CN218874200U - Pipe end connecting piece welding device - Google Patents

Abstract

Pipe end connecting piece welding set belongs to pipeline welding equipment technical field. The method is characterized in that: the device comprises a circular tube conveying device, an outer end welding device (5) and an inner end welding device (7), wherein the outer end welding device (5) and the inner end welding device (7) which are sequentially arranged along the conveying direction of the circular tube are symmetrically arranged on two sides of the circular tube conveying device, a rotating device (33) is arranged between each inner end welding device (7) and the circular tube conveying device, a conveying station is arranged on the circular tube conveying device, and a jacking device is arranged on the conveying station. This pipe end connecting piece welding set can accomplish material loading and welding automatically, and the whole process of material loading and welding does not need artifical the participation, can enough guarantee that the welding rate of pipe is fast, has alleviateed staff's intensity of labour again.

Description

Pipe end connecting piece welding device

Technical Field

Pipe end connecting piece welding set belongs to pipeline welding equipment technical field.

Background

After the steel pipes are produced, the outer walls of the two ends of each steel pipe are subjected to groove pressing according to the requirements of customers, pipe end connecting pieces are welded at the two ends of each steel pipe, and the pipe end connecting pieces are usually sleeves sleeved at the end parts of the outer walls of the steel pipes so as to facilitate butt joint of two adjacent steel pipes. In order to ensure that the pipe end connecting piece is firmly combined with the steel pipe, the two ends of the pipe end connecting piece and the steel pipe are subjected to full welding.

When the existing welding equipment is used for welding the pipe end connecting piece, a steel pipe needs to be manually carried to the welding equipment, the welding equipment is used for welding the pipe end connecting piece, and after welding is completed, a worker carries the round pipe to another piece of equipment to complete welding of the other end of the pipe end connecting piece, so that welding of two ends of the pipe end connecting piece is realized. When carrying the steel pipe to welding equipment, need press from both sides the operation of tight and centering to the steel pipe to guarantee the in-process of steel pipe and welder relative rotation, the interval of steel pipe and welder keeps unchangeable, and this material loading speed that just leads to the steel pipe is slow, and then leads to the welding speed of pipe end connecting piece to be slow, and staff's intensity of labour is high moreover.

Disclosure of Invention

The to-be-solved technical problem of the utility model is: the pipe end connecting piece welding device overcomes the defects of the prior art, can automatically complete circular pipe feeding and automatically complete welding of pipe end connecting pieces at two ends of a circular pipe.

The utility model provides a technical scheme that its technical problem adopted is: this pipe end connecting piece welding set, its characterized in that: the automatic pipe conveying device comprises a circular pipe conveying device, an outer end welding device and an inner end welding device, wherein the outer end welding device and the inner end welding device which are sequentially arranged along the circular pipe conveying direction are symmetrically arranged on two sides of the circular pipe conveying device, a rotating device is arranged between each inner end welding device and the circular pipe conveying device, a conveying station is arranged on the circular pipe conveying device, and a jacking device is arranged on the conveying station.

Preferably, the circular tube conveying device is provided with two conveying stations at intervals, and the distance between the two conveying stations is equal to the distance between the outer end welding device and the inner end welding device.

Preferably, pipe conveyor include pay-off frame, locating component and feeding cylinder, feeding cylinder's piston rod is connected with the pay-off frame, the pay-off frame upside is provided with a plurality of groups locating component along pipe direction of delivery side by side to form a plurality of transport stations on the pay-off frame, every group locating component all includes along a plurality of perpendicular to pipe direction of delivery setting, each locating component all is connected with jacking device.

Preferably, the locating component comprises two locating plates arranged at intervals, the top of each locating plate is inclined, and the tops of the two locating plates are spliced into locating parts with widths gradually reduced from top to bottom.

Preferably, the jacking device include jacking frame and jacking cylinder, the piston rod and the jacking frame of jacking cylinder are connected to drive the jacking frame and go up and down, locating component installs the top at the jacking frame.

