CN113511279B

CN113511279B - Bouncing mechanism of single-leg continuous bouncing gyro robot

Info

Publication number: CN113511279B
Application number: CN202110626776.4A
Authority: CN
Inventors: 张文祥; 王建; 王树坤; 渠慎林
Original assignee: Nanjing Institute of Technology
Current assignee: Nanjing Institute of Technology
Priority date: 2021-06-04
Filing date: 2021-06-04
Publication date: 2022-06-03
Anticipated expiration: 2041-06-04
Also published as: CN113511279A

Abstract

The invention discloses a bouncing mechanism of a single-leg continuous bouncing gyro robot, belonging to the technical field of leg robots; the device comprises a vertical supporting leg, wherein an electric gyro assembly is arranged on the upper side of the supporting leg, and the device is characterized in that the supporting leg is provided with a spring around the outer wall of the supporting leg, the upper end of the spring is fixedly connected with the outer wall of the supporting leg, and the lower end of the spring is provided with a horizontal spring guide pull pad; the supporting leg is provided with an installation inner cavity penetrating through the bottom end of the supporting leg, a circulating pulling device is arranged on one side of the installation inner cavity, a pull rod extending into the installation inner cavity is arranged at the top of the spring guide pulling pad, a pull bearing part is arranged on the pull rod, and the circulating pulling device can periodically pull or loosen the pull rod upwards through the pull bearing part so as to compress or loosen the spring; the spring guide pull pad can move downwards periodically along with the spring to push the supporting surface of the spring guide pull pad, and then continuous bouncing action is completed. The robot has the advantages of good stability and low design cost when jumping.

Description

Bouncing mechanism of single-leg continuous bouncing gyro robot

Technical Field

The invention relates to the technical field of robot walking, in particular to a bouncing mechanism of a single-leg continuous bouncing gyro robot.

Background

The bounce robot is an important component of intelligent robot development, has the advantages of strong maneuvering performance, high moving speed in rough terrain, strong obstacle crossing capability, discretization of motion drop points, strong adaptability to complex terrain, and the sudden and explosive motion, which is beneficial for the robot to avoid danger, and has the potential of helping or replacing human beings in some aspects after the robot has the action capability, for example, the bounce robot has good application prospect in fields unsuitable for human operation, such as rescue and relief work, military investigation, forest protection, extraterrestrial exploration, anti-terrorism and explosion prevention, geological exploration and the like. With the continuous maturity of the technology, the legged robot has the ability of autonomous walking, and in order to further explore the motion ability and the bionic characteristics of the legged robot, the motion ability of the legged robot needs to be improved and expanded. The chinese patent with publication number CN109899338A provides a technical scheme for a bounce robot with an explosion-electromagnetic compound drive bounce mechanism, and the basic principle is that fuel in a piston assembly of an air cylinder is ignited to push a piston to do work outwards, so as to push a cylinder body and a linear motor to move upwards integrally, thereby realizing bounce motion from the ground; and then the linear motor drives the piston to reset to prepare for next bounce. Although the technical scheme can drive the bouncing robot to bounce continuously, the stability and reliability of bouncing are poor because fuel is required to be ignited and waste gas is filled and exhausted continuously in the process; meanwhile, the used equipment such as a cylinder piston, a linear motor, fuel, oxidant and the like is expensive, and the design cost is high.

Disclosure of Invention

The invention aims to solve the problems mentioned in the background technology and provides a bouncing mechanism of a single-leg continuous bouncing gyro robot, which has the advantages of good bouncing stability and low design cost.

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:

a bouncing mechanism of a single-leg continuous bouncing gyro robot comprises a vertical supporting leg, wherein an electric gyro assembly is arranged on the upper side of the supporting leg; the supporting leg is provided with an installation inner cavity penetrating through the bottom end of the supporting leg, a circulating pulling device is arranged on one side of the installation inner cavity, a pull rod extending into the installation inner cavity is arranged at the top of the spring guide pulling pad, a pull bearing part is arranged on the pull rod, and the circulating pulling device can periodically pull or loosen the pull rod upwards through the pull bearing part so as to compress or loosen the spring; the spring guide pull pad can move downwards periodically along with the spring to push the supporting surface of the spring guide pull pad, and then continuous bouncing action is completed.

