate on the AB transmission shaft 18, and the A walking leg driven straight gear 1H) is ensured to be meshed with the A walking leg driving straight gear 1D. The A upper bracket 12 of the leg part is screwed and connected with the A walking leg driven spur gear 1H through three screws through threaded holes. A thin nut is arranged in the hollow part in the A upper bracket 12 and is used for screwing with the bottom end of the AB transmission shaft 18, so that the A upper bracket 12 and the A walking leg driven spur gear 1H are connected with the AB transmission shaft 18. The A upper bracket 12 is a hollow structure. The AB drive cylinder 18C is a part that transmits the advancing movement, and its outer surface cooperates with two slide bearings. The AB straight gear 1E is positioned at the upper part of the AC transmission shaft 17 and is matched with the AA straight gear 1J. After installation, it is ensured that the AB spur gear 1E meshes with the AA spur gear 1J.

First orbital transfer turntable assembly 5

Referring to fig. 1, 1A, 5A, 6 and 6A, the first and second orbital transfer turret assemblies 5 and 6 are identical in structure. The first and second orbital transfer turret assemblies 5 and 6 are the revolute joints of the orbital transfer system of the present invention.

Referring to fig. 5 and 5A, the first orbital transfer turntable assembly 5 includes an E turntable 5A, EA connecting rail base 5B, EB connecting rail base 5C, EA orbital transfer connecting rail 5D, EB orbital transfer connecting rail 5E, EA supporting seat 5F, EB supporting seat 5G, and an EA orbital transfer rotating assembly and an EB orbital transfer rotating assembly respectively installed in through holes at two sides of the E turntable 5A. The EA rail-changing rotating assembly consists of an EA nut 5L1, an EA stop collar 5M1, an EA bearing 5K1, an EB bearing 5K2, an EA rail-changing rotating shaft 5H, EA stop washer 5N1, an EB nut 5L2 and an EA bearing end cover 5P 1. The EB rail-changing rotating assembly consists of an EC nut 5L3, an EB stop collar 5M2, an EC bearing 5K3, an ED bearing 5K4, an EB rail-changing rotating shaft 5J, EB stop washer 5N2, an ED nut 5L4 and an EB bearing end cover 5P 2.

Referring to fig. 5B, the E turntable 5A is provided with an EA support table 5A1, an EB support table 5A2, and an E fixing plate 5A3, the E fixing plate 5A3 is disposed between the EA support table 5A1 and the EB support table 5A2, and the EA support table 5A1 is parallel to the EB support table 5A 2; an EC shaft hole 5A11 is arranged on the EA supporting table 5A1, an EA bearing 5K1, an EB bearing 5K2, an EA stopping gasket 5N1 and an EB nut 5L2 are installed in the EC shaft hole 5A11, and the EA bearing 5K1, the EB bearing 5K2, the EA stopping gasket 5N1 and the EB nut 5L2 are sleeved on the lower section of an EA shaft shoulder 5H1 of the EA rail-changing rotating shaft 5H; an EA bearing end cover 5P1 is fixed on the lower panel of the EA support platform 5a1 through a screw; an ED shaft hole 5A21 is formed in the EB supporting table 5A2, an EC bearing 5K3, an ED bearing 5K4, an EB stop washer 5N2 and an ED nut 5L4 are installed in the ED shaft hole 5A21, and the EC bearing 5K3, the ED bearing 5K4, the EB stop washer 5N2 and the ED nut 5L4 are sleeved on the lower section of an EB shaft shoulder 5J1 of the EB rail changing rotating shaft 5J; an EB bearing end cap 5P2 is fixed to the lower panel of the EB supporting stage 5a2 by screws. The E fixing plate 5A3 is provided with an EA through hole 5A31 and an EB through hole 5A32, the EA through hole 5A31 is used for placing GL screws 7E2 in the guide rail assembly 7, and the EB through hole 5A32 is used for placing GK screws 7E1 in the guide rail assembly 7. In the present invention (as shown in fig. 7A), the fixing of the E-fixing plate 5A3 to the rail base plate 7C of the rail assembly 7 is achieved by passing a GL screw 7E2 through the EA through hole 5a31 of the E-fixing plate 5A3 and the through hole of the rail base plate 7C of the rail assembly 7 in sequence and then connecting an upper nut. Similarly, the GK screws 7E1 sequentially pass through the EB through holes 5a32 on the E fixing plate 5A3 and the through holes on the rail bottom plate 7C of the rail assembly 7 and then are connected with the upper nuts, so that the E fixing plate 5A3 is fixed to the rail bottom plate 7C of the rail assembly 7.

An EG support arm 5B1 and an EH support arm 5B2 are arranged on the EA connecting rail base 5B, and the EG support arm 5B1 is perpendicular to the EH support arm 5B 2; the EG support arm 5B1 is used for fixing one end of an EA rail-changing connecting rail 5D; the EH arm 5B2 is fixedly mounted on the EA side panel 5A12 of the E turntable 5A. An EI supporting arm 5C1 and an EJ supporting arm 5C2 are arranged on the EB connecting rail base 5C, and the EI supporting arm 5C1 is perpendicular to the EJ supporting arm 5C 2; the EI support arm 5C1 is used for fixing one end of the EB rail-changing connecting rail 5E; the EJ arm 5C2 is fixedly mounted on the EB side panel 5A22 of the E turret 5A.

EA supporting seat 5F is provided with EA supporting arm 5F1, EB supporting arm 5F2 and EC supporting arm 5F3, EB supporting arm 5F2 is arranged between EA supporting arm 5F1 and EC supporting arm 5F3, and EA supporting arm 5F1 is parallel to EC supporting arm 5F 3; the EA support arm 5F1 is provided with an EA guide rail through hole 5F11 for placing a guide rail section (namely one end of the BB guide rail section 7B2 and the other end of the BC guide rail section 7B3) to pass through; an EA shaft hole 5F31 used for enabling the upper end of the EA rail changing rotating shaft 5H to penetrate through and an EA clamping groove 5F32 used for enabling an EA lower protrusion 5M11 of an EA stop ring 5M1 to penetrate through are arranged on the EC supporting arm 5F 3. An ED support arm 5G1, an EE support arm 5G2 and an EF support arm 5G3 are arranged on the EB support seat 5G, the EE support arm 5G2 is arranged between the ED support arm 5G1 and the EF support arm 5G3, and the ED support arm 5G1 is parallel to the EF support arm 5G 3; the ED support arm 5G1 is provided with an EB guide rail through hole 5G11 for placing a guide rail section (namely one end of the AB guide rail section 7A2 and the other end of the AC guide rail section 7A3) to pass through; the EF supporting arm 5G3 is provided with an EB shaft hole 5G31 for the upper end of the EB rail changing rotating shaft 5J to pass through and an EB clamping groove 5G32 for the EB stop collar 5M2 to pass through in a protruding mode.

An EA shaft shoulder 5H1 is arranged on the EA rail-changing rotating shaft 5H; namely, the upper section of the EA shaft shoulder 5H1 of the EA track-changing rotating shaft 5H is used for sleeving an EC support arm 5F3 of an EA support seat 5F, an EA stop collar 5M1 and an EA nut 5L 1; namely, the lower section of the EA shaft shoulder 5H1 of the EA track-changing rotating shaft 5H is used for sleeving an EA bearing 5K1, an EB bearing 5K2, an EA stop washer 5N1 and an EB nut 5L 2. An EB shaft shoulder 5J1 is arranged on the EB rail changing rotating shaft 5J; namely, the upper section of the EB shaft shoulder 5J1 of the EB rail changing rotating shaft 5J is used for sleeving an EF support arm 5G3 of an EB support seat 5G, an EB stop collar 5M2 and an EC nut 5L 3; namely, the lower section of the EB shaft shoulder 5J1 of the EB rail changing rotating shaft 5J is used for being sleeved with an EC bearing 5K3, an ED bearing 5K4, an EB stop washer 5N2 and an ED nut 5L 4.

Second orbital transfer turntable assembly 6

Referring to fig. 6 and 6A, the second orbital transfer turntable assembly 6 includes an F turntable 6A, FA connected rail base 6B, FB connected rail base 6C, FA connected rail base 6D, FB orbital transfer connected rail 6E, FA supporting seat 6F, FB supporting seat 6G, and an FA orbital transfer rotation assembly and an FB orbital transfer rotation assembly respectively installed in through holes at two sides of the F turntable 6A. The FA rail-changing rotating assembly consists of an FA nut 6L1, an FA stop check ring 6M1, an FA bearing 6K1, an FB bearing 6K2, an FA rail-changing rotating shaft 6H, FA stop washer 6N1, an FB nut 6L2 and an FA bearing end cover 6P 1. The FB rail-changing rotating assembly is composed of an FC nut 6L3, an FB stop check ring 6M2, an FC bearing 6K3, an FD bearing 6K4, an FB rail-changing rotating shaft 6J, FB stop washer 6N2, an FD nut 6L4 and an FB bearing end cover 6P 2.

Referring to fig. 6B, the F turntable 6A is provided with an FA support table 6A1, an FB support table 6A2, and an F fixing plate 6A3, the F fixing plate 6A3 is interposed between the FA support table 6A1 and the FB support table 6A2, and the FA support table 6A1 is parallel to the FB support table 6A 2; an FC shaft hole 6A11 is formed in the FA support table 6A1, an FA bearing 6K1, an FB bearing 6K2, an FA stop washer 6N1 and an FB nut 6L2 are installed in the FC shaft hole 6A11, and the FA bearing 6K1, the FB bearing 6K2, the FA stop washer 6N1 and the FB nut 6L2 are sleeved on the lower section of an FA shoulder 6H1 of the FA rail changing rotating shaft 6H; an FA bearing end cover 6P1 is fixed on the lower panel of the FA support platform 6A1 through a screw; an FD shaft hole 6A21 is arranged on the FB support table 6A2, an FC bearing 6K3, an FD bearing 6K4, an FB stop washer 6N2 and an FD nut 6L4 are installed in the FD shaft hole 6A21, and the FC bearing 6K3, the FD bearing 6K4, the FB stop washer 6N2 and the FD nut 6L4 are sleeved on the lower section of an FB shoulder 6J11 of the FB rail-changing rotating shaft 6J; the FB bearing cover 6P2 is fixed to the lower panel of the FB support table 6a2 by screws. The F fixing plate 6A3 is provided with an FA through hole 6a31 and an FB through hole 6a32, the FA through hole 6a31 is used for placing a GJ screw 7D2 in the rail assembly 7, and the FB through hole 6a32 is used for placing a GI screw 7D1 in the rail assembly 7. In the invention (as shown in fig. 7A), the F fixing plate 6A3 is fixed to the guide rail bottom plate 7C of the guide rail assembly 7 by sequentially passing the GJ screw 7D2 through the FA through hole 6a31 of the F fixing plate 6A3 and the through hole of the guide rail bottom plate 7C of the guide rail assembly 7 and then connecting the upper nut. Similarly, the GI screw 7D1 sequentially penetrates through the FB through hole 6a32 on the F fixing plate 6A3 and the through hole on the guide rail bottom plate 7C of the guide rail assembly 7 to connect with the upper nut, so that the F fixing plate 6A3 is fixed with the guide rail bottom plate 7C of the guide rail assembly 7.

An FG support arm 6B1 and an FH support arm 6B2 are arranged on the FA connecting rail base 6B, and the FG support arm 6B1 is perpendicular to the FH support arm 6B 2; the FG support arm 6B1 is used for fixing one end of the FA rail change connecting rail 6D; the FH arm 6B2 is fixedly mounted on the FA side panel 6A12 of the F turret 6A. The FB connecting rail base 6C is provided with an FI support arm 6C1 and an FJ support arm 6C2, and the FI support arm 6C1 is vertical to the FJ support arm 6C 2; the FI support arm 6C1 is used for fixing one end of the FB rail-changing connecting rail 6F; the FJ arm 6C2 is fixedly attached to the FB side panel 6A22 of the F turn table 6A.

The FA supporting seat 6F is provided with an FA supporting arm 6F1, an FB supporting arm 6F2 and an FC supporting arm 6F3, the FB supporting arm 6F2 is arranged between the FA supporting arm 6F1 and the FC supporting arm 6F3, and the FA supporting arm 6F1 is parallel to the FC supporting arm 6F 3; the FA support arm 6F1 is provided with an FA guide rail through hole 6F11 for placing a guide rail section (namely one end of the BG guide rail section 7B7 and the other end of the BH guide rail section 7B8) to pass through; the FC support arm 6F3 is provided with an FA shaft hole 6F31 for the upper end of the FA track-changing rotating shaft 6H to pass through and an FA clamping groove 6F32 for the FA lower bulge 6M11 of the FA stop dog 6M1 to pass through. FD support arm 6G1, FE support arm 6G2 and FF support arm 6G3 are arranged on FB support seat 6G, FE support arm 6G2 is placed between FD support arm 6G1 and FF support arm 6G3, and FD support arm 6G1 is parallel to FF support arm 6G 3; the FD support arm 6G1 is provided with an FB guide rail through hole 6G11 for placing a guide rail section, namely one end of the AG guide rail section 7A7 and the other end of the AH guide rail section 7A8 to pass through; the FF support arm 6G3 is provided with an FB shaft hole 6G31 for the upper end of the FB rail-changing rotating shaft 6J to pass through and an FB clamping groove 6G32 for the FB lower projection of the FB stop ring 6M2 to pass through.

An FA shaft shoulder 6H1 is arranged on the FA rail-changing rotating shaft 6H; namely, the upper section of an FA shaft shoulder 6H1 of the FA track-changing rotating shaft 6H is used for sleeving an FC support arm 6F3 of an FA support seat 6F, an FA stop collar 6M1 and an FA nut 6L 1; namely, the lower section of the FA shaft shoulder 6H1 of the FA rail-changing rotating shaft 6H is used for sleeving the FA bearing 6K1, the FB bearing 6K2, the FA stop washer 6N1 and the FB nut 6L 2. An FB shaft shoulder 6J1 is arranged on the FB rail-changing rotating shaft 6J; namely, the upper section of the FB shoulder 6J1 of the FB rail-changing rotating shaft 6J is used for sleeving an FF support arm 6G3, an FB stop check ring 6M2 and an FC nut 6L3 of an FB support seat 6G; namely, the lower section of the FB shoulder 6J1 of the FB rail-changing rotating shaft 6J is used for sleeving the FC bearing 6K3, the FD bearing 6K4, the FB stop washer 6N2 and the FD nut 6L 4.

In the first orbital transfer turntable assembly 5 and the second orbital transfer turntable assembly 6 of the present invention, among the orbital transfer turntable (4) components, the turntable (47) is the supporting base, and the structure thereof is as shown in fig. 14, the whole turntable part is composed of the left and right main turntables, and the middle connecting part is provided with a counter bore (475) for connecting the orbital transfer turntable assembly (4) to the guide rail (7). A main turntable on one side of the turntable (47) is provided with a bottom end surface (471), two large threaded holes (472), four small threaded holes (473) and a bearing hole (474) with a hole shoulder. A screw hole (476) is provided in the turn table side surface (477). Two bearings (48) are arranged in the bearing hole (474), the rail-changing rotating shaft (43) is arranged in the two bearings (48), the bottom end of the rail-changing rotating shaft passes through a stop gasket (49), the shaft is connected with the bearings through round nuts (4a), and a bearing end cover (4b) is screwed in a threaded hole (473) through a screw (4c) to complete connection. The rail-changing guide rail (40) is a special guide rail section with a tooth-shaped structure on the side surface of the guide rail, is arranged on a rail-changing rotating shaft (43) from top to bottom, and is connected to the rotating shaft (43) through a thin nut (41) and a stop retaining ring (42). The spring steel ball (44) is screwed in the threaded hole (472), the steel ball on the spring steel ball is matched with the ball sink (401) on the lower surface of the rail replacing guide rail (40), and the ball sink plays a positioning role. The circular groove (402) is a track of the spring steel ball (44) when the rail changing guide rail (40) rotates. The rail-changing connecting guide rail (46) is screwed in the threaded hole (476) by a screw (45). Is used for butting with the rail changing guide rail (40) after rotating 90 degrees.

Guide rail assembly 7

Referring to fig. 1, 1A, 7A, 7B, and 7C, the rail assembly 7 is composed of an a rail segment assembly 7A, B, a rail base plate 7C, GA, a rail support bracket 71, a GB rail support bracket 72, a GC rail support bracket 73, a GD rail support bracket 74, a GE rail support bracket 75, a GF rail support bracket 76, a GG rail support bracket 77, and a GH rail support bracket 78; the eight guide rail support frames are identical in structure and are U-shaped structural members.