Preferably, the outer end welding device comprises a feeding device, a driving motor, an electric chuck and an outer end welding gun, the electric chuck is rotatably installed on the feeding device, the driving motor is connected with the electric chuck, the outer end welding gun is installed on the feeding device, the outer end welding gun is in an inclined shape with the inner end close to the electric chuck, and the feeding direction of the feeding device is perpendicular to the conveying direction of the round pipe.

Preferably, the inner welding device comprises a translation device, an adjusting device and an inner welding gun, the translation direction of the translation device is perpendicular to the conveying direction of the circular tube, one side of the translation device, which is close to the conveying device of the circular tube, is provided with a positioning part, the adjusting device is installed on the translation device, the adjusting direction of the adjusting device is the same as the translation direction of the translation device, the inner welding gun is installed on the adjusting device, and the inner welding gun is in an inclined shape which is gradually close to the conveying device of the circular tube from top to bottom.

Preferably, the rotating device comprises two driving wheels and two rotating motors, and the two driving wheels are arranged side by side, and the rotating motors are connected with any one of the two driving wheels and drive the rotating motor to rotate.

Compared with the prior art, the utility model discloses the beneficial effect who has is:

this pipe end connecting piece welding set is when using, the pipe is placed on carrying the station, pipe conveyor carries the pipe to between two inner welding set and two outer end welding set, carry the pipe jacking on the station of jacking device on the station will carry the station, two outer end welding set cooperate this moment, weld the outer end of each pipe end connecting piece, the pipe after the welding is placed again on carrying the station, pipe conveyor carries the pipe to between two inner welding set once more, two inner welding set cooperate and weld the inner of pipe end connecting piece, the pipe can accomplish material loading and welding automatically, material loading and the whole process of welding do not need artifical the participation, can enough guarantee that the welding speed of pipe is fast, staff's intensity of labour has alleviateed again.

Drawings

Figure 1 is a schematic top view of a pipe end connector welding apparatus.

Fig. 2 is a front view schematically showing the circular tube conveying apparatus.

Fig. 3 is a partially enlarged view of a portion a in fig. 2.

Fig. 4 is a front view of the positioning assembly connected to the jacking device.

Fig. 5 is a front view of the inner end welding device.

Figure 6 is a schematic front view of the hold down apparatus.

Fig. 7 is a front view of the outer end welding apparatus.

Fig. 8 is a front view schematically showing the rotating device.

In the figure: 1. the device comprises a rack 2, a feeding cylinder 3, a feeding frame 4, a positioning assembly 5, an outer end welding device 6, a supporting device 7, an inner end welding device 8, a feeding guide rail 9, a positioning plate 10, an electric chuck 11, a main shaft 12, an outer end welding gun 13, an outer welding frame 14, a mounting frame 15, a jacking cylinder 16, a guide shaft 17, a guide sleeve 18, a jacking frame 19, a supporting wheel 20, a translation guide rail 21, a translation cylinder 22, an upright post 23, a translation frame 24, a positioning frame 25, a positioning wheel 26, a cross beam 27, an adjusting motor 28, an adjusting frame 29, an adjusting screw 30, an inner end welding gun 31, a feeding guide rail 32, a feeding cylinder 33, a rotating device 34, a rotating frame 35 and a driving wheel.

Detailed Description

The present invention is further described with reference to specific embodiments, however, it will be understood by those skilled in the art that the detailed description given herein with respect to the drawings is for better explanation and that the present invention is necessarily to be construed as limited to those embodiments, and equivalents or common means thereof will not be described in detail but will fall within the scope of the present application.

Fig. 1 to 8 are preferred embodiments of the present invention, and the present invention will be further explained with reference to fig. 1 to 8.