Further, the circulating pulling device comprises a small driving motor; the outer wall of the supporting leg is provided with a small stepping motor fixing hole penetrating into the mounting inner cavity, the small driving motor is fixedly mounted in the small stepping motor fixing hole, and an output shaft of the small driving motor extends into the mounting inner cavity through the small stepping motor fixing hole; a driving belt pulley is arranged on an output shaft of the small driving motor extending into the installation cavity, a driven belt pulley matched with the driving belt pulley is further arranged below the driving belt pulley, a belt is arranged between the driving belt pulley and the driven belt pulley, and a pulling block is fixedly arranged on the belt; the pull-bearing part on the rod wall of the pull rod is a pull-bearing groove corresponding to the pull block, and the pull-bearing groove is transversely formed from the rod wall of the pull rod to the rod core of the pull rod; and starting a small driving motor, wherein the driving belt pulley can drive the belt to circularly rotate around the driving belt pulley and the driven belt pulley, and the pull block can circularly move along with the belt and periodically pull upwards or separate from the pull bearing groove, so that the continuous bouncing action of the robot is completed by periodically compressing or releasing the spring through the pull rod.

Furthermore, the supporting leg is provided with a fixing pin hole on the side wall corresponding to the lower part of the fixing hole of the small stepping motor, the small bearing is installed in the fixing pin hole through a fixing pin, and the driven pulley is installed on the outer ring of the small bearing.

Furthermore, the end parts of the fixing pins corresponding to the outer walls of the supporting legs do not extend out of the corresponding orifices of the fixing pin holes; the length of the pull block extending into the pull rod bearing groove is less than the groove depth of the bearing groove.

Furthermore, a fixed partition plate which separates the large bearing hole and the installation inner cavity of the supporting leg is arranged between the large bearing hole and the installation inner cavity, a vertical sleeve hole is formed in the fixed partition plate, a sleeve is arranged in the sleeve hole, the pull rod penetrates into the sleeve and can slide in the sleeve up and down, an opening facing the belt is formed in the outer side of the sleeve wall of the sleeve, and when the spring is in a natural state, the pull-holding groove in the pull rod is located between the openings in the sleeve.

Furthermore, the supporting leg is in a straight cylinder shape, a guide groove is formed in the bottom end of the supporting leg upwards, and the height of the bottom of the guide groove is not higher than the bottom edge of the fixing pin hole; the fixed deflector that is equipped with in top that the pad was drawn in the spring direction, the deflector can slide from top to bottom in the guide way to the pad can reciprocate along the supporting leg is drawn in the spring direction.

Furthermore, a spring fixing pad is arranged on the lower side of the outer wall of the supporting leg, and the top end of the spring is fixedly connected to the lower side of the spring fixing pad; when the spring is in the natural length, the spring guide pulling pad is positioned below the supporting leg.

Furthermore, the small stepping motor fixing hole is formed above the spring fixing pad, and the fixing pin hole and the hole opening angle of the small stepping motor fixing hole are kept consistent, so that the driving pulley and the driven pulley can be kept consistent in the installation direction.

Further, a gap is reserved between the upper end face of the sleeve and the hole opening at the upper end of the sleeve hole, so that vibration during bouncing is prevented from being transmitted to the large driving motor through the sleeve.

Further, the motorized top assembly comprises: annular support frame and rotor, big driving motor, the support frame is installed on the supporting leg, set up big driving motor between the annular inner wall of the upper end of supporting leg and support frame, big driving motor's top has big driving motor output shaft, the top of support frame is passed and is fixed it through bolt and nut assembly on the top of big driving motor output shaft, big driving motor's bottom mounting is equipped with the bearing pin, the upper end of supporting leg is equipped with big bearing hole, and big bearing fixed mounting is in big bearing hole, the bottom of bearing pin is installed in the inner circle of big bearing, and rotor fixed mounting is in big driving motor's the outside.

The invention has the following advantages:

1. the invention can make the supporting leg installed under the gyro keep stable standing by utilizing the stability caused by the high-speed rotation of the gyro rotor; in the lifting stage of the belt in the circulating pulling device, the pulling block is in contact with and pulls the pull-bearing groove on the pull rod, so that the compression process of the spring is completed; meanwhile, by utilizing the characteristic that the belt needs to turn in the running process, the pull block is separated from the pull-bearing groove when the belt turns, and the elastic potential energy of the spring is instantaneously released; the released elastic potential energy acts on a supporting surface (ground) through the spring guide pull pad, and then the bouncing action is completed; the bounce structure is reliable and stable.