The A guide rail section component 7A comprises a GA guide rail section 7A-1, a GB guide rail section 7A-2, a GC guide rail section 7A-3, a GD guide rail section 7A-4, an AA guide rail section 7A1, an AB guide rail section 7A2, an AC guide rail section 7A3, an AD guide rail section 7A4, an AE guide rail section 7A5, an AF guide rail section 7A6, an AG guide rail section 7A7, an AH guide rail section 7A8 and an AI guide rail section 7A 9. In the present invention, the exterior of each guide rail segment on the a guide rail segment assembly 7A is provided with teeth that mate with the AC spur gear 1F and the BC spur gear 2F.

The B guide rail section assembly 7B comprises a GE guide rail section 7B-1, a GF guide rail section 7B-2, a GG guide rail section 7B-3, a GH guide rail section 7B-4, a BA guide rail section 7B1, a BB guide rail section 7B2, a BC guide rail section 7B3, a BD guide rail section 7B4, a BE guide rail section 7B5, a BF guide rail section 7B6, a BG guide rail section 7B7, a BH guide rail section 7B8 and a BI guide rail section 7B 9. In the present invention, the exterior of each guide rail section on the B guide rail section assembly 7B is provided with teeth matching the CC spur gear 3F and the DC spur gear 4F.

The guide rail bottom plate 7C is provided with a through hole for a screw to pass through. In the invention, the guide rail bottom plate 7C is fixed with a plurality of support frames by connecting the upper nuts after the screws pass through the through holes on the support frames and the through holes on the guide rail bottom plate 7C.

The GA screws 71-1 are sequentially passed through GA through holes in the transverse plate of the GA guide rail support frame 71 and through holes in the guide rail bottom plate 7C of the guide rail assembly 7 and then connected with upper nuts, so that the GA guide rail support frame 71 and the guide rail bottom plate 7C of the guide rail assembly 7 are fixed.

GB screw 72-1 passes through GB through-hole on the diaphragm of GB guide rail support frame 72, connects the upper nut behind the through-hole on guide rail bottom plate 7C of guide rail subassembly 7 in order, realizes GB guide rail support frame 72 and guide rail bottom plate 7C of guide rail subassembly 7 fixed.

The GC screws 73-1 sequentially penetrate through GC through holes in a transverse plate of the GC guide rail support frame 73 and through holes in a guide rail bottom plate 7C of the guide rail assembly 7 and then are connected with upper nuts, and the GC guide rail support frame 73 is fixed with the guide rail bottom plate 7C of the guide rail assembly 7.

The GD screws 74-1 sequentially penetrate through GD through holes in the transverse plate of the GD guide rail support frame 74 and through holes in the guide rail bottom plate 7C of the guide rail assembly 7 and then are connected with upper nuts, and fixation of the GD guide rail support frame 74 and the guide rail bottom plate 7C of the guide rail assembly 7 is achieved.

The GE screws 75-1 sequentially penetrate through GE through holes in the transverse plate of the GE guide rail support frame 75 and through holes in the guide rail bottom plate 7C of the guide rail assembly 7 and then are connected with upper nuts, and the GE guide rail support frame 75 is fixed with the guide rail bottom plate 7C of the guide rail assembly 7.

The GF screws 76-1 sequentially penetrate GF through holes on the transverse plate of the GF guide rail support frame 76 and through holes on the guide rail bottom plate 7C of the guide rail assembly 7 and then are connected with upper nuts, so that the GF guide rail support frame 76 is fixed with the guide rail bottom plate 7C of the guide rail assembly 7.

GG screw 77-1 passes GG through-hole on the diaphragm of GG guide rail support frame 77 in order, connects the upper nut behind the through-hole on guide rail bottom plate 7C of guide rail assembly 7, realizes that GG guide rail support frame 77 is fixed with guide rail bottom plate 7C of guide rail assembly 7.

The GH screw 78-1 sequentially penetrates through a GH through hole in a transverse plate of the GH guide rail support frame 78 and a through hole in a guide rail bottom plate 7C of the guide rail assembly 7 and then is connected with an upper nut, so that the GH guide rail support frame 78 and the guide rail bottom plate 7C of the guide rail assembly 7 are fixed.

The other end of the GAA rail through hole of the GA rail support bracket 71 is fitted with one end of the GD rail section 7A-4. The other end of the GAB rail through hole of the GA rail support bracket 71 is provided with one end of a GH rail section 7B-4.

One end of the GBA guide rail through hole of the GB guide rail support frame 72 is provided with the other end of the GD guide rail section 7A-4, and the other end of the GBA guide rail through hole of the GB guide rail support frame 72 is provided with one end of the GC guide rail section 7A-3. The other end of GH guide rail section 7B-4 is installed to the one end of GBB guide rail through-hole of GB guide rail support frame 72, and the one end of GG guide rail section 7B-3 is installed to the other end of GBB guide rail through-hole of GB guide rail support frame 72.

One end of the GCA rail through hole of the GC rail support bracket 73 is mounted with the other end of the GC rail section 7A-3, and the other end of the GCA rail through hole of the GC rail support bracket 73 is mounted with one end of the AI rail section 7A 9. One end of the GCB guide rail through hole of the GC guide rail support frame 73 is provided with the other end of the GG guide rail section 7B-3, and the other end of the GCB guide rail through hole of the GC guide rail support frame 73 is provided with one end of the BI guide rail section 7B 9. The other end of the AI rail section 7a9 is in contact with one end of the AH rail section 7 A8. The other end of the BI rail segment 7B9 is in contact with one end of the BH rail segment 7B 8.

As shown in fig. 7B, one end of the FB rail through hole 6G11 of the FD arm 6G1 of the FB support base 6G is mounted with the other end of the AH rail section 7a8, and the other end of the FB rail through hole 6G11 is mounted with one end of the AG rail section 7a 7. The other end of the AG rail section 7a7 is in contact with one end of the AF rail section 7a 6.

As shown in fig. 7B, one end of the FA guide through hole 6F11 of the FA arm 6F1 of the FA support seat 6F is mounted with the other end of the BH guide segment 7B8, and the other end of the FA guide through hole 6F11 is mounted with one end of the BG guide segment 7B 7. The other end of the BG rail segment 7B7 is in contact with one end of the BF rail segment 7B 6.

As shown in fig. 7B and 7C, a GD transverse plate 74A is disposed on the GD guide rail support frame 74, and two ends of the GD transverse plate 74A are a GDA vertical plate 74B and a GDB vertical plate 74C, respectively; the end part of the GDA riser 74B is a GDA guide rail through hole 74B1, one end of the GDA guide rail through hole 74B1 is used for mounting the other end of the AF guide rail section 7a6, and the other end of the GDA guide rail through hole 74B1 is used for mounting one end of the AE guide rail section 7a 5; the end of the GDB riser 74C is a GDB guide through hole 74C1, one end of the GDB guide through hole 74C1 is used for mounting the other end of the BF guide rail segment 7B6, and the other end of the GDB guide through hole 74C1 is used for mounting one end of the BE guide rail segment 7B 5; the GD transverse plate 74A is provided with a GD through hole 74A1 through which the GD screw 74-1 passes.

As shown in fig. 7B and 7C, a GE transverse plate 75A is disposed on the GE guide rail supporting frame 75, and two ends of the GE transverse plate 75A are a GEA vertical plate 75B and a GEB vertical plate 75C respectively; the end of the GEA riser 75B is a GEA guide rail through hole 75B1, one end of the GEA guide rail through hole 75B1 is used for mounting the other end of the AE guide rail section 7A5, and the other end of the GEA guide rail through hole 75B1 is used for mounting one end of the AD guide rail section 7A 4; the end of the GEB riser 75C is a GEB rail through hole 75C1, one end of the GEB rail through hole 75C1 is used for mounting the other end of the BE rail segment 7B5, and the other end of the GEB rail through hole 75C1 is used for mounting one end of the BD rail segment 7B 4; the GE transverse plate 75A is provided with a GE through hole 75A1 for the GE screw 75-1 to pass through.

As shown in fig. 7B, one end of EB rail through hole 5G11 on ED arm 5G1 of EB support seat 5G is fitted with the other end of AC rail segment 7A3, and the other end of EB rail through hole 5G11 is fitted with one end of AB rail segment 7a 2. The other end of the AB rail segment 7a2 is in contact with one end of the AA rail segment 7a 1.

As shown in fig. 7B, one end of EA rail through hole 5F11 of EA support arm 5F1 of EA support seat 5F is mounted with the other end of BC rail section 7B3, and the other end of EA rail through hole 5F11 is mounted with one end of BB rail section 7B 2. The other end of the BB rail segment 7B2 is in contact with one end of the BA rail segment 7B 1.

One end of the GFA rail through hole of the GF rail support bracket 76 is fitted with the other end of the AA rail segment 7A1, and the other end of the GFA rail through hole of the GF rail support bracket 76 is fitted with one end of the GA rail segment 7A-1. One end of the GFB rail through hole of the GF rail support bracket 76 is mounted with the other end of the BA rail segment 7B1, and the other end of the GFB rail through hole of the GF rail support bracket 76 is mounted with one end of the GE rail segment 7B-1.

One end of the GGA guide rail through hole of the GG guide rail support frame 77 is provided with the other end of the GA guide rail section 7A-1, and the other end of the GGA guide rail through hole of the GG guide rail support frame 77 is provided with one end of the GB guide rail section 7A-2. The other end of GE guide rail section 7B-1 is installed to the one end of the GGB guide rail through-hole of GG guide rail support frame 77, and the other end of GF guide rail section 7B-2 is installed to the other end of the GGB guide rail through-hole of GG guide rail support frame 77.

The other end of the GHA guide rail through hole of the GH guide rail support frame 78 is provided with one end of the GB guide rail section 7A-2. The other end of the GHB rail through hole of the GH rail support bracket 78 is mounted with one end of a GF rail section 7B-2.

In the invention, two groups of track-changing executing assemblies in the direction vertical to the advancing direction respectively rotate for 90 degrees along opposite directions to drive the track-changing guide rails on the track-changing rotary table to rotate for 90 degrees, so that the butt joint of the track-changing guide rails in the direction vertical to the guide rails is completed, and the right-angle track-changing action is completed. Here, the (clockwise) switch track means that the switch from the a track segment assembly 7A to the docking with the EA switch track 5D and the EB switch track 5E in fig. 7 is performed on the one hand, and the switch from the B track segment assembly 7B to the docking with the FA switch track 6D and the FB switch track 6E is performed on the other hand, so that the switch track rotates 90 degrees. The invention realizes the extension of the track by connecting a plurality of guide rail sections with the same structure on the track-changing connecting track.

Referring to fig. 1, 1A, 5 and 1C, the rail assembly 7 is a circular rail having a tooth-shaped side surface. When the four orbital transfer executing assemblies work, the upper rolling bodies and the lower rolling bodies on the lower leg brackets of the four orbital transfer executing assemblies roll on the circular guide rail, and the walking driving straight gears are meshed with tooth shapes on the side surfaces of the circular guide rail, so that power is transmitted.

Orbital transfer drive assembly 8

Referring to fig. 1, 1A, 1B, 1C, 3 and 3A, the track transfer driving assembly 8 is used for providing power for the track transfer action of the track transfer system of the present invention. A track transfer driving motor 8-1 of the track transfer driving assembly 8 is fixed on an HA support arm panel 8A1 of the HA support 8A, an output shaft 8-2 of the track transfer driving motor 8-1 is connected with one end of an H coupling 8C, and the other end of the H coupling 8C penetrates through a through hole of an HA bearing pressing plate 8D and then is sequentially connected with one end of an HA bearing 8L and one end of an HB transmission shaft 8R; the HA bearing 8L is arranged in a through hole of the HA bearing pressing plate 8D; the other end of the HB transmission shaft 8R is connected with an HA bevel gear 8G, and the HA bevel gear 8G is meshed with an HB bevel gear 8H; an HA bearing 8L is arranged in a through hole of the HA bearing pressing plate 8D, and the HA bearing pressing plate 8D is fixedly arranged on an HC support arm panel 8B1 of the HB support 8B; the HA transmission shaft 8Q is provided with an H belt wheel 8K, HB bevel gear 8H, HB bearing 8M, HC bearing 8N and an H nut 8P from top to bottom; the HB bearing 8M is arranged in a through hole of the HB bearing pressing plate 8E; the HC bearing 8N is mounted in the through hole of the HC bearing pressing plate 8F; the HB bearing pressing plate 8E is fixed on the upper panel of the chassis 10; the HC bearing presser plate 8F is fixed to the lower panel of the chassis 10.

An HA support arm panel 8A1 and an HB support arm panel 8A2 are arranged on the HA support frame 8A; the HA support arm panel 8A1 is used for fixing the track transfer motor 8-1; HB arm panel 8a2 is secured to a side of chassis 10 by screws.

An HC support arm panel 8B1 and an HD support arm panel 8B2 are arranged on the HB support frame 8B; the HC support arm panel 8B1 is used for fixing the HA bearing pressing plate 8D; HD arm panel 8B2 is secured to one side of chassis 10 by screws.

Travel drive assembly 9

Referring to fig. 1, 1A, 1B, 1C, 4 and 4A, the traveling driving assembly 9 is used for providing power for the track-changing system to advance in the X-axis direction. A walking motor 9-1 of the traveling driving assembly 9 is fixed on an IA support arm panel 9A1 of the IA support frame 9A, an output shaft 9-2 of the walking motor 9-1 is connected with one end of an I coupling 9C, the other end of the I coupling 9C penetrates through a through hole of an IA bearing pressing plate 9D and then is sequentially connected with an IA bearing 9L (the IA bearing 9L is installed in the through hole of the IA bearing pressing plate 9D) and one end of an IB transmission shaft 9R; the other end of the IB transmission shaft 9R is connected with an IA bevel gear 9G, and the IA bevel gear 9G is meshed with an IB bevel gear 9H; an IA bearing 9L is arranged in a through hole of the IA bearing pressing plate 9D, and the IA bearing pressing plate 9D is fixedly arranged on an IC support arm panel 9B1 of the IB bracket 9B; the IA transmission shaft 9Q is provided with an I belt wheel 9K, IB bevel gear 9H, IB bearing 9M, IC bearing 9N and an I nut 9P from top to bottom; the IB bearing 9M is arranged in a through hole of the IB bearing pressing plate 9E; the IC bearing 9N is mounted in the through hole of the IC bearing pressing plate 9F; the IB bearing pressing plate 9E is fixed on the upper panel of the chassis 10; an IC bearing presser plate 9F is fixed to the lower panel of the chassis 10. The lower end of the rotating shaft 9J of the I pinch roller is arranged in a KP shaft hole 10E1 of the chassis 10, and the rotating shaft 9J of the I pinch roller is sleeved with an I pinch upper wheel 9J 1.

An IA support arm panel 9A1 and an IB support arm panel 9A2 are arranged on the IA support frame 9A; the IA support arm panel 9A1 is used for fixing a walking motor 9-1; IB arm panel 9a2 is fixed to one side of chassis 10 by screws.

The IB bracket 9B is provided with an IC arm panel 9B1 and an ID arm panel 9B 2; IC arm panel 9B1 is used to fix IA bearing press plate 9D; the ID arm panel 9B2 is fixed to one side of the chassis 10 by screws.

Chassis 10

Referring to fig. 1, 1A, 1B, 1C, 2, and 2A, the chassis 10 is a flat plate structure for supporting the track transfer system of the present invention.

The chassis 10 is provided with a KA shaft hole 10A for installing an AA bearing 16C of the first track transfer executing assembly 1, the AA bearing 16C is sleeved on the AA transmission shaft 16, namely the AA transmission shaft 16 also penetrates through the KA shaft hole 10A; the chassis 10 is provided with a KB shaft hole 10A1 for mounting the AB transmission shaft 18 of the first track-changing execution assembly 1; the chassis 10 is provided with a KC shaft hole 10A2 for mounting the A pinch roller rotating shaft 19 of the first track-changing executing assembly 1; a KA threaded hole 10A3 for fixing the bearing pressing plate 16B of the A through a screw is formed in the chassis 10; the chassis 10 is provided with KB threaded holes 10A4 for fixing the support frame 13 on the A through screws. The middle part of the A bearing pressing plate 16B is arranged in a shaft hole for installing the AA bearing 16C, two ends of the A bearing pressing plate 16B are provided with lugs, and through holes are formed in the lugs.

A KD shaft hole 10B for mounting a BA bearing 26C of the second track-changing executing component 2 is formed in the chassis 10, the BA bearing 26C is sleeved on the BA transmission shaft 26, namely the BA transmission shaft 26 also penetrates through the KD shaft hole 10B; the chassis 10 is provided with a KE shaft hole 10B1 for mounting a BB transmission shaft 28 of the second track-changing executing assembly 2; the chassis 10 is provided with a KF shaft hole 10B2 for mounting a B pinch roller rotating shaft 29 of the second orbital transfer executing assembly 2; a KC threaded hole 10B3 for fixing the BA bearing pressure plate 26B through a screw is formed in the chassis 10; the chassis 10 is provided with KD threaded holes 10B4 for fixing the B support bracket 23 through screws.