Pipe end connecting piece welding set, including pipe conveyor, outer end welding set 5 and inner welding set 7 that set gradually along pipe direction of delivery are installed to pipe conveyor's bilateral symmetry, all are provided with rotary device 33 between each inner welding set 7 and the pipe conveyor, are provided with the transport station on the pipe conveyor, install jacking device on the transport station. This pipe end connecting piece welding set is when using, the pipe is placed on carrying the station, pipe conveyor carries the pipe to between two inner welding set 7 and two outer end welding set 5, carry the pipe jacking on the station of jacking device on the station will carry the station, two outer end welding set 5 cooperatees this moment, weld the outer end of each pipe end connecting piece, the pipe after the welding is placed again on carrying the station, pipe conveyor carries the pipe to between two inner welding set 7 once more, two inner welding set 7 cooperate and weld the inner of pipe end connecting piece, the pipe can accomplish material loading and welding automatically, material loading and whole process of welding do not need artifical the participation, guarantee that the welding speed of pipe is fast, staff's intensity of labour has been alleviateed again.

Specifically, the method comprises the following steps: as shown in fig. 1: this pipe end connecting piece welding set still includes frame 1, and pipe conveyor installs in frame 1, and outer end welding set 5 and inner welding set 7 are all installed in frame 1, and outer end welding set 5 and inner welding set 7 set gradually along pipe direction of delivery. The outer end welding devices 5 and the inner end welding devices 7 are arranged on two sides of the circular tube conveying device, the two outer end welding devices 5 are arranged oppositely, and the two inner end welding devices 7 are also arranged oppositely. The inner end of the tube end connector refers to the end of the tube end connector that is near the end of the pipeline, and the outer end of the tube end connector refers to the end of the tube end connector that is near the middle of the pipeline.

And a rotating device 33 is arranged between each outer end welding device 7 and the circular tube conveying device, and the rotating device 33 can drive the circular tube to rotate, so that the welding of the circumference of the tube end connecting piece is realized.

As shown in fig. 1 and 2: the pipe conveying device is provided with a plurality of conveying stations, in the embodiment, the two conveying stations are arranged on the pipe conveying device side by side at intervals, the distance between the two conveying stations is equal to the distance between the outer end welding device 5 and the inner end welding device 7, the outer end welding device 5 and the inner end welding device 7 are enabled to respectively weld pipe end connecting pieces of the two pipes, and the pipe welding speed is improved.

Pipe conveyor includes pay-off frame 3, feeding cylinder 2 and locating component 4, is provided with horizontally pay-off guide rail 8 in the frame 1, and pay-off guide rail 8 has two that set up side by side and interval, and pay-off frame 3 sets up the upside at pay-off guide rail 8, and pay-off frame 3 slidable installs on pay-off guide rail 8. The feeding cylinder 2 is horizontally arranged on the rack 1, the feeding cylinder 2 is arranged between the two feeding guide rails 8, and a piston rod of the feeding cylinder 2 is connected with the feeding frame 3 and pushes the feeding frame 3 to horizontally move along the feeding guide rails 8. A plurality of groups of positioning components 4 are arranged on the feeding frame 3 at intervals along the conveying direction of the circular tube, so that a plurality of conveying stations are formed on the feeding frame 3, and in the embodiment, the positioning components 4 are arranged at intervals along the conveying direction of the circular tube.

Every group locating component 4 all includes a plurality of along perpendicular to pipe direction of delivery interval setting, and in this embodiment, every group locating component 4 all includes two along perpendicular to pipe direction of delivery interval setting.

Each locating component 4 all is connected with the jacking device, and the jacking device can promote 4 lifts of locating component, makes 4 jacking of locating component to the pipeline to make the pipeline and 3 separation of pay-off frame, in order to make things convenient for the welding of outer end welding set 5 and inner welding set 7 to the pipeline.

As shown in fig. 3: each locating component 4 all includes locating plate 9, and locating plate 9 is provided with two along pipe direction of delivery side by side and interval, and the top of each locating plate 9 all inclines to set up to form the location portion that the width gradually reduces from top to bottom between the top of two locating plates 9.