2. When the gyro robot bounces, the guide plates and the corresponding guide grooves are kept not to be separated all the time, the degree of freedom of the robot during continuous bouncing is limited, and the phenomenon of spring clamping when a spring is bent under stress is prevented; further enhancing the stability and reliability of the robot in jumping.

3. According to the invention, the transmission belt type circulating pulling device is matched with the pull rod to drive the spring to compress or loosen so as to accumulate or release elastic potential energy, and the change of the elastic potential energy is converted into the bouncing action of the spring guide pulling pad on the ground, so that the whole transmission process and structure are relatively simple, the speed is high during continuous bouncing, and the design cost is low.

Drawings

FIG. 1 is a schematic overall side view of the present invention;

FIG. 2 is a schematic view of the overall axial side construction of the present invention;

FIG. 3 is a schematic view of the overall cross-sectional structure of the present invention;

FIG. 4 is a schematic view of the overall construction of the internal components of the support leg of FIG. 2;

FIG. 5 is an isometric view of the internal components of the support leg of FIG. 2;

FIG. 6 is a schematic top view of the internal components of the support leg of FIG. 2;

FIG. 7 is a schematic structural view of the support leg of FIG. 2.

The label names in the figure: the support frame 1, the rotor 2, big driving motor 3, bolt and nut subassembly 4, big driving motor output shaft 5, supporting leg 6, spring fixing pad 7, spring direction draws pad 8, spring 9, little driving motor 10, driving pulley 11, belt 12, fixed pin 13, driven pulley 14, draw piece 15, deflector 16, pull rod 17, sleeve 18, little bearing 19, big bearing 20, big bearing hole 21, sleeve hole 22, little step motor fixed orifices 23, fixed pinhole 24, guide way 25, bearing pin 26.

Detailed Description

Embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

The first embodiment:

referring to fig. 1 to 2, a bouncing mechanism of a single-leg continuous-bouncing gyro robot of the present embodiment includes: the device comprises vertical supporting legs 6, an electric gyro assembly, a circulating pulling device, a pull rod 17, a spring 9 and a spring guide pull pad 8;

the electric gyro assembly is arranged on the upper side of the supporting leg 6, the spring 9 surrounds the lower side of the outer wall of the supporting leg 6, the upper end of the spring 9 is fixedly connected with the outer wall of the supporting leg 6, and the spring guide pull pad 8 is fixedly connected with the lower end of the spring 9; the pull pad 8 is contacted with the ground through the spring guide to provide reverse supporting force for the robot so as to complete bouncing action.

Preferably, a spring fixing pad 7 is arranged on the lower side of the outer wall of the supporting leg 6, and the top end of the spring 9 is fixedly connected to the lower side of the spring fixing pad 7; the spring guide pull pad 8 is located below the support leg 6 when the spring 9 is at its natural length.

In this embodiment, the electric gyro assembly includes: annular support frame 1 and rotor 2, big driving motor 3, big bearing 20 and bearing pin 26, annular support frame 1 installs on supporting leg 6, set up big driving motor 3 between the upper end of supporting leg 6 and the annular inner wall of supporting leg 1, big driving motor 3's top has big driving motor output shaft 5, the top of support frame 1 is passed and fixed it through bolt and nut subassembly 4 in big driving motor output shaft 5's top, the bottom mounting of big driving motor 3 is equipped with bearing pin 26, the upper end of supporting leg 6 is equipped with big bearing hole 21, big bearing 20 fixed mounting is in big bearing hole 21, bearing pin 26 is installed in big bearing 20's inner circle, rotor 2 fixed mounting is in big driving motor 3's the outside.

Specifically, a transverse through hole is formed in the large driving motor output shaft 5, a connecting hole corresponding to the transverse through hole is formed in the top end of the support frame 1, and the large driving motor output shaft 5 is fixed on the support frame 1 through the connecting hole and the transverse through hole by using the bolt and nut assembly 4. One end of the bearing pin 26 is fixed below the large driving motor 3, and the other end is installed in the inner ring of the large bearing 20, when the large driving motor 3 is started by taking up the support frame 1, only the rotor 2 rotates partially, and the rest does not rotate.