The chassis 10 is provided with a KG shaft hole 10C for mounting a CA bearing 36C of the third orbital transfer executing assembly 3, the CA bearing 36C is sleeved on the CA transmission shaft 36, namely, the CA transmission shaft 36 also penetrates through the KG shaft hole 10C; the chassis 10 is provided with a KH shaft hole 10C1 for mounting the CB transmission shaft 38 of the third track-changing executing component 3; the chassis 10 is provided with a KI shaft hole 10C2 for mounting a CA pinch roller rotating shaft 39A of the third orbital transfer executing component 3; the chassis 10 is provided with a KJ shaft hole 10C5 for mounting a CB pinch roller rotating shaft 39B of the third orbital transfer executing assembly 3; the chassis 10 is provided with KE threaded holes 10C3 for fixing the CA bearing pressure plate 36B through screws; the chassis 10 is provided with KF threaded holes 10C4 for fixing the C support bracket 33 through screws.

A KK shaft hole 10D for mounting a DA bearing 46C of the fourth track-changing executing assembly 4 is formed in the chassis 10, the DA bearing 46C is sleeved on the DA transmission shaft 46, and the DA transmission shaft 46 penetrates through the KK shaft hole 10D; the chassis 10 is provided with a KL shaft hole 10D1 for mounting the DB transmission shaft 48 of the fourth track-changing executing component 4; the chassis 10 is provided with a KM shaft hole 10D2 for mounting a DA pinch roller rotating shaft 49A of the fourth rail-changing executing assembly 4; a KN shaft hole 10D5 for mounting a DB pinch roller rotating shaft 49B of the fourth orbital transfer executing assembly 4 is formed in the chassis 10; the chassis 10 is provided with a KG threaded hole 10D3 for fixing the D bearing pressure plate 46B through a screw; the chassis 10 is provided with KH threaded holes 10D4 for fixing the D support bracket 43 by screws.

The chassis 10 is provided with a KO shaft hole 10E for installing a HB bearing 8N of the orbital transfer driving assembly 8, and the HB bearing 8N is sleeved on the HA transmission shaft 9Q, namely the HA transmission shaft 9Q also penetrates through the KO shaft hole 10E. HB arm panel 8A2 of HA bracket 8A and HD arm panel 8B2 of HB bracket 8B of transition drive assembly 8 are fixed to chassis 10.

The chassis 10 is provided with a KQ shaft hole 10F for installing an IB bearing 9N of the advancing driving component 9, and the IB bearing 9N is sleeved on the IA transmission shaft 9Q, namely the IA transmission shaft 9Q also penetrates through the KQ shaft hole 10F. IB arm panel 9A2 of IA bracket 9A and ID arm panel 9B2 of IB bracket 9B of travel drive assembly 9 are fixed to chassis 10.

First synchronous toothed belt 110

Referring to fig. 1B and 1C, the first synchronous toothed belt 110 is sequentially sleeved on the H-belt pulley 8K of the orbital transfer drive assembly 8; DB external gear 49B2 of DB pinch roller rotating shaft 49B of fourth orbital transfer executing assembly 4, DB pulley 4B of DA transmission shaft 46 of fourth orbital transfer executing assembly 4; the gear 19B with the external teeth A of the AA pinch roller rotating shaft 19 of the first orbital transfer executing component 1 and the AB belt wheel 1B of the first orbital transfer executing component 1; a B external gear 29B of a BA pinch roller rotating shaft 29 of the second orbital transfer executing assembly 2, and a BB belt wheel 2B of the second orbital transfer executing assembly 2; the CA external gear 39A2 of the CA pinch roller rotating shaft 39A of the third orbital transfer executing assembly 3, the CB pulley 3B of the third orbital transfer executing assembly 3 and the CB external gear 39B2 of the third orbital transfer executing assembly 3; a DA external gear 49A2 of a DA pinch roller rotating shaft 49A of the fourth orbital transfer executing assembly 4; and finally back to the H pulley 8K of the derailment drive assembly 8.

In the present invention, the first synchronous toothed belt 110 is a double-sided layout, and is wound around the pulleys on the transmission shafts of the four orbital transfer drive assemblies and the external gear on the rotation shaft of the pinch roller according to a set rotation direction, so as to transmit orbital transfer motion. In the present invention, as shown in fig. 1, 1A, 1B, 1C, 3, and 3A, the orbital transfer motion is that the HA bevel gear 8G is driven by the orbital transfer driving motor 8-1 to rotate, the HA bevel gear 8G drives the HB bevel gear 8H and the HA transmission shaft 8Q to rotate, and further the H pulley 8K mounted on the HA transmission shaft 8Q rotates, and the external teeth on the H pulley 8K mesh with the tooth grooves on the first synchronous toothed belt 110, so that the first synchronous toothed belt 110 is driven to move in the set rotation direction.

Second timing belt 120

Referring to fig. 1B and 1C, the second timing belt 120 is sequentially sleeved on the I pulley 9K, I of the traveling driving assembly 9 to press the upper pulley 9J1 (sleeved on the I pressing wheel rotating shaft 9J), the DA pulley 4A of the DA transmission shaft 46 of the fourth track changing actuating assembly 4, the CA pulley 3A of the third track changing actuating assembly 3, the DC external gear 49B3 of the DB pressing wheel rotating shaft 49B of the fourth track changing actuating assembly 4, and finally returns to the I pulley 9K of the traveling driving assembly 9.

In the present invention, the second timing belt 120 is a single-sided layout, and is wound around the pulleys of the fourth track-changing executing assembly 4 and the third track-changing executing assembly 3 according to a set rotation direction, so as to transmit a forward motion (or a walking motion). In the present invention, as shown in fig. 1, fig. 1A, fig. 1B, fig. 1C, fig. 4 and fig. 4A, the walking motion is that the IA bevel gear 9G is driven by the walking motor 9-1 (the walking motor 9-1 can rotate in forward and reverse directions), the IB bevel gear 9H and the IA transmission shaft 9Q are driven to rotate by the motion of the IA bevel gear 9G, and further the I pulley 9K mounted on the IA transmission shaft 9Q is rotated, and the external teeth on the I pulley 9K are engaged with the tooth grooves on the second timing belt 120, so as to drive the second timing belt 120 to move according to the set rotation direction.

The invention discloses a self-adaptive full-automatic rapid rail transfer system which comprises four rail transfer executing assemblies, two rail transfer rotary table assemblies, two synchronous belts, a guide rail assembly, a rail transfer driving assembly and a traveling driving assembly, wherein the rail transfer driving assembly and the traveling driving assembly are used for providing driving sources. Two pairs of oppositely placed orbital transfer executing assemblies are installed on the same orbital transfer rotary table, two pairs of oppositely parallel orbital transfer executing assemblies are installed on the same guide rail section group, and the orbital transfer driving assembly and the advancing driving assembly are installed on the same side of the chassis. The advancing driving assembly transmits power to the track transfer executing assembly through the single-side synchronous toothed belt, and provides forward advancing driving force for the track transfer executing assembly. The track transfer driving assembly transmits power to the track transfer executing assembly through the synchronous toothed belts on the two sides, and provides steering driving force for the track transfer executing assembly. The whole transmission chain formed by the advancing driving assembly, the track transfer driving assembly and the track transfer executing assembly is completely independent and does not interfere with each other during working. In the initial state, the orbital transfer rotary table is connected and matched with a plurality of guide rail sections in the guide rail assembly to form a continuous track. When the device works, the two groups of orbital transfer executing assemblies in the direction perpendicular to the advancing direction respectively rotate for 90 degrees along the opposite direction, the orbital transfer guide rails on the orbital transfer rotary table are driven to rotate for 90 degrees, and the butt joint of the orbital transfer guide rails in the guide rail perpendicular direction is completed, so that the right-angle orbital transfer action is completed.

Claims (5)

1. The utility model provides a full-automatic quick orbit transfer system of self-adaptation which characterized in that: the track transfer system comprises: the track-changing device comprises a chassis (10), a track-changing driving component (8), a traveling driving component (9), a first track-changing executing component (1), a second track-changing executing component (2), a third track-changing executing component (3), a fourth track-changing executing component (4), track-changing turntable components (5 and 6), a guide rail component (7), a first synchronous toothed belt (110) and a second synchronous toothed belt (120);

the track switching executing component (1) is characterized in that an AA panel (11A), an AB panel (11B), an AA support arm (11C), an AB support arm (11D), an AC support arm (11E) and an AD support arm (11F) are arranged on a lower bracket (11) A; an AA shaft hole (11A1) for placing an AC middle shaft section (172) of the AC transmission shaft (17) is arranged on the AA panel (11A); the AB panel (11B) is provided with an AB shaft hole (11B1), an AC shaft hole (11B2) and an AA rectangular through hole (11B 3); the AA rectangular through hole (11B3) is used for placing the AC spur gear (1F); the AB shaft hole (11B1) is used for placing one end of the upper rolling shaft (14D) of the A, and the AC shaft hole (11B2) is used for placing one end of the lower rolling shaft (15D) of the A; an AA threaded hole (11C1) is formed in the outer side panel of the AA support arm (11C), and an AB threaded hole (11C2) is formed in the end panel of the AA support arm (11C); the AA threaded hole (11C1) is matched with a screw to fix the AA vertical plate (12A) of the upper bracket (12) A on the outer side panel of the AA support arm (11C); the AB threaded hole (11C2) is matched with an AE through hole (14A3) on the AA stop block (14A), and then a long screw penetrates through the AE through hole (14A3) and then is connected in the AB threaded hole (11C2) in a threaded mode, so that one end of the AA stop block (14A) is fixed on an end panel of the AA support arm (11C); an AC threaded hole (11D1) is formed in the outer side panel of the AB support arm (11D), and an AD threaded hole (11D2) is formed in the end panel of the AB support arm (11D); the AC threaded hole (11D1) is used for fixing an AB vertical plate (12B) of the A upper bracket (12) on an outer side panel of the AB support arm (11D) by adopting screw matching; the AD threaded hole (11D2) is matched with an AD through hole (14A2) on the AA stop block (14A), and then a long screw penetrates through the AD through hole (14A2) and then is connected in the AD threaded hole (11D2) in a threaded mode, so that the other end of the AA stop block (14A) is fixed on an end panel of the AB support arm (11D); AE threaded holes (11E1) are formed in the end face plate of the AC support arm (11E); the AE threaded hole (11E1) is matched with an AH through hole (15A3) on the AB stop block (15A), and then a long screw penetrates through the AH through hole (15A3) and then is connected in the AE threaded hole (11E1) in a threaded manner, so that one end of the AB stop block (15A) is fixed on an end panel of the AC support arm (11E); AF threaded holes (11F1) are formed in an end plate of the AD support arm (11F); the AF thread hole (11F1) is matched with an AG through hole (15A2) on the AB stop block (15A), and then a long screw penetrates through the AG through hole (15A2) and then is connected in the AF thread hole (11F1) in a threaded mode, so that the other end of the AB stop block (15A) is fixed on an end face plate of the AD support arm (11F);

an AA vertical plate (12A), an AB vertical plate (12B), an AA transverse plate (12C) and an AB transverse plate (12D) are arranged on the upper bracket (12) A; an AA through hole (12A1) is formed in the AA vertical plate (12A), the AA through hole (12A1) is matched with an AA threaded hole (11C1) in an AA support arm (11C) of the lower bracket (11) A, and a screw penetrates through the AA through hole (12A1) and then is connected in the AA threaded hole (11C1) in a threaded mode, so that the AA vertical plate (12A) and the outer side panel of the AA support arm (11C) are fixed; an AB through hole (12B1) is formed in the AB vertical plate (12B), the AB through hole (12B1) is matched with an AC threaded hole (11D1) in an AB support arm (11D) of the A lower bracket (11), and the AB vertical plate (12B) is fixed to an outer side panel of the AB support arm (11D) by penetrating through the AB through hole (12B1) through a screw and then being in threaded connection with the AC threaded hole (11D 1); an AD shaft hole (12C1) for placing an AA sliding bearing (18A) is arranged on the AA transverse plate (12C); an AE shaft hole (12D1) for placing the AB sliding bearing (18B) is arranged on the AB transverse plate (12D); the AA sliding bearing (18A) and the AB sliding bearing (18B) are sleeved on the AB transmission shaft (18);

an AC transverse plate (13A) and an AA supporting sleeve (13B) are arranged on the upper supporting frame (13) A; two ends of the AC transverse plate (13A) are respectively provided with an AC through hole (13A1), the AC through holes (13A1) are used for screws to pass through, and the screws passing through the AC through holes (13A1) are fixed in KB threaded holes (10A4) of the chassis (10) in a threaded manner, so that the A upper supporting frame (13) is fixed on the lower panel of the chassis (10); the center of the AA supporting sleeve (13B) is provided with an AF shaft hole (13B1) for placing an AB upper shaft section (181) of an AB transmission shaft (18);

an AH shaft hole (14A1) for placing an AA plastic bearing (14C) is arranged in the middle of the AA block (14A); the two ends of the AH shaft hole (14A1) are respectively an AD through hole (14A2) and an AE through hole (14A 3); the AD through hole (14A2) is matched with an AB threaded hole (11C2) on an AA support arm (11C) of the lower bracket (11) A, and one end of an AA stop block (14A) is fixed on the AA support arm (11C) by adopting a screw; the AE through hole (14A3) is matched with an AD threaded hole (11D2) on an AB support arm (11D) of the A lower bracket (11), and the other end of the AA stop block (14A) is fixed on the AB support arm (11D) by a screw; the central part of the A upper rolling body (14B) is provided with an AF through hole (14B1) for the A upper rolling shaft (14D) to pass through; an AA shaft section (14D1), an AB shaft section (14D2), an AC shaft section (14D3) and an AA shaft shoulder (14D4) are arranged on the upper rolling shaft (14D), and the AA shaft shoulder (14D4) is arranged between the AB shaft section (14D2) and the AC shaft section (14D 3); an AA plastic bearing (14C) is sleeved on the AA shaft section (14D 1); an A upper rolling body (14B) is fixed on the AB shaft section (14D 2); an AB plastic bearing (14E) is sleeved on the AC shaft section (14D 3);

an AI shaft hole (15A1) for placing an AC plastic bearing (15C) is arranged in the middle of the AB stop block (15A); two ends of the AI shaft hole (15A1) are respectively provided with an AG through hole (15A2) and an AH through hole (15A 3); the AG through hole (15A2) is matched with an AE threaded hole (11E1) on an AC support arm (11E) of the A lower bracket (11), and one end of the AB stop block (15A) is fixed on the AC support arm (11E) by adopting a screw; the AH through hole (15A3) is matched with an AF threaded hole (11F1) on an AD support arm (11F) of the A lower bracket (11), and the other end of the AB stop block (15A) is fixed on the AD support arm (11F) by adopting a screw; the central part of the lower rolling body A (15B) is provided with an AI through hole (15B1) for the lower rolling shaft A (15D) to pass through; an AD shaft section (15D1), an AE shaft section (15D2), an AF shaft section (15D3) and an AB shaft shoulder (15D4) are arranged on the lower rolling shaft (15D), and the AB shaft shoulder (15D4) is arranged between the AE shaft section (15D2) and the AF shaft section (15D 3); an AC plastic bearing (15C) is sleeved on the AD shaft section (15D 1); a lower rolling body (15B) is fixed on the AE shaft section (15D 2); an AD plastic bearing (15E) is sleeved on the AF shaft section (15D 3); an EA supporting arm (5F1) used for placing an EA supporting seat (5F) is arranged between the upper rolling body (14B) and the lower rolling body (15B), external teeth identical to those of the AC straight gear (1F) are arranged outside the EA supporting arm (5F1), and one end of a BB guide rail section (7B2) and the other end of a BC guide rail section (7B3) are respectively installed at two ends of an EA guide rail through hole (5F11) in the EA supporting arm (5F 1);