When the pipe is placed between two locating plates 9, because the existence of location portion can fix a position the pipe to guarantee that the pipe can adjust well with inner welding set 5 and outer end welding set 7 respectively, make equipment job stabilization.

As shown in fig. 4: the jacking device comprises a jacking cylinder 15 and a jacking frame 18, the jacking cylinder 15 is installed on the feeding frame 3, the jacking cylinder 15 is vertically arranged, a piston rod of the jacking cylinder 15 is connected with the jacking frame 18 and drives the jacking frame 18 to lift, the positioning plate 9 is installed at the top of the jacking frame 18 and synchronously lifts along with the jacking frame 18, and therefore jacking of the pipeline is achieved.

Still be provided with guider between pay-off frame 3 and jacking frame 18, guider includes guiding axle 16 and uide bushing 17, the vertical setting of guiding axle 16, the top and the jacking frame 18 fixed connection of guiding axle 16, uide bushing 17 slidable cover is established outside guiding axle 16, uide bushing 17 and pay-off frame 3 fixed connection to the direction to jacking frame 18 has been realized.

In this embodiment, two guide shafts 16 are symmetrically arranged on both sides of the jacking cylinder 15, and the guide sleeves 17 correspond to the guide shafts 16 one by one.

As shown in fig. 5: the outer end welding device 5 comprises a feeding device, a driving motor, an electric chuck 10 and an outer end welding gun 12, the electric chuck 10 is rotatably installed on the feeding device, the driving motor is connected with the electric chuck 10 and drives the electric chuck 10 to rotate, the outer end welding gun 12 is installed on the feeding device, the outer end welding gun 12 is arranged right above the electric chuck 10, the outer end welding gun 12 is in an inclined shape gradually close to the electric chuck 10 from top to bottom, and the feeding direction of the feeding device is perpendicular to the conveying direction of the circular pipe.

The feeding device comprises a feeding cylinder 32 and a feeding frame, wherein a feeding guide rail 31 is installed on the machine frame 1, the feeding guide rail 31 is arranged perpendicular to the feeding guide rail 8, the feeding frame is arranged on the upper side of the feeding guide rail 31, the feeding frame is slidably installed on the feeding guide rail 31, the feeding cylinder 32 is installed on the machine frame 1, the feeding cylinder 32 is horizontally arranged, and a piston rod of the feeding cylinder 32 is connected with the feeding frame and pushes the feeding frame to move along the feeding guide rail 31.

The feeding frame is rotatably provided with a main shaft 11, the electric chuck 10 is coaxially arranged on the main shaft 11 and synchronously rotates along with the main shaft 11, the driving motor is arranged on the feeding frame, and an output shaft of the driving motor is connected with the main shaft 11 and drives the electric chuck 10 to rotate through the main shaft 11.

An outer welding frame 13 is arranged at the top of the feeding frame, and an outer end welding gun 12 is arranged on the outer welding frame 13. In this embodiment, the outer end welding gun 12 is slidably mounted on the outer welding frame 13, an outer end welding gun locking bolt is mounted on the outer welding frame 13, and the end of the outer end welding gun locking bolt presses the outer end welding gun 12 to facilitate adjustment of the outer end welding gun 12.

This pipe end connecting piece welding set still includes supporting device 6, all installs supporting device 6 on each feeding frame, and electric chuck 10 and supporting device 6 set up along the direction interval that is close to pipe conveyor.

As shown in FIGS. 5 to 6: the supporting device 6 comprises a mounting frame 14 and two supporting wheels 19, the mounting frame 14 is mounted on the feeding frame, the mounting frame 14 is a portal frame, the supporting wheels 19 are rotatably mounted at the top of the mounting frame 14, the axes of the supporting wheels 19 are parallel to the axis of the electric chuck 10, and the two supporting wheels 19 are arranged side by side and at intervals.