Referring to fig. 3 to 7, the supporting leg 6 has an installation cavity penetrating through the bottom end thereof, the circulation pulling device is disposed at one side of the installation cavity, the top of the spring guide pulling pad 8 is provided with a pull rod 17 extending into the installation cavity, the pull rod 17 is provided with a pull bearing portion, and the circulation pulling device can periodically pull or loosen the pull rod 17 upwards through the pull bearing portion to compress the spring 9 to accumulate elastic potential energy or loosen the spring 9 to release the elastic potential energy; the spring guide pull pad 8 can move downwards periodically along with the spring 9 to push the supporting surface of the spring guide pull pad, so that continuous bouncing action is completed.

In this embodiment, the circulating pulling device includes a small driving motor 10, a driving pulley 11, a belt 12, a fixing pin 13, a small bearing 19, a driven pulley 14 and a pulling block 15; a small stepping motor fixing hole 23 penetrating into the mounting inner cavity is formed in the outer wall of the supporting leg 6, the small driving motor 10 is fixedly mounted in the small stepping motor fixing hole 23, and an output shaft of the small driving motor 10 extends into the mounting inner cavity through the small stepping motor fixing hole 23; the driving belt pulley 11 is fixedly connected with an output shaft of the small driving motor 10, a driven belt pulley 14 matched with the driving belt pulley 11 is further arranged below the driving belt pulley 11, the belt 12 is connected between the driving belt pulley 11 and the driven belt pulley 14, and the pulling block 15 is fixed on the belt 12.

The pull-bearing part on the rod wall of the pull rod 17 is a pull-bearing groove corresponding to the pull block 15, and the pull-bearing groove is transversely formed from the rod wall of the pull rod 17 to the rod core of the pull rod 17.

When the robot bouncing device is used, the small driving motor 10 is started, the driving belt pulley 11 can drive the belt 12 to rotate circularly around the driving belt pulley 11 and the driven belt pulley 14, the pull block 15 can move circularly along with the belt 12 and periodically pull upwards or separate from the pull-bearing groove, and therefore the pull rod 17 periodically compresses or releases the spring 9 to complete continuous bouncing of the robot.

Preferably, the support leg 6 is provided with a fixing pin hole 24 on a side wall corresponding to a lower portion of the small stepping motor fixing hole 23, the small bearing 19 is installed in the fixing pin hole 24 through the fixing pin 13, and the driven shaft of the driven pulley 14 is connected to an inner ring of the small bearing 19.

Preferably, the end of the fixing pin 13 corresponding to the outer wall of the supporting leg 6 does not extend out of the hole corresponding to the fixing pin hole 24; the length of the pull block 15 extending into the pull rod 17 is less than the depth of the pull groove.

In this embodiment, a fixing partition plate which separates the large bearing hole 21 of the support leg 6 from the installation inner cavity is arranged between the large bearing hole 21 and the installation inner cavity, a vertical sleeve hole 22 is formed in the fixing partition plate, a sleeve 18 is arranged in the sleeve hole 22, the pull rod 17 penetrates into the sleeve 18 and can slide up and down in the sleeve 18, an opening facing the belt 12 is formed in the outer side of the cylinder wall of the sleeve 18, and when the spring 9 is in a natural state, the pull-bearing groove on the pull rod 17 is located between the openings in the sleeve 18.

Preferably, a gap is reserved between the upper end surface of the sleeve 18 and the upper end hole of the sleeve hole 22 to prevent the vibration during bounce from being transmitted to the large driving motor 3 through the sleeve 18; the sleeve 18 and the mounting inner cavity of the supporting leg 6 are arranged at the same center line, so that the spring 9 is stressed uniformly when accumulating and releasing elastic potential energy, and the phenomenon of spring clamping is not easy to occur.

In the embodiment, the supporting leg 6 is in a straight cylinder shape, the bottom end of the supporting leg 6 is upwards provided with a guide groove 25, and the bottom height of the guide groove 25 is not higher than the bottom edge of the fixing pin hole 24; the fixed deflector 16 that is equipped with in top that draws pad 8 is drawn to spring direction, deflector 16 can slide from top to bottom in guide way 25 to drive spring direction and draw pad 8 and reciprocate along supporting leg 6.