an AA upper shaft section (161), an AA middle shaft section (162) and an AA lower shaft section (163) are arranged on the AA transmission shaft (16); the AA transmission shaft (16) is sequentially sleeved with an AA belt wheel (1A), an A orbital transfer rotating sleeve (16A), an AC bearing (16E) and an AA straight gear expansion sleeve (16F) from top to bottom; a walking leg driving straight gear (1D) is arranged outside the AA straight gear expansion sleeve (16F), and the walking leg driving straight gear (1D) is meshed with a walking leg driven straight gear (1H); namely, an AA belt wheel (1A) is sleeved on an AA upper shaft section (161) of the AA transmission shaft (16); an AA middle shaft section (162) of the AA transmission shaft (16) is arranged in an A orbital transfer rotating sleeve (16A), and an AC bearing (16E) is sleeved at the lower end part of the AA middle shaft section (162); an AA straight gear expansion sleeve (16F) is sleeved on an AA lower shaft section (163) of the AA transmission shaft (16); the middle part of the A orbit-changing rotating sleeve (16A) is provided with an A center through hole (16A6), and the A center through hole (16A6) is used for the AA transmission shaft (16) to pass through; an AA sleeve section (16A1), an AB sleeve section (16A2) and an AC sleeve section (16A3) are arranged outside the A orbital transfer rotating sleeve (16A); an AA sleeve shoulder (16A4) is arranged between the AA sleeve section (16A1) and the AB sleeve section (16A 2); an AB sleeve shoulder (16A5) is arranged between the AB sleeve section (16A2) and the AC sleeve section (16A 3); the A orbital transfer rotating sleeve (16A) is sequentially sleeved with an AB belt wheel (1B), an AA bearing (16C), an AB bearing (16D) and an A orbital transfer driving straight gear (1C) from top to bottom; namely, an AB belt wheel (1B) is sleeved on the AA sleeve section (16A 1); an AA bearing (16C) and an AB bearing (16D) are sleeved on the AB sleeve section (16A 2); the AB bearing (16D) is arranged in a KA shaft hole (10A) of the chassis (10); an A orbital transfer driving spur gear (1C) is sleeved on the AC sleeve section (16A 3); the A orbital transfer driving straight gear (1C) is meshed with the A orbital transfer driven straight gear (1G); the AA bearing 16C is arranged in a shaft hole of the bearing pressing plate A (16B), two ends of the bearing pressing plate A (16B) are provided with lugs, through holes are formed in the lugs, and the bearing pressing plate A (16B) is in threaded connection with KA threaded holes (10A3) of the chassis (10) after passing through the through holes in the lugs by screws, so that the bearing pressing plate A (16B) is fixed on the upper panel of the chassis (10);

an AC upper shaft section (171), an AC middle shaft section (172) and an AC lower shaft section (173) are arranged on the AC transmission shaft (17); the AC transmission shaft (17) is sequentially sleeved with an AA clamping ring (17A), an AB straight gear (1E), an AB clamping ring (17B), an AC sleeve (17C), an AB straight gear expansion sleeve (17D) and an AC nut (17E) from top to bottom; an AC spur gear (1F) is arranged outside the AB spur gear expansion sleeve (17D), and the AC spur gear (1F) is meshed with teeth outside an EA support arm (5F1) of the EA support seat (5F); namely, an AC upper shaft section (171) of the AC transmission shaft (17) is sleeved with an AB straight gear (1E), and an AA straight gear (1J) is meshed with the AB straight gear (1E); an AB collar (17B) and an AC sleeve (17C) are sleeved on an AC middle shaft section (172) of the AC transmission shaft (17), and an opening is formed in the AC sleeve (17C); an AC lower shaft section (173) of the AC transmission shaft (17) is sleeved with an AB straight gear expansion sleeve (17D) and an AC nut (17E);

the AB transmission shaft (18) is provided with an AB upper shaft section (181), an AB middle shaft section (182) and an AB lower shaft section (183); the AB transmission shaft (18) is sequentially sleeved with an A upper support frame (13), an AA sliding bearing (18A) and an AB transmission cylinder (18C) from top to bottom, and the external part of the AA sliding bearing (18A) is sleeved with an A orbital transfer driven spur gear (1G); namely, an AB upper shaft section (181) of the AB transmission shaft (18) is arranged in an AF shaft hole (13B1) of the A upper support frame (13); an AB middle shaft section (182) of the AB transmission shaft (18) is sleeved with an AA sliding bearing (18A); the AB lower shaft section (183) of the AB transmission shaft (18) is arranged in an AG shaft hole (18C1) of the AB transmission cylinder (18C); the AB transmission cylinder (18C) is provided with an AG shaft hole (18C1), an upper cylinder body (18C2), a middle cylinder body (18C3) and a lower cylinder body (18C 4); the AG shaft hole (18C1) is used for placing an AB lower shaft section (183) of the AB transmission shaft (18); the upper cylinder body (18C2) is used for being sleeved with a walking leg driving spur gear (1H), and a walking leg driving spur gear (1D) is meshed with the walking leg driving spur gear (1H); the middle cylinder (18C3) is used for sleeving an AB sliding bearing (18B); the lower cylinder body (18C4) is used for being sleeved with an AA straight gear (1J), and the AA straight gear (1J) is meshed with the AB straight gear (1E);

the A pinch roller rotating shaft (19) comprises an A external gear (19B) and an A mounting shaft (19A); the A external gear (19B) is sleeved on the A mounting shaft (19A) and moves circularly around the A mounting shaft (19A), and the lower end of the A mounting shaft (19A) is fixed in a KC shaft hole (10A2) of the chassis (10); the teeth on the outer ring of an external tooth gear A (19B) on the rotating shaft A (19) of the pinch roller A are meshed with the first synchronous toothed belt (110);

a second orbital transfer executing component (2), wherein a BA panel (21A), a BB panel (21B), a BA support arm (21C), a BB support arm (21D), a BC support arm (21E) and a BD support arm are arranged on the B lower bracket (21); a BA shaft hole (21A1) for placing a BC middle shaft section (272) of the BC transmission shaft (27) is arranged on the BA panel (21A); a BB shaft hole, a BC shaft hole (21B2) and a BA rectangular through hole (21B3) are arranged on the BB panel (21B); the BA rectangular through hole (21B3) is used for placing a BC spur gear (2F); the BB shaft hole is used for placing one end of the B upper rolling shaft (24D), and the BC shaft hole (21B2) is used for placing one end of the B lower rolling shaft (25D); a BA threaded hole is formed in an outer side panel of the BA support arm (21C), and a BB threaded hole is formed in an end panel of the BA support arm (21C); the BA threaded hole is matched with a screw to fix a BA vertical plate (22A) of the upper bracket (22) B on an outer side panel of the BA support arm (21C); the BB threaded hole is matched with a BE through hole (24A3) on a BA stop block (24A), and then a long screw penetrates through the BE through hole (24A3) and then is in threaded connection with the BB threaded hole, so that one end of the BA stop block (24A) is fixed on an end panel of a BA support arm (21C); a BC threaded hole is formed in the outer side panel of the BB support arm (21D), and a BD threaded hole is formed in the end panel of the BB support arm (21D); the BC threaded hole is matched with a screw to fix a BB vertical plate (22B) of the B upper bracket (22) on an outer side panel of the BB support arm (21D); the BD thread hole is matched with a BD through hole (24A2) on the BA stop block (24A), and then a long screw penetrates through the BD through hole (24A2) and then is in threaded connection with the BD thread hole, so that the other end of the BA stop block (24A) is fixed on an end panel of the BB support arm (21D); BE threaded holes are formed in the end face plate of the BC support arm (21E); the BE threaded hole is matched with a BH through hole (25A3) on the BB stop block (25A), and then a long screw penetrates through the BH through hole (25A3) and then is in threaded connection with the BE threaded hole, so that one end of the BB stop block (25A) is fixed on an end panel of the BC support arm (21E); BF threaded holes are formed in the end face plate of the BD supporting arm; the BF threaded hole is matched with a BG through hole (25A2) on the BB stop block (25A), and then a long screw penetrates through the BG through hole (25A2) and then is in threaded connection with the BF threaded hole, so that the other end of the BB stop block (25A) is fixed on an end panel of the BD support arm;

the upper bracket (22) B is provided with a BA vertical plate (22A), a BB vertical plate (22B), a BA transverse plate (22C) and a BB transverse plate (22D); a BA through hole (22A1) is formed in the BA vertical plate (22A), the BA through hole (22A1) is matched with a BA threaded hole in a BA support arm (21C) of the B lower bracket (21), and a screw penetrates through the BA through hole (22A1) and then is connected in the BA threaded hole in a threaded mode, so that the BA vertical plate (22A) and an outer side panel of the BA support arm (21C) are fixed; a BB through hole (22B1) is formed in the BB riser (22B), the BB through hole (22B1) is matched with a BC threaded hole in a BB support arm (21D) of the B lower bracket (21), and a screw penetrates through the BB through hole (22B1) and then is connected in the BC threaded hole in a threaded mode, so that the BB riser (22B) and an outer side panel of the BB support arm (21D) are fixed; a BD shaft hole (22C1) for placing the BA sliding bearing (28A) is arranged on the BA transverse plate (22C); a BE shaft hole (22D1) for placing the BB sliding bearing (28B) is arranged on the BB transverse plate (22D); the BA sliding bearing (28A) and the BB sliding bearing (28B) are sleeved on the BB transmission shaft (28);

a BC transverse plate (23A) and a BA supporting sleeve (23B) are arranged on the upper supporting frame (23) B; two ends of the BC transverse plate (23A) are respectively provided with a BC through hole (23A1), the BC through hole (23A1) is used for a screw to pass through, and the screw which passes through the BC through hole (23A1) is fixed in a KD threaded hole (10B4) of the chassis (10) in a threaded manner, so that the B upper support frame (23) is fixed on the lower panel of the chassis (10); the center of the BA support sleeve (23B) is provided with a BF shaft hole (23B1) for placing a BB upper shaft section (281) of a BB transmission shaft (28);

a BH shaft hole for placing a BA plastic bearing (24C) is arranged in the middle of the BA stop block (24A); the two ends of the BH shaft hole are respectively provided with a BD through hole and a BE through hole; the BD through hole is matched with a BB threaded hole in a BA support arm (21C) of the B lower bracket (21), and one end of a BA stop block (24A) is fixed on the BA support arm (21C) by a screw; the BE through hole is matched with a BD threaded hole in a BB support arm (21D) of the B lower bracket (21), and the other end of the BA stop block (24A) is fixed on the BB support arm (21D) by a screw; the central part of the upper rolling body (24B) is provided with a BF through hole for the upper rolling shaft (24D) to pass through; a BA shaft section, a BB shaft section, a BC shaft section and a BA shaft shoulder are arranged on the upper rolling shaft (24D) of the B, and the BA shaft shoulder is arranged between the BB shaft section and the BC shaft section; a BA plastic bearing (24C) is sleeved on the BA shaft section; b upper rolling bodies (24B) are fixed on the BB shaft section; a BB plastic bearing (24E) is sleeved on the BC shaft section;

a BI shaft hole for placing a BC plastic bearing (25C) is formed in the middle of the BB stop block (25A); both ends of the BI shaft hole are respectively a BG through hole and a BH through hole; the BG through hole is matched with a BE threaded hole on a BC support arm (21E) of the B lower bracket (21), and one end of a BB stop block (25A) is fixed on the BC support arm (21E) by a screw; the BH through hole is matched with a BF threaded hole on a BD supporting arm of the B lower bracket (21), and the other end of the BB stop block (25A) is fixed on the BD supporting arm by adopting a screw; the center part of the lower rolling body (25B) is provided with a BI through hole for the lower rolling shaft (25D) to pass through; a BD shaft section, a BE shaft section, a BF shaft section and a BB shaft shoulder are arranged on the lower rolling shaft (25D) of the B, and the BB shaft shoulder is arranged between the BE shaft section and the BF shaft section; a BC plastic bearing (25C) is sleeved on the BD shaft section; a B lower rolling body (25B) is fixed on the BE shaft section; a BD plastic bearing (25E) is sleeved on the BF shaft section; an FA supporting arm (6F1) used for placing an FA supporting seat (6F) is arranged between the upper rolling body (24B) and the lower rolling body (25B) of the B, external teeth identical to the BC spur gear (2F) are arranged outside the FA supporting arm (6F1), and one end of a BG guide rail section (7B7) and the other end of a BH guide rail section (7B8) are respectively installed at two ends of an FA guide rail through hole (6F11) on the FA supporting arm (6F 1);

the BA transmission shaft (26) is provided with a BA upper shaft section (261), a BA middle shaft section (262) and a BA lower shaft section (263); the BA transmission shaft (26) is sequentially sleeved with a BA belt pulley (2A), a B track-changing rotating sleeve (26A), a BC bearing (26E) and a BA straight gear expansion sleeve (26F) from top to bottom; a B walking leg driving straight gear (2D) is arranged outside the BA straight gear expansion sleeve (26F), and the B walking leg driving straight gear (2D) is meshed with a B walking leg driven straight gear (2H); namely a BA belt wheel (2A) is sleeved on a BA upper shaft section (261) of the BA transmission shaft (26); a BA middle shaft section (262) of the BA transmission shaft (26) is arranged in the B track-changing rotating sleeve (26A), and a BC bearing (26E) is sleeved at the lower end part of the BA middle shaft section (262); a BA lower shaft section (263) of the BA transmission shaft (26) is sleeved with a BA straight gear expansion sleeve (26F); the B orbital transfer rotating sleeve (26A) is a hollow structural part; the middle part of the B track-changing rotating sleeve (26A) is provided with a B center through hole (26A6), and the B center through hole (26A6) is used for the BA transmission shaft (26) to pass through; a BA sleeve section (26A1), a BB sleeve section (26A2) and a BC sleeve section (26A3) are arranged outside the B orbital transfer rotating sleeve (26A); a BA sleeve shoulder (26A4) is arranged between the BA sleeve section (26A1) and the BB sleeve section (26A 2); a BB sleeve shoulder (26A5) is arranged between the BB sleeve segment (26A2) and the BC sleeve segment (26A 3); the B orbital transfer rotating sleeve (26A) is sequentially sleeved with a BB belt wheel (2B), a BA bearing (26C), a BB bearing (26D) and a B orbital transfer driving straight gear (2C) from top to bottom; namely a BB belt wheel (2B) is sleeved on the BA sleeve section (26A 1); a BA bearing (26C) and a BB bearing (26D) are sleeved on the BB sleeve section (26A 2); the BB bearing (26D) is arranged in a KD shaft hole (10B) of the chassis (10); a B track-changing driving spur gear (2C) is sleeved on the BC sleeve section (26A 3); the B track-changing driving straight gear (2C) is meshed with the B track-changing driven straight gear (2G); the BA bearing (26C) is arranged in a shaft hole of the B bearing pressing plate (26B), two ends of the B bearing pressing plate (26B) are provided with lugs, through holes are formed in the lugs, and the B bearing pressing plate (26B) is screwed into a KC threaded hole (10B3) of the chassis (10) after passing through the through holes in the lugs by adopting screws, so that the B bearing pressing plate (26B) is fixed on the upper panel of the chassis (10);

a BC upper shaft section (271), a BC middle shaft section (272) and a BC lower shaft section (273) are arranged on the BC transmission shaft (27); the BC transmission shaft (27) is sequentially sleeved with a BA clamping ring (27A), a BB straight gear (2E), a BB clamping ring (27B), a BC sleeve (27C), a BB straight gear expansion sleeve (27D) and a BC nut (27E) from top to bottom; a BC spur gear (2F) is mounted outside the BB spur gear expansion sleeve (27D), and the BC spur gear (2F) is meshed with teeth outside an FA support arm (6F1) of the FA support seat (6F); namely a BC upper shaft section (271) of the BC transmission shaft (27) is sleeved with a BB straight gear (2E); the BA straight gear (2J) is meshed with the BB straight gear (2E); a BC middle shaft section (272) of the BC transmission shaft (27) is sleeved with a BB collar (27B) and a BC sleeve (27C); an opening is arranged on the BC sleeve (27C); a BC lower shaft section (273) of the BC transmission shaft (27) is sleeved with a BB straight gear expansion sleeve (27D) and a BC nut (27E);

a BB upper shaft section (281), a BB middle shaft section (282) and a BB lower shaft section (283) are arranged on the BB transmission shaft (28); the BB transmission shaft (28) is sequentially sleeved with a B upper support frame (23), a BA sliding bearing (28A) and a BB transmission cylinder (28C) from top to bottom; a B-track-changing driven spur gear (2G) is sleeved outside the BA sliding bearing (28A); a BB upper shaft section (281) of the BB drive shaft (28) is arranged in a BF shaft hole (23B1) of the B upper support frame (23); a BB middle shaft section (282) of the BB transmission shaft (28) is sleeved with a BA sliding bearing (28A); a BB lower shaft section (283) of the BB drive shaft (28) is arranged in a BG shaft hole (28C1) of the BB drive cylinder (28C); the BB driving cylinder (28C) is provided with a BG shaft hole (28C1), an upper cylinder body (28C2), a middle cylinder body (28C3) and a lower cylinder body (28C 4); the BG shaft hole (28C1) is used for placing a BB lower shaft section (283) of a BB transmission shaft (28); the upper cylinder body (28C2) is used for sleeving a driven spur gear (2H) of a walking leg B; a driving straight gear (2D) of the walking leg B is meshed with a driven straight gear (2H) of the walking leg B; the middle cylinder (28C3) is used for sleeving a BB sliding bearing (28B); the lower cylinder body (28C4) is used for being sleeved with a BA straight gear (2J), and the BA straight gear (2J) is meshed with a BB straight gear (2E);