The supporting wheels 19 are lower than the electric chuck 10, and the axis of the electric chuck 10 is located between the axes of the two supporting wheels 19, so that the round pipe jacked by the two supporting wheels 19 can be aligned with the electric chuck 10. When the electric chuck 10 clamps the circular tube, the two supporting wheels 19 can support the bottom of the circular tube.

The height of the mounting rack 14 can be adjusted according to the diameter of the round pipe to ensure that the two bearing rollers 19 can bear the round pipe when the electric chuck 10 clamps the round pipe.

As shown in fig. 7: the inner end welding device 7 comprises a translation device, an adjusting device and an inner end welding gun 30, the adjusting device is installed on the translation device and reciprocates along the direction close to or far away from the circular tube conveying device along with the translation device, the adjusting device is installed on the translation device, and the adjusting direction of the adjusting device is the same as the translation direction of the translation device. The inner end welding gun 30 is installed on the adjusting device, and the inner end welding gun 30 is in an inclined shape gradually approaching the circular tube conveying device from top to bottom. One side of the translation device close to the circular tube conveying device is provided with a positioning part.

The translation device comprises a translation frame 23 and a translation cylinder 21, a horizontal translation guide rail 20 is installed on the rack 1, the translation guide rail 20 is perpendicular to the feeding guide rail 8, the translation guide rails 21 are arranged side by side and at intervals, the translation frame 23 is arranged on the upper side of the translation guide rail 20, the translation frame 23 can be slidably installed on the translation guide rail 20, the translation cylinder 21 is installed on the rack 1, a piston rod of the translation cylinder 21 is connected with the translation frame 23, and the translation frame 23 is pushed to reciprocate along the translation guide rail 20.

The translation frame 23 is provided with an upright post 22, the upright post 22 is vertically arranged, the upright post 22 synchronously moves along with the translation frame 23, and the adjusting device is arranged at the top of the upright post 22.

The adjusting device comprises an adjusting frame 28, an adjusting motor 27 and an adjusting screw 29, a cross beam 26 is installed at the top of the upright post 22, the adjusting frame 28 is installed on the cross beam 26 in a sliding mode, the adjusting screw 29 is installed on the cross beam 26 in a rotating mode, the adjusting screw 29 is in threaded connection with the adjusting frame 28, the adjusting motor 27 is installed on the cross beam 26, an output shaft of the adjusting motor 27 is connected with the adjusting screw 29 and drives the adjusting screw 29 to rotate, and therefore the position of the adjusting frame 28 is adjusted. The inner end welding gun 30 is arranged on the adjusting frame 28 in a lifting mode, an inner end welding gun hold-down bolt is connected to the adjusting frame 28 in a threaded mode, and the end portion of the inner end welding gun hold-down bolt tightly presses the inner end welding gun 30, so that the position of the inner end welding gun 30 can be adjusted conveniently.

The positioning part is arranged on one side, close to the circular tube conveying device, of the translation frame 23, the positioning part comprises a positioning wheel 25, one side, close to the circular tube conveying device, of the translation frame 23 is provided with a positioning frame 24, the positioning wheel 25 is rotatably arranged on the positioning frame 24, the axis of the positioning wheel 25 is vertically arranged, the translation cylinder 21 pushes the translation frame 23 to move until the positioning wheel 25 is positioned at the end part of the circular tube, and positioning of the translation frame 23 is completed.

As shown in fig. 7 and 8: the rotating device 33 is arranged on the translation frame 20, and the upright posts 22 and the rotating device 33 are arranged at intervals along the direction close to the circular tube conveying device. The rotating device 33 comprises a rotating frame 34, a driving wheel 35 and a rotating motor, wherein the rotating frame 34 is installed on the translation frame 23, the driving wheel 35 is rotatably installed on the rotating frame 34, the rotating motor is installed on the rotating frame 34, and an output shaft of the rotating motor is connected with any one of the driving wheel 35 and drives the same to rotate so as to drive the circular tube to rotate. The positioning wheel 25 is provided at a height higher than the driving wheel 35, and the positioning wheel 25 can be positioned just at the end of the round pipe when the round pipe is supported by the driving wheel 35.