Preferably, four groups of guide grooves 25 are equally distributed along the outer wall of the support leg 6 at equal angles, the guide plate 16 is in an L shape, and the top end of the guide plate 16 is always kept not to be separated from the corresponding guide groove 25 in the process that the spring guide pull pad 8 moves up and down.

More specifically, the small stepping motor fixing hole 23 is formed above the spring fixing pad 7, and the fixing pin hole 24 and the opening angle of the small stepping motor fixing hole 23 are kept consistent, so that the installation directions of the driving pulley 11 and the driven pulley 14 can be kept consistent.

The gyro robot bouncing mechanism capable of bouncing continuously by one leg provided by the invention has the specific working process that: firstly, a support frame 1 of the gyro robot is taken up, a large driving motor 3 is started to operate, the large driving motor 3 drives a rotor 2 to rotate, when the rotor 2 rotates stably at a high speed, the gyro robot is placed on the ground, at the moment, a small driving motor 10 is started to operate, an output end of the small driving motor 10 drives a driving belt pulley 11 to rotate, the driving belt pulley 11 drives a belt 12 to operate, the belt 12 drives a driven belt pulley 14 to rotate, the belt 12 drives a pull block 15 to move, the pull block 15 moves into a groove of a pull rod 17, the pull block 15 drives the pull rod 17 to move upwards, the pull rod 17 drives a spring guide pull pad 8 to move upwards, so that the spring guide pull pad 8 compresses a spring 9, when the pull block 15 moves to the highest point of the belt 12 and the movement direction of the pull block 15 begins to change, at the moment, the pull block 15 is separated from the pull rod 17 to enable the spring 9 to release elastic potential energy, the spring 9 drives the pull rod 17 and the spring guide pad 8 to move downwards together, when the pulling block 15 moves to the lowest point of contact with the slot of the pulling rod 17 again, the bouncing action is completed, and the continuous bouncing is completed.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.

Claims

1. A bouncing mechanism of a single-leg continuous bouncing gyro robot comprises a vertical supporting leg (6), wherein an electric gyro assembly is arranged on the upper side of the supporting leg (6), and is characterized in that the supporting leg (6) is provided with a spring (9) around the outer wall thereof, the upper end of the spring (9) is fixedly connected with the outer wall of the supporting leg (6), and the lower end of the spring (9) is provided with a horizontal spring guiding pull pad (8); the supporting leg (6) is provided with an installation inner cavity penetrating through the bottom end of the supporting leg, the top of the spring guide pull pad (8) is provided with a pull rod (17) extending into the installation inner cavity, a bearing part is arranged on the pull rod (17), one side of the installation inner cavity is provided with a circulating pulling device, and the circulating pulling device can periodically pull or loosen the pull rod (17) upwards through the bearing part so as to compress or loosen the spring (9); the spring guide pull pad (8) can move downwards periodically along with the spring (9) to push the supporting surface of the spring guide pull pad, so that continuous bouncing action is completed;

the circulating pulling device comprises a small driving motor (10); a small stepping motor fixing hole (23) penetrating into the mounting inner cavity is formed in the outer wall of the supporting leg (6), the small driving motor (10) is fixedly mounted in the small stepping motor fixing hole (23), and an output shaft of the small driving motor (10) extends into the mounting inner cavity through the small stepping motor fixing hole (23); a driving belt pulley (11) is arranged on an output shaft of the small driving motor (10) extending into the installation cavity, a driven belt pulley (14) matched with the driving belt pulley is further arranged below the driving belt pulley (11), a belt (12) is arranged between the driving belt pulley (11) and the driven belt pulley (14), and a pull block (15) is fixedly arranged on the belt (12); the pull-bearing part on the rod wall of the pull rod (17) is a pull-bearing groove corresponding to the pull block (15), and the pull-bearing groove is transversely formed from the rod wall of the pull rod (17) to the rod core of the pull rod (17); starting a small driving motor (10), wherein the driving belt pulley (11) can drive a belt (12) to circularly rotate around the driving belt pulley (11) and a driven belt pulley (14), and the pulling block (15) can do circular motion along with the belt (12) and periodically pull upwards or separate from the bearing groove, so that the spring (9) is periodically compressed or released through a pull rod (17) to finish the continuous bouncing action of the robot.