the B pinch roller rotating shaft (29) comprises a B external gear (29B) and a B mounting shaft (29A); the B external gear (29B) is sleeved on the B mounting shaft (29A) and moves circularly around the B mounting shaft (29A), and the lower end of the B mounting shaft (29A) is fixed in a KF shaft hole (10B2) of the chassis (10); teeth on the outer ring of the B external tooth gear (29B) are meshed with the first synchronous toothed belt (110);

the third track-changing executing assembly (3) comprises a CA transmission shaft (36), a CC transmission shaft (37), a CB transmission shaft (38), a CA pinch roller rotating shaft (39A), a CB pinch roller rotating shaft (39B), a CA belt pulley (3A), a CB belt pulley (3B), a C track-changing driving straight gear (3C), a C track-changing driven straight gear (3G), a C walking leg driving straight gear (3D), a C walking leg driven straight gear (3H), a CA straight gear (3J), a CB straight gear (3E), a CC straight gear (3F), a C bearing pressing plate (36B), a C lower bracket (31), a C upper bracket (32), a C upper supporting frame (33), a C upper rolling assembly (34) and a C lower rolling assembly (35); the external teeth on the CA belt wheel (3A) are meshed with the second synchronous toothed belt (120); the external teeth on the CB belt wheel (3B) are meshed with the first synchronous toothed belt (110); the C upper rolling assembly (34) comprises a CA stop block (34A), an upper rolling body (34B), a CA plastic bearing (34C), a C upper rolling shaft (34D) and a CB plastic bearing (34E); the C lower rolling assembly (35) comprises a CB stop block (35A), a lower rolling body (35B), a CC plastic bearing (35C), a C lower rolling shaft (35D) and a CD plastic bearing (35E);

the C lower bracket (31) is provided with a CA panel (31A), a CB panel (31B), a CA support arm (31C), a CB support arm (31D), a CC support arm (31E) and a CD support arm (31F); the CA panel (31A) is provided with a CA shaft hole (31A1) for placing a CC middle shaft section (372) of the CC transmission shaft (37); the CB panel (31B) is provided with a CB shaft hole, a CC shaft hole (31B2) and a CA rectangular through hole (31B 3); the CA rectangular through hole (31B3) is used for placing the CC straight gear (3F); the CB shaft hole is used for placing one end of a C upper rolling shaft (34D), and the CC shaft hole (31B2) is used for placing one end of a C lower rolling shaft (35D); a CA threaded hole (31C1) is formed in the outer panel of the CA support arm (31C), and a CB threaded hole (31C2) is formed in the end panel of the CA support arm (31C); the CA threaded hole (31C1) is used for fixing a CA vertical plate (32A) of the C upper bracket (32) on an outer side panel of the CA support arm (31C) by adopting screw matching; the CB threaded hole (31C2) is matched with a CE through hole (34A3) on a CA stop block (34A), and then a long screw penetrates through the CE through hole (34A3) and then is connected in the CB threaded hole (31C2) in a threaded mode, so that one end of the CA stop block (34A) is fixed on an end panel of the CA support arm (31C); the outer side panel of the CB support arm (31D) is provided with a CC threaded hole (31D1), and the end panel of the CB support arm (31D) is provided with a CD threaded hole (31D 2); the CC threaded hole (31D1) is matched with a screw to fix a CB vertical plate (32B) of the C upper bracket (32) on an outer side panel of the CB support arm (31D); the CD threaded hole (31D2) is matched with a CD through hole (34A2) on the CA stop block (34A), and then a long screw penetrates through the CD through hole (34A2) and then is connected in the CD threaded hole (31D2) in a threaded manner, so that the other end of the CA stop block (34A) is fixed on an end panel of the CB support arm (31D); CE threaded holes (31E1) are formed in the end face plate of the CC support arm (31E); the CE threaded hole (31E1) is matched with a CH through hole (35A3) in a CB stop block (35A), and then a long screw penetrates through the CH through hole (35A3) and then is connected in the CE threaded hole (31E1) in a threaded mode, so that one end of the CB stop block (35A) is fixed on an end panel of the CC support arm (31E); a CF threaded hole (31F1) is arranged on the end panel of the CD support arm (31F); the CF threaded hole (31F1) is matched with a CG through hole (35A2) in the CB stop block (35A), and then a long screw penetrates through the CG through hole (35A2) to be connected in the CF threaded hole (31F1) in a threaded mode, so that the other end of the CB stop block (35A) is fixed on an end panel of the CD support arm (31F);

the upper bracket (32) C is provided with a CA vertical plate (32A), a CB vertical plate (32B), a CA transverse plate (32C) and a CB transverse plate (32D); a CA through hole (32A1) is formed in the CA vertical plate (32A), the CA through hole (32A1) is matched with a CA threaded hole (31C1) in a CA support arm (31C) of the C lower bracket (31), and a screw passes through the CA through hole (32A1) and then is in threaded connection with the CA threaded hole (31C1), so that the CA vertical plate (32A) and an outer side panel of the CA support arm (31C) are fixed; a CB through hole (32B1) is formed in the CB vertical plate (32B), the CB through hole (32B1) is matched with a CC threaded hole (31D1) in a CB support arm (31D) of the C lower bracket (31), and the CB through hole (32B1) is penetrated through a screw and then is in threaded connection with the CC threaded hole (31D1), so that the CB vertical plate (32B) and an outer side panel of the CB support arm (31D) are fixed; a CD shaft hole (32C1) for placing the CA sliding bearing (38A) is arranged on the CA transverse plate (32C); the CB transverse plate (32D) is provided with a CE shaft hole (32D1) for placing the CB sliding bearing (38B); the CA sliding bearing (38A) and the CB sliding bearing (38B) are sleeved on the CB transmission shaft (38);

a CC transverse plate (33A) and a CA supporting sleeve (33B) are arranged on the upper supporting frame (33) C; two ends of the CC transverse plate (33A) are respectively provided with a CC through hole (33A1), the CC through hole (33A1) is used for a screw to pass through, and the screw which passes through the CC through hole (33A1) is fixed in a KF threaded hole (10C4) of the chassis (10) in a threaded manner, so that the C upper support frame (33) is fixed on the lower panel of the chassis (10); the center of the CA supporting sleeve (33B) is provided with a CF shaft hole (33B1) for placing a CB upper shaft section (381) of the CB transmission shaft (38);

a CH shaft hole for placing a CA plastic bearing (34C) is formed in the middle of the CA stop block (34A); two ends of the CH shaft hole are respectively provided with a CD through hole and a CE through hole; the CD through hole is matched with a CB threaded hole in a CA support arm (31C) of the C lower bracket (31), and one end of a CA stop block (34A) is fixed on the CA support arm (31C) by adopting a screw; the CE through hole is matched with a CD threaded hole in a CB support arm (31D) of the C lower bracket (31), and the other end of the CA stop block (34A) is fixed on the CB support arm (31D) by a screw; the central part of the upper rolling body (34B) is provided with a CF through hole for the C upper rolling shaft (34D) to pass through; the C upper rolling shaft (34D) is provided with a CA shaft section, a CB shaft section, a CC shaft section and a CA shaft shoulder, and the CA shaft shoulder is arranged between the CB shaft section and the CC shaft section; a CA plastic bearing (34C) is sleeved on the CA shaft section; an upper rolling body (34B) C is fixed on the shaft section CB; a CB plastic bearing (34E) is sleeved on the CC shaft section;

the middle of the CB stop block (35A) is provided with a CI shaft hole for placing a CC plastic bearing (35C); the two ends of the CI shaft hole are respectively provided with a CG through hole and a CH through hole; the CG through hole is matched with a CE threaded hole on a CC support arm (31E) of the C lower bracket (31), and one end of a CB stop block (35A) is fixed on the CC support arm (31E) by adopting a screw; the CH through hole is matched with a CF threaded hole on a CD support arm of the C lower bracket (31), and the other end of the CB stop block (35A) is fixed on the CD support arm by adopting a screw; the central part of the lower rolling body (35B) is provided with a CI through hole for the lower rolling shaft (35D) to pass through; a CD shaft section, a CE shaft section, a CF shaft section and a CB shaft shoulder are arranged on the lower rolling shaft (35D) of the C, and the CB shaft shoulder is arranged between the CE shaft section and the CF shaft section; a CC plastic bearing (35C) is sleeved on the CD shaft section; c, a lower rolling body (35B) is fixed on the CE shaft section; a CD plastic bearing (35E) is sleeved on the CF shaft section; an ED support arm (5G1) used for placing an EB supporting seat (5G) is arranged between the upper rolling body (34B) and the lower rolling body (35B), external teeth identical to the CC straight gear (3F) are arranged outside the ED support arm (5G1), and one end of an AB guide rail section (7A2) and the other end of an AC guide rail section (7A3) are respectively installed at two ends of an EB guide rail through hole (5G11) in the ED support arm (5G 1); because the C upper rolling body (34B) and the C lower rolling body (35B) are placed in parallel, the C upper rolling body (34B) rotates on the C upper rolling shaft (34D), and the C lower rolling body (35B) rotates on the C lower rolling shaft (35D);

a CA upper shaft section (361), a CA middle shaft section (362) and a CA lower shaft section (363) are arranged on the CA transmission shaft (36); the CA transmission shaft (36) is sequentially sleeved with a CA belt wheel (3A), a C track-changing rotating sleeve (36A), a CC bearing (36E) and a CA straight gear expansion sleeve (36F) from top to bottom; a C walking leg driving straight gear (3D) is arranged outside the CA straight gear expansion sleeve (36F), and the C walking leg driving straight gear (3D) is meshed with a C walking leg driven straight gear (3H); namely, a CA belt wheel (3A) is sleeved on a CA upper shaft section (361) of the CA transmission shaft (36); a CA middle shaft section (362) of the CA transmission shaft (36) is arranged in the C track-changing rotating sleeve (36A), and a CC bearing (36E) is sleeved at the lower end part of the CA middle shaft section (362); a CA straight gear expansion sleeve (36F) is sleeved on a CA lower shaft section (363) of the CA transmission shaft (36); the C track-changing rotating sleeve (36A) is a hollow structural part; the middle part of the C-shaped track-changing rotating sleeve (36A) is provided with a C-shaped central through hole (36A6), and the C-shaped central through hole (36A6) is used for the CA transmission shaft (36) to pass through; a CA sleeve section (36A1), a CB sleeve section (36A2) and a CC sleeve section (36A3) are arranged outside the C orbital transfer rotating sleeve (36A); a CA sleeve shoulder (36A4) is arranged between the CA sleeve section (36A1) and the CB sleeve section (36A 2); a CB sleeve shoulder (36A5) is arranged between the CB sleeve section (36A2) and the CC sleeve section (36A 3); the C track-changing rotating sleeve (36A) is sequentially sleeved with a CB belt wheel (3B), a CA bearing (36C), a CB bearing (36D) and a C track-changing driving straight gear (3C) from top to bottom; namely, a CB belt wheel (3B) is sleeved on the CA sleeve section (36A 1); the CB sleeve section (36A2) is sleeved with a CA bearing (36C) and a CB bearing (36D); the CB bearing (36D) is arranged in a KG shaft hole (10C) of the chassis (10); a C-shaped orbital transfer driving straight gear (3C) is sleeved on the CC sleeve section (36A 3); the C-type orbital transfer driving straight gear (3C) is meshed with the C-type orbital transfer driven straight gear (3G); the CA bearing (36C) is arranged in a shaft hole of the C bearing pressing plate (36B), two ends of the C bearing pressing plate (36B) are provided with lugs, through holes are formed in the lugs, and the C bearing pressing plate (36B) is in threaded connection with KE threaded holes (10C3) of the chassis (10) after passing through the through holes in the lugs by screws, so that the C bearing pressing plate (36B) is fixed on the upper panel of the chassis (10);

a CC upper shaft section (371), a CC middle shaft section (372) and a CC lower shaft section (373) are arranged on the CC transmission shaft (37); the CC transmission shaft (37) is sequentially sleeved with a CA clamping ring (37A), a CB straight gear (3E), a CB clamping ring (37B), a CC sleeve (37C), a CB straight gear expansion sleeve (37D) and a CC nut (37E) from top to bottom; a CC straight gear (3F) is arranged outside the CB straight gear expansion sleeve (37D), and the CC straight gear (3F) is meshed with teeth outside an ED support arm (5G1) of an EB support seat (5G); namely, a CC upper shaft section (371) of the CC transmission shaft (37) is sleeved with a CB straight gear (3E); the CA straight gear (3J) is meshed with the CB straight gear (3E); a CC middle shaft section (372) of the CC transmission shaft (37) is sleeved with a CB clamping ring (37B) and a CC sleeve (37C); an opening is arranged on the CC sleeve (37C); a CC lower shaft section (373) of the CC transmission shaft (37) is sleeved with a CB straight gear expansion sleeve (37D) and a CC nut (37E);

the CB transmission shaft (38) is provided with a CB upper shaft section (381), a CB middle shaft section (382) and a CB lower shaft section (383); the CB transmission shaft (38) is sequentially sleeved with a C upper support frame (33), a CA sliding bearing (38A) and a CB transmission cylinder (38C) from top to bottom; a C-shaped track-changing driven spur gear (3G) is sleeved outside the CA sliding bearing (38A); a CB upper shaft section (381) of the CB transmission shaft (38) is arranged in a CF shaft hole (33B1) of the C upper support frame (33); a CB middle shaft section (382) of the CB transmission shaft (38) is sleeved with a CA sliding bearing (38A); the CB lower shaft section (383) of the CB transmission shaft (38) is placed in a CG shaft hole (38C1) of the CB transmission cylinder (38C); the CB transmission cylinder (38C) is provided with a CG shaft hole (38C1), an upper cylinder body (38C2), a middle cylinder body (38C3) and a lower cylinder body (38C 4); the CG shaft hole (38C1) is used for placing a CB lower shaft section (383) of the CB transmission shaft (38); the upper cylinder body (38C2) is used for sleeving a C walking leg driven spur gear (3H); a C walking leg driving straight gear (3D) is meshed with a C walking leg driven straight gear (3H); the middle cylinder body (38C3) is used for sleeving a CB sliding bearing (38B); the lower cylinder body (38C4) is used for being sleeved with a CA straight gear (3J), and the CA straight gear (3J) is meshed with a CB straight gear (3E);

two pinch roller rotating shafts, namely a CA pinch roller rotating shaft (39A) and a CB pinch roller rotating shaft (39B), are arranged in the third track transfer executing assembly (3); the CA pinch roller rotating shaft (39A) comprises a CA external gear (39A2) and a CA mounting shaft (39A 1); the CA external gear (39A2) is sleeved on the CA mounting shaft (39A1) and moves circularly around the CA mounting shaft (39A1), and the lower end of the CA mounting shaft (39A1) is fixed in a KI shaft hole (10C2) of the chassis (10); the teeth on the outer ring of the CA external tooth gear (39A2) on the CA pinch roller rotating shaft (39A) are meshed with the first synchronous toothed belt (110);

the CB pinch roller rotating shaft (39B) comprises a CB external gear (39B2) and a CB mounting shaft (39B 1); the CB external gear (39B2) is sleeved on the CB mounting shaft (39B1) and moves circularly around the CB mounting shaft (39B1), and the lower end of the CB mounting shaft (39B1) is fixed in a KJ shaft hole (10C5) of the chassis (10); the teeth on the outer ring of the CB external tooth gear (39B2) on the CB pinch roller rotating shaft (39B) are meshed with the first synchronous toothed belt (110);

the fourth track-changing executing assembly (4) comprises a DA transmission shaft (46), a DC transmission shaft (47), a DB transmission shaft (48), a DA pinch roller rotating shaft (49A), a DB pinch roller rotating shaft (49B), a DA belt pulley (4A), a DB belt pulley (4B), a D track-changing driving straight gear (4C), a D track-changing driven straight gear (4G), a D walking leg driving straight gear (4D), a D walking leg driven straight gear (4H), a DA straight gear (4J), a DB straight gear (4E), a DC straight gear (4F), a D bearing pressing plate (46B), a D lower bracket (41), a D upper bracket (42), a D upper supporting frame (43), a D upper rolling assembly (44) and a D lower rolling assembly (45); the external teeth on the DA belt wheel (4A) are meshed with the second synchronous toothed belt (120); the external teeth on the DB belt wheel (4B) are meshed with the first synchronous toothed belt (110); the D upper rolling assembly (44) comprises a DA stop block (44A), an upper rolling body (44B), a DA plastic bearing (44C), a D upper rolling shaft (44D) and a DB plastic bearing (44E); the D lower rolling assembly (45) comprises a DB stop block (45A), a lower rolling body (45B), a DC plastic bearing (45C), a D lower rolling shaft (45D) and a DD plastic bearing (45E);

the D lower bracket (41) is provided with a DA panel (41A), a DB panel (41B), a DA support arm (41C), a DB support arm (41D), a DC support arm (41E) and a DD support arm (41F); the DA panel (41A) is provided with a DA shaft hole (41A1) for placing a DC middle shaft section (472) of the DC transmission shaft (47); a DB shaft hole, a DC shaft hole (41B2) and a DA rectangular through hole (41B3) are formed in the DB panel (41B); the DA rectangular through hole (41B3) is used for placing the DC spur gear (4F); the DB shaft hole is used for placing one end of a D upper rolling shaft (44D), and the DC shaft hole (41B2) is used for placing one end of a D lower rolling shaft (45D); DA threaded holes (41C1) are formed in the outer side panel of the DA support arm (41C), and DB threaded holes (41C2) are formed in the end panel of the DA support arm (41C); the DA threaded holes (41C1) are matched with screws to fix the DA vertical plate (42A) of the D upper bracket (42) on the outer side panel of the DA support arm (41C); the DB threaded hole (41C2) is matched with a DE through hole (44A3) on the DA stop block (44A), and then a long screw penetrates through the DE through hole (44A3) to be connected in the DB threaded hole (41C2) in a threaded mode, so that one end of the DA stop block (44A) is fixed on an end panel of the DA support arm (41C); a DC threaded hole (41D1) is formed in the outer panel of the DB support arm (41D), and a DD threaded hole (41D2) is formed in the end panel of the DB support arm (41D); the DC threaded hole (41D1) is used for fixing a DB vertical plate (42B) of the D upper bracket (42) on an outer side panel of the DB support arm (41D) by adopting screw matching; the DD threaded hole (41D2) is matched with the DD through hole (44A2) in the DA stop block (44A), and then a long screw penetrates through the DD through hole (44A2) and then is connected in the DD threaded hole (41D2) in a threaded mode, so that the other end of the DA stop block (44A) is fixed on an end panel of the DB support arm (41D); DE threaded holes (41E1) are formed in the end face plate of the DC support arm (41E); the DE threaded hole (41E1) is matched with a DH through hole (45A3) in a DB stop block (45A), and then a long screw penetrates through the DH through hole (45A3) and then is connected in the DE threaded hole (41E1) in a threaded mode, so that one end of the DB stop block (45A) is fixed on an end face plate of the DC support arm (41E); DF threaded holes (41F1) are arranged on the end panel of the DD support arm (41F); the DF threaded hole (41F1) is matched with a DG through hole (45A2) on the DB stop block (45A), and then a long screw penetrates through the DG through hole (45A2) to be connected in the DF threaded hole (41F1) in a threaded mode, so that the other end of the DB stop block (45A) is fixed on an end panel of the DD support arm (41F);

the D upper bracket (42) is provided with a DA vertical plate (42A), a DB vertical plate (42B), a DA transverse plate (42C) and a DB transverse plate (42D); DA through holes (42A1) are formed in the DA vertical plates (42A), the DA through holes (42A1) are matched with DA threaded holes (41C1) in DA support arms (41C) of the D lower bracket (41), screws penetrate through the DA through holes (42A1) and then are in threaded connection with the DA threaded holes (41C1), and fixing of the DA vertical plates (42A) and the outer side panels of the DA support arms (41C) is achieved; a DB through hole (42B1) is formed in the DB vertical plate (42B), the DB through hole (42B1) is matched with a DC threaded hole (41D1) in a DB support arm (41D) of the D lower bracket (41), and the DB vertical plate (42B) and the DB support arm (41D) are fixed through a screw passing through the DB through hole (42B1) and then screwed in the DC threaded hole (41D 1); a DD shaft hole (42C1) for placing the DA sliding bearing (48A) is arranged on the DA transverse plate (42C); a DE shaft hole (42D1) for placing the DB sliding bearing (48B) is arranged on the DB transverse plate (42D); the DA sliding bearing (48A) and the DB sliding bearing (48B) are sleeved on the DB transmission shaft (48);

a DC transverse plate (43A) and a DA supporting sleeve (43B) are arranged on the upper supporting frame (43); two ends of the DC transverse plate (43A) are respectively provided with a DC through hole (43A1), the DC through holes (43A1) are used for screws to pass through, and the screws passing through the DC through holes (43A1) are fixed in KH threaded holes (10D4) of the chassis (10) in a threaded manner, so that the D upper support frame (43) is fixed on the lower panel of the chassis (10); the center of the DA supporting sleeve (43B) is provided with a DF shaft hole (43B1) for placing a DB upper shaft section (481) of a DB transmission shaft (48);

a DH shaft hole for placing a DA plastic bearing (44C) is formed in the middle of the DA stop block (44A); the two ends of the DH shaft hole are respectively provided with a DD through hole and a DE through hole; the DD through hole is matched with a DB threaded hole in a DA support arm (41C) of the D lower bracket (41), and one end of a DA stop block (44A) is fixed on the DA support arm (41C) by a screw; the DE through hole is matched with a DD threaded hole in a DB support arm (41D) of the D lower bracket (41), and the other end of the DA stop block (44A) is fixed on the DB support arm (41D) by a screw; the central part of the upper rolling body (44B) is provided with a DF through hole for the upper rolling shaft (44D) to pass through; a DA shaft section, a DB shaft section, a DC shaft section and a DA shaft shoulder are arranged on the D upper rolling shaft (44D), and the DA shaft shoulder is arranged between the DB shaft section and the DC shaft section; a DA plastic bearing (44C) is sleeved on the DA shaft section; d, an upper rolling body (44B) is fixed on the DB shaft section; a DB plastic bearing (44E) is sleeved on the DC shaft section;

a DI shaft hole for placing a DC plastic bearing (45C) is formed in the middle of the DB stop block (45A); the two ends of the DI shaft hole are respectively provided with a DG through hole and a DH through hole; the DG through hole is matched with a DE threaded hole in a DC support arm (41E) of the D lower bracket (41), and one end of the DB stop block (45A) is fixed on the DC support arm (41E) by a screw; the DH through hole is matched with a DF threaded hole on a DD supporting arm of the D lower bracket (41), and the other end of the DB check block (45A) is fixed on the DD supporting arm by adopting a screw; the central part of the lower rolling body (45B) is provided with a DI through hole for the lower rolling shaft (45D) to pass through; a DD shaft section, a DE shaft section, a DF shaft section and a DB shaft shoulder are arranged on the lower rolling shaft (45D), and the DB shaft shoulder is arranged between the DE shaft section and the DF shaft section; a DC plastic bearing (45C) is sleeved on the DD shaft section; a D lower rolling body (45B) is fixed on the DE shaft section; a DD plastic bearing (45E) is sleeved on the DF shaft section; an FD support arm (6G1) used for placing an FB supporting seat (6G) is arranged between the D upper rolling body (44B) and the D lower rolling body (45B), external teeth identical to a DC straight gear (4F) are arranged outside the FD support arm (6G1), and one end of an AG guide rail section (7A7) and the other end of an AH guide rail section (7A8) are respectively installed at two ends of an FB guide rail through hole (6G11) in the FD support arm (6G 1); because the D upper rolling body (44B) and the D lower rolling body (45B) are placed in parallel, the D upper rolling body (44B) rotates on the D upper rolling shaft (44D), and the D lower rolling body (45B) rotates on the D lower rolling shaft (45D);

a DA upper shaft section (461), a DA middle shaft section (462) and a DA lower shaft section (463) are arranged on the DA transmission shaft (46); the DA transmission shaft (46) is sequentially sleeved with a DA belt wheel (4A), a D track-changing rotating sleeve (46A), a DC bearing (46E) and a DA straight gear expanding sleeve (46F) from top to bottom; a D walking leg driving straight gear (4D) is arranged outside the DA straight gear expansion sleeve (46F), and the D walking leg driving straight gear (4D) is meshed with a D walking leg driven straight gear (4H); namely, a DA belt wheel (4A) is sleeved on a DA upper shaft section (461) of the DA transmission shaft (46); a DA middle shaft section (462) of the DA transmission shaft (46) is arranged in the D track-changing rotating sleeve (46A), and a DC bearing (46E) is sleeved at the lower end of the DA middle shaft section (462); a DA straight gear expansion sleeve (46F) is sleeved on a DA lower shaft section (463) of the DA transmission shaft (46); d, the orbital transfer rotating sleeve (46A) is a hollow structural part; the middle part of the D-type orbital transfer rotating sleeve (46A) is provided with a D center through hole (46A6), and the D center through hole (46A6) is used for a DA transmission shaft (46) to pass through; a DA sleeve section (46A1), a DB sleeve section (46A2) and a DC sleeve section (46A3) are arranged outside the D orbital transfer rotating sleeve (46A); a DA sleeve shoulder (46A4) is arranged between the DA sleeve section (46A1) and the DB sleeve section (46A 2); a DB sleeve shoulder (46A5) is arranged between the DB sleeve section (46A2) and the DC sleeve section (46A 3); the D-type orbital transfer rotating sleeve (46A) is sequentially sleeved with a DB belt wheel (4B), a DA bearing (46C), a DB bearing (46D) and a D-type orbital transfer driving straight gear (4C) from top to bottom; namely a DB belt wheel (4B) is sleeved on the DA sleeve section (46A 1); a DA bearing (46C) and a DB bearing (46D) are sleeved on the DB sleeve section (46A 2); the DB bearing (46D) is arranged in a KK shaft hole (10D) of the chassis (10); a D-rail-changing driving straight gear (4C) is sleeved on the DC sleeve section (46A 3); the D-type orbital transfer driving straight gear (4C) is meshed with the D-type orbital transfer driven straight gear (4G); the DA bearing (46C) is arranged in a shaft hole of the D bearing pressing plate (46B), two ends of the D bearing pressing plate (46B) are provided with lugs, through holes are formed in the lugs, and the D bearing pressing plate (46B) is in threaded connection with KG threaded holes (10D3) of the chassis (10) after passing through the through holes in the lugs by screws, so that the D bearing pressing plate (46B) is fixed on the upper panel of the chassis (10);

a DC upper shaft section (471), a DC middle shaft section (472) and a DC lower shaft section (473) are arranged on the DC transmission shaft (47); the DC transmission shaft (47) is sequentially sleeved with a DA clamping ring (47A), a DB straight gear (4E), a DB clamping ring (47B), a DC sleeve (47C), a DB straight gear expansion sleeve (47D) and a DC nut (47E) from top to bottom; a DC straight gear (4F) is arranged outside the DB straight gear expansion sleeve (47D), and the DC straight gear (4F) is meshed with teeth outside an FD support arm (6G1) of the FB support seat (6G); namely, a DC upper shaft section (471) of the DC transmission shaft (47) is sleeved with a DB straight gear (4E); the DA straight gear (4J) is meshed with the DB straight gear (4E); a DC middle shaft section (472) of the DC transmission shaft (47) is sleeved with a DB clamping ring (47B) and a DC sleeve (47C); an opening is arranged on the DC sleeve (47C); a DC lower shaft section (473) of the DC transmission shaft (47) is sleeved with a DB straight gear expansion sleeve (47D) and a DC nut (47E);

a DB upper shaft section (481), a DB middle shaft section (482) and a DB lower shaft section (483) are arranged on the DB transmission shaft (48); the DB transmission shaft (48) is sequentially sleeved with a D upper support frame (43), a DA sliding bearing (48A) and a DB transmission cylinder (48C) from top to bottom; a D-rail-changing driven spur gear (4G) is sleeved outside the DA sliding bearing (48A); namely, a DB upper shaft section (481) of the DB transmission shaft (48) is arranged in a DF shaft hole (43B1) of the D upper support frame (43); a DA sliding bearing (48A) is sleeved on a DB middle shaft section (482) of the DB transmission shaft (48); a DB lower shaft section (483) of the DB transmission shaft (48) is arranged in a DG shaft hole (48C1) of the DB transmission cylinder (48C); the DB transmission cylinder (48C) is provided with a DG shaft hole (48C1), an upper cylinder body (48C2), a middle cylinder body (48C3) and a lower cylinder body (48C 4); the DG shaft hole (48C1) is used for placing a DB lower shaft section (483) of the DB transmission shaft (48); the upper cylinder body (48C2) is used for sleeving a D walking leg driven spur gear (4H); a driving straight gear (4D) of the walking leg D is meshed with a driven straight gear (4H) of the walking leg D; the middle cylinder (48C3) is used for sleeving a DB sliding bearing (48B); the lower cylinder body (48C4) is used for being sleeved with a DA straight gear (4J), and the DA straight gear (4J) is meshed with a DB straight gear (4E);

two pressing wheel rotating shafts, namely a DA pressing wheel rotating shaft (49A) and a DB pressing wheel rotating shaft (49B), are arranged in the fourth track transfer executing assembly (4); the DA pinch roller rotating shaft (49A) comprises a DA external gear (49A2) and a DA mounting shaft (49A 1); the DA external gear (49A2) is sleeved on the DA mounting shaft (49A1) and moves circularly around the DA mounting shaft (49A1), and the lower end of the DA mounting shaft (49A1) is fixed in a KM shaft hole (10D2) of the chassis (10); the teeth on the outer ring of the DA external tooth gear (49A2) on the DA pinch roller rotating shaft (49A) are meshed with the first synchronous toothed belt (110);

the DB pinch roller rotating shaft (49B) comprises a DB external gear (49B2), a DC external gear (49B3) and a DB mounting shaft (49B 1); the DC external gear (49B3) is sleeved at the upper end part of a DB mounting shaft (49B1), the DB external gear (49B2) is positioned below the DC external gear (49B3) and sleeved on the DB mounting shaft (49B1), the DB external gear (49B2) and the DC external gear (49B3) both perform circular motion around the DB mounting shaft (49B1), and the lower end of the DB mounting shaft (49B1) is fixed in a KN shaft hole (10D5) of the chassis (10); teeth on the outer ring of a DB external tooth gear (49B2) on a DB pinch roller rotating shaft (49B) are meshed with a first synchronous toothed belt (110), and teeth on the outer ring of a DC external tooth gear (49B3) are meshed with a second synchronous toothed belt (120);

the first orbital transfer turntable assembly (5) comprises an E turntable (5A), an EA (Ethernet card) connecting rail base (5B), an EB (Ethernet card) connecting rail base (5C), an EA rail replacing connecting rail (5D), an EB rail replacing connecting rail (5E), an EA supporting seat (5F), an EB supporting seat (5G), an EA rail replacing rotating assembly and an EB rail replacing rotating assembly, wherein the EA rail replacing rotating assembly and the EB rail replacing rotating assembly are respectively arranged in through holes on two sides of the E turntable (5A); the EA rail-changing rotating assembly consists of an EA nut (5L1), an EA stop check ring (5M1), an EA bearing (5K1), an EB bearing (5K2), an EA rail-changing rotating shaft (5H), an EA stop gasket (5N1), an EB nut (5L2) and an EA bearing end cover (5P 1); the EB rail-changing rotating assembly consists of an EC nut (5L3), an EB stop check ring (5M2), an EC bearing (5K3), an ED bearing (5K4), an EB rail-changing rotating shaft (5J), an EB stop gasket (5N2), an ED nut (5L4) and an EB bearing end cover (5P 2);