2. The bouncing mechanism of the single-leg continuous-bounce spinning top robot as claimed in claim 1, wherein: the supporting legs (6) are provided with fixing pin holes (24) on the side walls corresponding to the lower portions of the small stepping motor fixing holes (23), the small bearings (19) are installed in the fixing pin holes (24) through fixing pins (13), and the driven belt pulleys (14) are installed on outer rings of the small bearings (19).

3. The bouncing mechanism of the single-leg continuous-bounce spinning top robot as claimed in claim 2, wherein: the end parts of the fixing pins (13) corresponding to the outer walls of the supporting legs (6) do not extend out of the openings corresponding to the fixing pin holes (24); the length of the pull block (15) extending into the pull bearing groove of the pull rod (17) is less than the groove depth of the pull bearing groove.

4. The bouncing mechanism of the single-leg continuous-bounce spinning top robot as claimed in claim 2 or 3, wherein: be equipped with the fixed baffle that separates mutually between the big bearing hole (21) of supporting leg (6) and the installation inner chamber, be equipped with vertical cover barrel hole (22) on the fixed baffle, be equipped with sleeve (18) in cover barrel hole (22), pull rod (17) penetrate in sleeve (18) and can slide from top to bottom in sleeve (18), be equipped with the opening towards belt (12) on the section of thick bamboo wall outside of sleeve (18), when spring (9) are in natural state, hold on pull rod (17) and draw the trench and be located between the opening on sleeve (18).

5. The bouncing mechanism of the single-leg continuous-bounce spinning top robot as claimed in claim 4, wherein: the supporting leg (6) is in a straight cylinder shape, a guide groove (25) is formed in the bottom end of the supporting leg (6) upwards, and the height of the bottom of the guide groove (25) is not higher than the bottom edge of the fixing pin hole (24); the fixed deflector (16) that is equipped with in top that the pad (8) was drawn in the spring direction, deflector (16) can slide from top to bottom in guide way (25) to the pad (8) is drawn in the spring direction can reciprocate along supporting leg (6).

6. The bouncing mechanism of the single-leg continuous-bounce spinning top robot as claimed in claim 5, wherein: a spring fixing pad (7) is arranged on the lower side of the outer wall of the supporting leg (6), and the top end of the spring (9) is fixedly connected to the lower side of the spring fixing pad (7); when the spring (9) is in a natural length, the spring guide pull pad (8) is positioned below the supporting leg (6).

7. The bouncing mechanism of the single-leg continuous-bounce spinning top robot as claimed in claim 2, wherein: small step motor fixed orifices (23) are seted up in the top of spring fixed bolster (7), the trompil angle of fixed pinhole (24) and small step motor fixed orifices (23) keeps unanimous to guarantee that the installation direction of driving pulley (11) and driven pulley (14) can keep unanimous.

8. The bouncing mechanism of the single-leg continuous-bounce spinning top robot as claimed in claim 6, wherein: a gap is reserved between the upper end face of the sleeve (18) and the hole opening at the upper end of the sleeve hole (22) to prevent vibration during bouncing from being transmitted to the large driving motor (3) through the sleeve (18).

9. The bouncing mechanism of the single-legged continuous-bounce spinning-top robot as claimed in claim 8, wherein: the electric gyro assembly includes: an annular support frame (1), a rotor (2) and a large driving motor (3), wherein the support frame (1) is arranged on a support leg (6), a large driving motor (3) is arranged between the upper end of the supporting leg (6) and the annular inner wall of the supporting frame (1), the top end of the large driving motor (3) is provided with a large driving motor output shaft (5), the top end of the output shaft (5) of the large driving motor penetrates through the top of the support frame (1) and is fixed through a bolt and nut assembly (4), the bottom end of the large driving motor (3) is fixedly provided with a bearing pin (26), the upper end of the supporting leg (6) is provided with a large bearing hole (21), the large bearing (20) is fixedly arranged in the large bearing hole (21), the bottom end of the bearing pin (26) is arranged in the inner ring of the large bearing (20), and the rotor (2) is fixedly arranged on the outer side of the large driving motor (3).