an EA supporting table (5A1), an EB supporting table (5A2) and an E fixing plate (5A3) are arranged on the E rotary table (5A), the E fixing plate (5A3) is arranged between the EA supporting table (5A1) and the EB supporting table (5A2), and the EA supporting table (5A1) and the EB supporting table (5A2) are kept parallel; an EC shaft hole (5A11) is arranged on the EA supporting table (5A1), an EA bearing (5K1), an EB bearing (5K2), an EA stop washer (5N1) and an EB nut (5L2) are arranged in the EC shaft hole (5A11), the EA bearing (5K1), the EB bearing (5K2), the EA stop washer (5N1) and the EB nut (5L2) are sleeved on the lower section of an EA shaft shoulder (5H1) of the EA rail-changing rotating shaft (5H), an EA bearing end cover (5P1 EB) is fixed on the lower panel of the EA supporting table (5A1) through screws, an ED shaft hole (5A21) is arranged on the supporting table (5A2), the EC bearing (5K3), the ED bearing (5K4), the ED stop washer (5N 4) and the EB nut (EB 5L4) are arranged in the ED shaft hole (5A21), the EC bearing (5K4), the ED bearing (5K4) and the EB nut (4) are sleeved on the lower section of the ED shaft-changing shaft shoulder (4), and the lower section of the ED shaft bearing opening 4) of the EB supporting table (4), and the EB An EB bearing end cover (5P2) is fixed through a screw; an EA through hole (5A31) and an EB through hole (5A32) are formed in the E fixing plate (5A3), the EA through hole (5A31) is used for placing a GL screw (7E2) in the guide rail assembly (7), and the EB through hole (5A32) is used for placing a GK screw (7E1) in the guide rail assembly (7); the GL screw (7E2) sequentially penetrates through an EA through hole (5A31) in the E fixing plate (5A3) and a through hole in a guide rail bottom plate (7C) of the guide rail assembly (7) and then is connected with an upper nut, so that the E fixing plate (5A3) is fixed with the guide rail bottom plate (7C) of the guide rail assembly (7); similarly, a GK screw (7E1) sequentially penetrates through an EB through hole (5A32) in the E fixing plate (5A3) and a through hole in a guide rail bottom plate (7C) of the guide rail assembly (7) and then is connected with an upper nut, so that the E fixing plate (5A3) is fixed with the guide rail bottom plate (7C) of the guide rail assembly (7);

an EG support arm (5B1) and an EH support arm (5B2) are arranged on the EA connecting rail base (5B), and the EG support arm (5B1) is perpendicular to the EH support arm (5B 2); the EG support arm (5B1) is used for fixing one end of an EA rail-changing connecting rail (5D); the EH support arm (5B2) is fixedly arranged on an EA side panel (5A12) of the E turntable (5A); an EI supporting arm (5C1) and an EJ supporting arm (5C2) are arranged on the EB connecting rail base (5C), and the EI supporting arm (5C1) is vertical to the EJ supporting arm (5C 2); the EI support arm (5C1) is used for fixing one end of the EB rail-changing connecting rail (5E); the EJ support arm (5C2) is fixedly arranged on an EB side panel (5A22) of the E turntable (5A);

an EA supporting seat (5F) is provided with an EA supporting arm (5F1), an EB supporting arm (5F2) and an EC supporting arm (5F3), the EB supporting arm (5F2) is arranged between the EA supporting arm (5F1) and the EC supporting arm (5F3), and the EA supporting arm (5F1) and the EC supporting arm (5F3) are kept parallel; an EA guide rail through hole (5F11) for placing a guide rail section to pass through is formed in the EA support arm (5F 1); an EA shaft hole (5F31) for enabling the upper end of the EA track changing rotating shaft (5H) to penetrate through and an EA clamping groove (5F32) for enabling an EA lower protrusion (5M11) of an EA stop ring (5M1) to penetrate through are arranged on the EC supporting arm (5F 3); an ED support arm (5G1), an EE support arm (5G2) and an EF support arm (5G3) are arranged on the EB support seat (5G), the EE support arm (5G2) is arranged between the ED support arm (5G1) and the EF support arm (5G3), and the ED support arm (5G1) and the EF support arm (5G3) are kept parallel; an EB guide rail through hole (5G11) for placing a guide rail section to pass through is arranged on the ED support arm (5G 1); an EB shaft hole (5G31) for the upper end of the EB rail changing rotating shaft (5J) to pass through and an EB clamping groove (5G32) for the EB stop collar (5M2) to pass through in a protruding mode are formed in the EF supporting arm (5G 3);

an EA shaft shoulder (5H1) is arranged on the EA track-changing rotating shaft (5H); namely, the upper section of an EA shaft shoulder (5H1) of the EA track-changing rotating shaft (5H) is used for sleeving an EC support arm (5F3), an EA stop collar (5M1) and an EA nut (5L1) of an EA support seat (5F); namely, the lower section of an EA shaft shoulder (5H1) of the EA track-changing rotating shaft (5H) is used for sleeving an EA bearing (5K1), an EB bearing (5K2), an EA stop washer (5N1) and an EB nut (5L 2); an EB shaft shoulder (5J1) is arranged on the EB rail changing rotating shaft (5J); namely, the upper section of an EB shaft shoulder (5J1) of the EB rail changing rotating shaft (5J) is used for sleeving an EF supporting arm (5G3), an EB stopping check ring (5M2) and an EC nut (5L3) of an EB supporting seat (5G); namely, the lower section of an EB shaft shoulder (5J1) of the EB rail changing rotating shaft (5J) is used for sleeving an EC bearing (5K3), an ED bearing (5K4), an EB stop washer (5N2) and an ED nut (5L 4);

the second orbital transfer turntable component (6) comprises an F turntable (6A), an FA connecting rail base (6B), an FB connecting rail base (6C), an FA orbital transfer connecting rail (6D), an FB orbital transfer connecting rail (6E), an FA supporting seat (6F), an FB supporting seat (6G), an FA orbital transfer rotating component and an FB orbital transfer rotating component, wherein the FA orbital transfer rotating component and the FB orbital transfer rotating component are respectively arranged in through holes on two sides of the F turntable (6A); the FA rail-changing rotating assembly consists of an FA nut (6L1), an FA stop check ring (6M1), an FA bearing (6K1), an FB bearing (6K2), an FA rail-changing rotating shaft (6H), an FA stop washer (6N1), an FB nut (6L2) and an FA bearing end cover (6P 1); the FB rail-changing rotating assembly consists of an FC nut (6L3), an FB stop check ring (6M2), an FC bearing (6K3), an FD bearing (6K4), an FB rail-changing rotating shaft (6J), an FB stop gasket (6N2), an FD nut (6L4) and an FB bearing end cover (6P 2);

an FA supporting table (6A1), an FB supporting table (6A2) and an F fixing plate (6A3) are arranged on the F rotary table (6A), the F fixing plate (6A3) is arranged between the FA supporting table (6A1) and the FB supporting table (6A2), and the FA supporting table (6A1) and the FB supporting table (6A2) are kept parallel; an FC shaft hole (6A11) is formed in the FA support platform (6A1), an FA bearing (6K1), an FB bearing (6K2), an FA stop washer (6N1) and an FB nut (6L2) are installed in the FC shaft hole (6A11), and the FA bearing (6K1), the FB bearing (6K2), the FA stop washer (6N1) and the FB nut (6L2) are sleeved on the lower section of an FA shaft shoulder (6H1) of the FA rail changing rotating shaft (6H); an FA bearing end cover (6P1) is fixed on the lower panel of the FA support platform (6A1) through a screw; an FD shaft hole (6A21) is formed in the FB support table (6A2), an FC bearing (6K3), an FD bearing (6K4), an FB stop washer (6N2) and an FD nut (6L4) are installed in the FD shaft hole (6A21), and the FC bearing (6K3), the FD bearing (6K4), the FB stop washer (6N2) and the FD nut (6L4) are sleeved on the lower section of an FB shaft shoulder (6J1) of the FB rail-changing rotating shaft (6J); an FB bearing end cover (6P2) is fixed on the lower panel of the FB support table (6A2) through a screw; an FA through hole (6A31) and an FB through hole (6A32) are formed in the F fixing plate (6A3), the FA through hole (6A31) is used for placing a GJ screw (7D2) in the guide rail component (7), and the FB through hole (6A32) is used for placing a GI screw (7D1) in the guide rail component (7); after sequentially penetrating through the FA through hole (6A31) on the F fixing plate (6A3) and the through hole on the guide rail bottom plate (7C) of the guide rail assembly (7), the GJ screw (7D2) is connected with an upper nut, so that the F fixing plate (6A3) is fixed with the guide rail bottom plate (7C) of the guide rail assembly (7); similarly, GI screws (7D1) sequentially penetrate through FB through holes (6A32) in the F fixing plate (6A3) and through holes in a guide rail bottom plate (7C) of the guide rail assembly (7) and then are connected with upper nuts, so that the F fixing plate (6A3) is fixed with the guide rail bottom plate (7C) of the guide rail assembly (7);

an FG support arm (6B1) and an FH support arm (6B2) are arranged on the FA connecting rail base (6B), and the FG support arm (6B1) is perpendicular to the FH support arm (6B 2); the FG support arm (6B1) is used for fixing one end of the FA rail change connecting rail (6D); the FH support arm (6B2) is fixedly arranged on the FA side panel (6A12) of the F rotary table (6A); an FI support arm (6C1) and an FJ support arm (6C2) are arranged on the FB connecting rail base (6C), and the FI support arm (6C1) is perpendicular to the FJ support arm (6C 2); the FI support arm (6C1) is used for fixing one end of the FB rail-changing connecting rail (6F); the FJ support arm (6C2) is fixedly arranged on an FB side panel (6A22) of the F rotary table (6A);

an FA support arm (6F1), an FB support arm (6F2) and an FC support arm (6F3) are arranged on the FA support seat (6F), the FB support arm (6F2) is arranged between the FA support arm (6F1) and the FC support arm (6F3), and the FA support arm (6F1) and the FC support arm (6F3) are kept parallel; an FA support arm (6F1) is provided with an FA guide rail through hole (6F11) for placing a guide rail section to pass through; an FA shaft hole (6F31) for the upper end of an FA rail-changing rotating shaft (6H) to pass through and an FA clamping groove (6F32) for the FA lower protrusion (6M11) of an FA stop ring (6M1) to pass through are arranged on the FC support arm (6F 3); an FD support arm (6G1), an FE support arm (6G2) and an FF support arm (6G3) are arranged on the FB support seat (6G), the FE support arm (6G2) is arranged between the FD support arm (6G1) and the FF support arm (6G3), the FD support arm (6G1) and the FF support arm (6G3) are kept parallel, an FB guide rail through hole (6G11) for placing a guide rail section, namely one end of an AG guide rail section (7A7) and the other end of an AH guide rail section (7A8) penetrate through is arranged on the FD support arm (6G1), an FB shaft hole (6G31) for the upper end of an FB rail changing rotating shaft (6J) to penetrate through and an FB clamping groove (6G32) for the FB stop check ring (6M2) to penetrate through in a downward projection manner are arranged on the FF support arm (6G 3;

an FA shaft shoulder (6H1) is arranged on the FA rail-changing rotating shaft (6H); namely, the upper section of an FA shaft shoulder (6H1) of the FA rail-changing rotating shaft (6H) is used for sleeving an FC support arm (6F3), an FA stop collar (6M1) and an FA nut (6L1) of an FA support seat (6F); namely, the lower section of an FA shaft shoulder (6H1) of the FA rail-changing rotating shaft (6H) is used for sleeving an FA bearing (6K1), an FB bearing (6K2), an FA stop washer (6N1) and an FB nut (6L 2); an FB shaft shoulder (6J1) is arranged on the FB rail-changing rotating shaft (6J); namely, the upper section of an FB shaft shoulder (6J1) of the FB rail-changing rotating shaft (6J) is used for sleeving an FF support arm (6G3), an FB stop collar (6M2) and an FC nut (6L3) of an FB support seat (6G); namely, the lower section of an FB shaft shoulder (6J1) of the FB rail-changing rotating shaft (6J) is used for being sleeved with an FC bearing (6K3), an FD bearing (6K4), an FB stop washer (6N2) and an FD nut (6L 4);

the guide rail assembly (7) consists of an A guide rail section assembly (7A), a B guide rail section assembly (7B), a guide rail bottom plate (7C), a GA guide rail support frame (71), a GB guide rail support frame (72), a GC guide rail support frame (73), a GD guide rail support frame (74), a GE guide rail support frame (75), a GF guide rail support frame (76), a GG guide rail support frame (77) and a GH guide rail support frame (78); the eight guide rail support frames are identical in structure and are U-shaped structural members;

the A guide rail section component (7A) comprises a GA guide rail section (7A-1), a GB guide rail section (7A-2), a GC guide rail section (7A-3), a GD guide rail section (7A-4), an AA guide rail section (7A1), an AB guide rail section (7A2), an AC guide rail section (7A3), an AD guide rail section (7A4), an AE guide rail section (7A5), an AF guide rail section (7A6), an AG guide rail section (7A7), an AH guide rail section (7A8) and an AI guide rail section (7A 9); the outer part of each guide rail section on the guide rail section component A (7A) is provided with teeth matched with an AC straight gear (1F) and a BC straight gear (2F);

the B guide rail section assembly (7B) comprises a GE guide rail section (7B-1), a GF guide rail section (7B-2), a GG guide rail section (7B-3), a GH guide rail section (7B-4), a BA guide rail section (7B1), a BB guide rail section (7B2), a BC guide rail section (7B3), a BD guide rail section (7B4), a BE guide rail section (7B5), a BF guide rail section (7B6), a BG guide rail section (7B7), a BH guide rail section (7B8) and a BI guide rail section (7B 9); the outside of each guide rail section on the guide rail section component (7B) is provided with teeth matched with the CC straight gear (3F) and the DC straight gear (4F); GA screws (71-1) sequentially penetrate through GA through holes in a transverse plate of the GA guide rail support frame (71) and through holes in a guide rail bottom plate (7C) of the guide rail assembly (7) and then are connected with upper nuts, so that the GA guide rail support frame (71) is fixed with the guide rail bottom plate (7C) of the guide rail assembly (7);

GB screws (72-1) sequentially penetrate through GB through holes in a transverse plate of the GB guide rail support frame (72) and through holes in a guide rail bottom plate (7C) of the guide rail assembly (7) and then are connected with upper nuts, so that the GB guide rail support frame (72) is fixed with the guide rail bottom plate (7C) of the guide rail assembly (7);

the GC screws (73-1) sequentially penetrate through GC through holes in transverse plates of the GC guide rail support frame (73) and through holes in a guide rail bottom plate (7C) of the guide rail assembly (7) and then are connected with upper nuts, so that the GC guide rail support frame (73) is fixed with the guide rail bottom plate (7C) of the guide rail assembly (7);

the GD screws (74-1) sequentially penetrate through GD through holes in a transverse plate of the GD guide rail support frame (74) and through holes in a guide rail bottom plate (7C) of the guide rail assembly (7) and then are connected with upper nuts, and therefore the GD guide rail support frame (74) is fixed with the guide rail bottom plate (7C) of the guide rail assembly (7);

a GE screw (75-1) sequentially penetrates through a GE through hole in a transverse plate of the GE guide rail support frame (75) and a through hole in a guide rail bottom plate (7C) of the guide rail assembly (7) and then is connected with an upper nut, so that the GE guide rail support frame (75) is fixed with the guide rail bottom plate (7C) of the guide rail assembly (7);

GF screws (76-1) sequentially penetrate GF through holes in a transverse plate of the GF guide rail support frame (76) and through holes in a guide rail bottom plate (7C) of the guide rail assembly (7) and then are connected with upper nuts, so that the GF guide rail support frame (76) is fixed with the guide rail bottom plate (7C) of the guide rail assembly (7);

GG screws (77-1) sequentially penetrate through GG through holes in a transverse plate of the GG guide rail support frame (77) and through holes in a guide rail bottom plate (7C) of the guide rail assembly (7) and then are connected with upper nuts, so that the GG guide rail support frame (77) is fixed with the guide rail bottom plate (7C) of the guide rail assembly (7);

GH screws (78-1) sequentially penetrate through GH through holes in transverse plates of the GH guide rail support frame (78) and through holes in guide rail bottom plates (7C) of the guide rail assemblies (7) and then are connected with upper nuts, so that the GH guide rail support frame (78) is fixed with the guide rail bottom plates (7C) of the guide rail assemblies (7);

the other end of the GAA guide rail through hole of the GA guide rail support frame (71) is provided with one end of a GD guide rail section (7A-4); the other end of the GAB guide rail through hole of the GA guide rail support frame (71) is provided with one end of a GH guide rail section (7B-4);

one end of a GBA guide rail through hole of the GB guide rail support frame (72) is provided with the other end of the GD guide rail section (7A-4), and the other end of the GBA guide rail through hole of the GB guide rail support frame (72) is provided with one end of the GC guide rail section (7A-3); one end of a GBB guide rail through hole of the GB guide rail support frame (72) is provided with the other end of a GH guide rail section (7B-4), and the other end of the GBB guide rail through hole of the GB guide rail support frame (72) is provided with one end of a GG guide rail section (7B-3);

one end of a GCA guide rail through hole of the GC guide rail support frame (73) is provided with the other end of the GC guide rail section (7A-3), and the other end of the GCA guide rail through hole of the GC guide rail support frame (73) is provided with one end of the AI guide rail section (7A 9); one end of a GCB guide rail through hole of the GC guide rail support frame (73) is provided with the other end of a GG guide rail section (7B-3), and the other end of the GCB guide rail through hole of the GC guide rail support frame (73) is provided with one end of a BI guide rail section (7B 9); the other end of the AI rail segment (7A9) is in contact with one end of the AH rail segment (7A 8); the other end of the BI guide rail section (7B9) is in contact with one end of the BH guide rail section (7B 8);

one end of an FB guide rail through hole (6G11) on an FD support arm (6G1) of the FB support seat (6G) is provided with the other end of an AH guide rail section (7A8), and the other end of the FB guide rail through hole (6G11) is provided with one end of an AG guide rail section (7A 7); the other end of the AG rail segment (7a7) is in contact with one end of the AF rail segment (7a 6);

one end of an FA guide rail through hole (6F11) on an FA support arm (6F1) of the FA support seat (6F) is provided with the other end of a BH guide rail section (7B8), and the other end of the FA guide rail through hole (6F11) is provided with one end of a BG guide rail section (7B 7); the other end of the BG guide rail section (7B7) is in contact with one end of the BF guide rail section (7B 6);

a GD transverse plate (74A) is arranged on the GD guide rail support frame (74), and a GDA vertical plate (74B) and a GDB vertical plate (74C) are respectively arranged at two ends of the GD transverse plate (74A); the end part of the GDA riser (74B) is provided with a GDA guide rail through hole (74B1), one end of the GDA guide rail through hole (74B1) is used for installing the other end of the AF guide rail section (7A6), and the other end of the GDA guide rail through hole (74B1) is used for installing one end of the AE guide rail section (7A 5); the end part of the GDB riser (74C) is a GDB guide rail through hole (74C1), one end of the GDB guide rail through hole (74C1) is used for installing the other end of the BF guide rail section (7B6), and the other end of the GDB guide rail through hole (74C1) is used for installing one end of the BE guide rail section (7B 5); a GD through hole (74A1) through which the GD screw (74-1) passes is arranged on the GD transverse plate (74A);

a GE transverse plate (75A) is arranged on the GE guide rail supporting frame (75), and two ends of the GE transverse plate (75A) are respectively provided with a GEA vertical plate (75B) and a GEB vertical plate (75C); the end part of the GEA vertical plate (75B) is provided with a GEA guide rail through hole (75B1), one end of the GEA guide rail through hole (75B1) is used for installing the other end of the AE guide rail section (7A5), and the other end of the GEA guide rail through hole (75B1) is used for installing one end of the AD guide rail section (7A 4); the end part of the GEB vertical plate (75C) is provided with a GEB guide rail through hole (75C1), one end of the GEB guide rail through hole (75C1) is used for installing the other end of the BE guide rail section (7B5), and the other end of the GEB guide rail through hole (75C1) is used for installing one end of the BD guide rail section (7B 4); a GE through hole (75A1) for a GE screw (75-1) to pass through is arranged on the GE transverse plate (75A);

one end of an EB guide rail through hole (5G11) in an ED support arm (5G1) of the EB support seat (5G) is provided with the other end of an AC guide rail section (7A3), and the other end of the EB guide rail through hole (5G11) is provided with one end of an AB guide rail section (7A 2); the other end of the AB rail segment (7A2) is in contact with one end of the AA rail segment (7A 1);

one end of an EA guide rail through hole (5F11) in an EA support arm (5F1) of the EA support seat (5F) is provided with the other end of a BC guide rail section (7B3), and the other end of the EA guide rail through hole (5F11) is provided with one end of a BB guide rail section (7B 2); the other end of the BB rail segment (7B2) is in contact with one end of the BA rail segment (7B 1);

one end of a GFA guide rail through hole of the GF guide rail support frame (76) is provided with the other end of an AA guide rail section (7A1), and the other end of the GFA guide rail through hole of the GF guide rail support frame (76) is provided with one end of a GA guide rail section (7A-1); one end of a GFB guide rail through hole of the GF guide rail support frame (76) is provided with the other end of a BA guide rail section (7B1), and the other end of the GFB guide rail through hole of the GF guide rail support frame (76) is provided with one end of a GE guide rail section (7B-1);

one end of a GGA guide rail through hole of the GG guide rail support frame (77) is provided with the other end of a GA guide rail section (7A-1), and the other end of the GGA guide rail through hole of the GG guide rail support frame (77) is provided with one end of a GB guide rail section (7A-2); one end of the GGB guide rail through hole of the GG guide rail support frame (77) is provided with the other end of the GE guide rail section (7B-1), and the other end of the GGB guide rail through hole of the GG guide rail support frame (77) is provided with the other end of the GF guide rail section (7B-2);

the other end of the GHA guide rail through hole of the GH guide rail support frame (78) is provided with one end of a GB guide rail section (7A-2); the other end of the GHB guide rail through hole of the GH guide rail support frame (78) is provided with one end of a GF guide rail section (7B-2);

the track transfer driving assembly (8) is used for providing power for track transfer action for the track transfer system; a track-changing driving motor (8-1) of the track-changing driving assembly (8) is fixed on an HA support arm panel (8A1) of the HA support (8A), an output shaft (8-2) of the track-changing driving motor (8-1) is connected to one end of an H coupling (8C), and the other end of the H coupling (8C) penetrates through a through hole of an HA bearing pressing plate (8D) and then is sequentially connected with an HA bearing (8L) and one end of an HB transmission shaft (8R); the HA bearing (8L) is arranged in a through hole of the HA bearing pressing plate (8D); the other end of the HB transmission shaft (8R) is connected with an HA bevel gear (8G), and the HA bevel gear (8G) is meshed with an HB bevel gear (8H); an HA bearing (8L) is arranged in a through hole of the HA bearing pressing plate (8D), and the HA bearing pressing plate (8D) is fixedly arranged on an HC support arm panel (8B1) of the HB support (8B); the HA transmission shaft (8Q) is provided with an H belt wheel (8K), an HB bevel gear (8H), an HB bearing (8M), an HC bearing (8N) and an H nut (8P) from top to bottom; the HB bearing (8M) is arranged in a through hole of the HB bearing pressing plate (8E); the HC bearing (8N) is arranged in a through hole of the HC bearing pressing plate (8F); the HB bearing pressure plate (8E) is fixed on the upper panel of the chassis (10); the HC bearing pressure plate (8F) is fixed on the lower panel of the chassis (10);

an HA support arm panel (8A1) and an HB support arm panel (8A2) are arranged on the HA support (8A); the HA support arm panel (8A1) is used for fixing the track transfer motor (8-1); the HB support arm panel (8A2) is fixed on one side surface of the chassis (10) through screws;

an HC support arm panel (8B1) and an HD support arm panel (8B2) are arranged on the HB support (8B); the HC support arm panel (8B1) is used for fixing the HA bearing pressure plate (8D); the HD support arm panel (8B2) is fixed on one side surface of the chassis (10) through screws;

the traveling driving assembly (9) is used for providing power for the track transfer system to advance in the X-axis direction; a walking motor (9-1) of the advancing driving assembly (9) is fixed on an IA support arm panel (9A1) of the IA support (9A), an output shaft (9-2) of the walking motor (9-1) is connected to one end of an I coupling (9C), and the other end of the I coupling (9C) penetrates through a through hole of an IA bearing pressing plate (9D) and then is sequentially connected with one ends of an IA bearing (9L) and an IB transmission shaft (9R); the other end of the IB transmission shaft (9R) is connected with an IA bevel gear (9G), and the IA bevel gear (9G) is meshed with an IB bevel gear (9H); an IA bearing (9L) is arranged in a through hole of the IA bearing pressing plate (9D), and the IA bearing pressing plate (9D) is fixedly arranged on an IC support arm panel (9B1) of the IB support (9B); the IA transmission shaft (9Q) is provided with an I belt wheel (9K), an IB bevel gear (9H), an IB bearing (9M), an IC bearing (9N) and an I nut (9P) from top to bottom; the IB bearing (9M) is arranged in a through hole of the IB bearing pressing plate (9E); the IC bearing (9N) is arranged in a through hole of the IC bearing pressing plate (9F); the IB bearing pressing plate (9E) is fixed on the upper panel of the chassis (10); the IC bearing pressing plate (9F) is fixed on the lower panel of the chassis (10); the lower end of the rotating shaft (9J) of the I pressing wheel is arranged in a KP shaft hole (10E1) of the chassis (10), and the rotating shaft (9J) of the I pressing wheel is sleeved with an I pressing upper wheel (9J 1);

an IA support arm panel (9A1) and an IB support arm panel (9A2) are arranged on the IA support bracket (9A); the IA support arm panel (9A1) is used for fixing a walking motor (9-1); the IB arm panel (9A2) is fixed on one side surface of the chassis (10) through screws;

the IB bracket (9B) is provided with an IC arm panel (9B1) and an ID arm panel (9B 2); the IC arm panel (9B1) is used for fixing the IA bearing pressure plate (9D); the ID arm panel (9B2) is fixed on one side surface of the chassis (10) through screws;

the chassis (10) is a flat plate structure for supporting the track transfer system;

the chassis (10) is provided with a KA shaft hole (10A) for installing an AA bearing (16C) of the first track transfer executing component (1), the AA bearing (16C) is sleeved on the AA transmission shaft (16), namely the AA transmission shaft (16) also penetrates through the KA shaft hole (10A); the chassis (10) is provided with a KB shaft hole (10A1) for mounting an AB transmission shaft (18) of the first track transfer execution assembly (1); a KC shaft hole (10A2) for mounting an A pinch roller rotating shaft (19) of the first track transfer executing assembly (1) is formed in the chassis (10); a KA threaded hole (10A3) for fixing the bearing pressing plate (16B) A through a screw is formed in the chassis (10); a KB threaded hole (10A4) for fixing the support frame (13) on the support A through a screw is formed in the chassis (10); the middle part of the bearing pressing plate A (16B) is arranged in a shaft hole for installing the AA bearing (16C), two ends of the bearing pressing plate A (16B) are provided with lugs, and through holes are formed in the lugs;

a KD shaft hole (10B) for mounting a BA bearing (26C) of the second track-changing executing component (2) is formed in the chassis (10), the BA bearing (26C) is sleeved on the BA transmission shaft (26), namely the BA transmission shaft (26) also penetrates through the KD shaft hole (10B); the chassis (10) is provided with a KE shaft hole (10B1) for mounting a BB transmission shaft (28) of the second track transfer execution assembly (2); a KF shaft hole (10B2) for installing a B pinch roller rotating shaft (29) of the second orbital transfer executing assembly (2) is arranged on the chassis (10); a KC threaded hole (10B3) for fixing the bearing pressing plate (26B) through a screw is formed in the chassis (10); a KD threaded hole (10B4) for fixing the support frame (23) B through a screw is arranged on the chassis (10);

a KG shaft hole (10C) for mounting a CA bearing (36C) of the third orbital transfer execution assembly (3) is formed in the chassis (10), the CA bearing (36C) is sleeved on the CA transmission shaft (36), namely the CA transmission shaft (36) also penetrates through the KG shaft hole (10C); a KH shaft hole (10C1) for mounting a CB transmission shaft (38) of the third track-changing execution assembly (3) is arranged on the chassis (10); a KI shaft hole (10C2) for mounting a CA pinch roller rotating shaft (39A) of the third orbital transfer executing component (3) is formed in the chassis (10); the chassis (10) is provided with a KJ shaft hole (10C5) for mounting a CB pinch roller rotating shaft (39B) of the third track transfer executing assembly (3); the chassis (10) is provided with KE threaded holes (10C3) for fixing the C bearing pressure plate (36B) through screws; a KF threaded hole (10C4) for fixing the C upper support frame (33) through a screw is arranged on the chassis (10);

a KK shaft hole (10D) for installing a DA bearing (46C) of the fourth track switching execution assembly (4) is formed in the chassis (10), the DA bearing (46C) is sleeved on the DA transmission shaft (46), and the DA transmission shaft (46) penetrates through the KK shaft hole (10D); a KL shaft hole (10D1) for mounting a DB transmission shaft (48) of the fourth track-changing execution assembly (4) is formed in the chassis (10); a KM shaft hole (10D2) for installing a DA pinch roller rotating shaft (49A) of the fourth rail-changing executing assembly (4) is arranged on the chassis (10); a KN shaft hole (10D5) for mounting a DB pinch roller rotating shaft (49B) of the fourth orbital transfer executing component (4) is formed in the chassis (10); a KG threaded hole (10D3) for fixing the D bearing pressure plate (46B) through a screw is formed in the chassis (10); a KH threaded hole (10D4) for fixing the support frame (43) on the chassis (10) through a screw is arranged on the support frame (43);

a KO shaft hole (10E) for installing an HB bearing (8M) of the orbital transfer driving assembly (8) is formed in the chassis (10), the HB bearing (8M) is sleeved on the HA transmission shaft (8Q), namely the HA transmission shaft (8Q) also penetrates through the KO shaft hole (10E); an HB support arm panel (8A2) of an HA support (8A) of the track transfer driving assembly (8) and an HD support arm panel (8B2) of an HB support (8B) are fixed on the chassis (10);

a KQ shaft hole (10F) for installing an IB bearing (9M) of the advancing driving component (9) is formed in the chassis (10), the IB bearing (9M) is sleeved on the IA transmission shaft (9Q), namely the IA transmission shaft (9Q) also penetrates through the KQ shaft hole (10F); an IB arm panel (9A2) of an IA bracket (9A) of the travel driving assembly (9) and an ID arm panel (9B2) of an IB bracket (9B) are fixed on the chassis (10);

the first synchronous toothed belt (110) is sequentially sleeved on an H belt wheel (8K) of the track transfer driving assembly (8); a DB external tooth gear (49B2) of a DB pinch roller rotating shaft (49B) of the fourth track transfer executing assembly (4) and a DB belt wheel (4B) of a DA transmission shaft (46) of the fourth track transfer executing assembly (4); an A external gear (19B) of an AA pinch roller rotating shaft (19) of the first orbital transfer executing component (1) and an AB belt wheel (1B) of the first orbital transfer executing component (1); a B external gear (29B) of a B pinch roller rotating shaft (29) of the second orbital transfer executing assembly (2) and a BB pulley (2B) of the second orbital transfer executing assembly (2); a CA external gear (39A2) of a CA pinch roller rotating shaft (39A) of the third orbital transfer executing assembly (3), a CB belt wheel (3B) of the third orbital transfer executing assembly (3) and a CB external gear (39B2) of the third orbital transfer executing assembly (3); a DA external gear (49A2) of a DA pinch roller rotating shaft (49A) of the fourth orbital transfer executing assembly (4); finally, the steel wire returns to an H belt wheel (8K) of the track transfer driving assembly (8);

the second synchronous cog belt (120) is sequentially sleeved on an I belt wheel (9K) of the advancing driving assembly (9) and an I pressing upper wheel (9J1), the I pressing upper wheel (9J1) is sleeved on an I pressing wheel rotating shaft (9J), a DA belt wheel (4A) of a DA transmission shaft (46) of the fourth track changing execution assembly (4), a CA belt wheel (3A) of the third track changing execution assembly (3), a DC external gear (49B3) of a DB pressing wheel rotating shaft (49B) of the fourth track changing execution assembly (4), and finally returns to the I belt wheel (9K) of the advancing driving assembly (9).

2. The adaptive fully automatic fast rail transfer system of claim 1, wherein: the clockwise rail changing guide rail is converted from the A guide rail section assembly (7A) to be in butt joint with the EA rail changing connecting rail (5D) and the EB rail changing connecting rail (5E), and is converted from the B guide rail section assembly (7B) to be in butt joint with the FA rail changing connecting rail (6D) and the FB rail changing connecting rail (6E), so that the rail changing guide rail rotates by 90 degrees.

3. The adaptive fully automatic fast rail transfer system of claim 1, wherein: on one hand, by utilizing a power source provided by the rail transfer driving component (8), the rail transfer guide rails on the first rail transfer turntable component (5) are driven to respectively rotate 90 degrees towards opposite directions through the fourth rail transfer executing component (4) and the first rail transfer executing component (1), and the butt joint of the rail transfer guide rails in the vertical direction of the guide rails is completed, so that the rail transfer action is completed; and on the other hand, the second orbital transfer executing component (2) is transmitted to the second orbital transfer executing component (2) through the first orbital transfer executing component (1), so that the second orbital transfer executing component (2) and the third orbital transfer executing component (3) drive the orbital transfer guide rails on the second orbital transfer turntable component (6) to respectively rotate 90 degrees in opposite directions, and the butt joint of the orbital transfer guide rails in the vertical direction of the guide rails is completed, thereby completing the orbital transfer action.

4. The adaptive fully automatic fast rail transfer system of claim 1, wherein: the track transfer driving assembly (8) is a power source for providing track transfer.

5. The adaptive fully automatic fast rail transfer system of claim 1, wherein: the travel driving component (9) is a power source for providing walking.

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