The working process of the welding device for the pipe end connecting piece is as follows: firstly, a round pipe is placed on the positioning component 4, and the feeding air cylinder 2 pushes the feeding frame 3 to move. When the piston rod of the feeding cylinder 2 is completely extended, the two conveying stations are respectively aligned with the outer end welding device 5 and the inner end welding device 7.

The jacking cylinder 15 drives the jacking frame 18 to move upwards, the corresponding round pipe is jacked up by the positioning plate 9, and when a piston rod of the jacking cylinder 15 extends out completely, the electric chuck 10 is right opposite to the round pipe. The feeding cylinder 32 drives the feeding frame to move towards the direction close to the round pipe until the end part of the round pipe enters the electric chuck 10, at the moment, the electric chuck 10 clamps the round pipe tightly, and meanwhile, the supporting wheel 19 supports the bottom of the round pipe.

The outer end welding gun 12 works and welds the outer end of the pipe end connecting piece, meanwhile, the driving motor drives the electric chuck 10 to rotate through the main shaft 11, and because a welding point exists between the pipe end connecting piece and the circular pipe, the pipe end connecting piece and the circular pipe rotate synchronously at the moment, so that the outer end welding gun 12 completes full welding on the outer end of the pipe end connecting piece.

After the welding of the outer end of the pipe end connecting piece is completed, the electric chuck 10 loosens the round pipe, the jacking cylinder 15 drives the jacking frame 18 to move upwards and jack up the round pipe, the feeding cylinder 32 drives the feeding frame to reset, and meanwhile, the jacking cylinder 15 drives the jacking frame 18 to reset.

When the outer end of the pipe end connecting piece is welded, the jacking cylinder 15 drives the jacking frame 18 to move upwards, the corresponding circular pipe is jacked up by the positioning plate 9, the translation cylinder 21 drives the translation frame 20 to move until the positioning wheel 25 is supported at the end of the circular pipe, at the moment, the jacking cylinder 15 drives the jacking frame 18 to move upwards and downwards, the circular pipe is supported by the driving wheel 35, the motor 27 is adjusted to move, the position of the inner end welding gun 30 is adjusted, and the inner end welding gun 30 is aligned with the inner end of the pipe end connecting piece.

The rotating motor drives the driving wheel 35 to rotate, the driving wheel 35 drives the circular tube to rotate through friction, and then the inner end welding gun 30 completes welding of the outer end of the tube end connecting piece.

After welding, the jacking cylinder 15 drives the jacking frame 18 to move upwards and jack up the circular tube, the translation cylinder 21 drives the translation frame 23 to reset, and the jacking cylinder 15 drives the jacking frame 18 to reset.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical substance of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims (8)

1. Pipe end connecting piece welding set, its characterized in that: the device comprises a circular tube conveying device, an outer end welding device (5) and an inner end welding device (7), wherein the outer end welding device (5) and the inner end welding device (7) which are sequentially arranged along the circular tube conveying direction are symmetrically arranged on two sides of the circular tube conveying device, a rotating device (33) is arranged between each inner end welding device (7) and the circular tube conveying device, a conveying station is arranged on the circular tube conveying device, and a jacking device is arranged on the conveying station.

2. The pipe end connector welding apparatus of claim 1, wherein: the circular tube conveying device is provided with two conveying stations at intervals, and the distance between the two conveying stations is equal to the distance between the outer end welding device (5) and the inner end welding device (7).

3. The pipe end connector welding apparatus according to claim 1 or 2, wherein: the round tube conveying device comprises a feeding frame (3), positioning assemblies (4) and a feeding cylinder (2), a piston rod of the feeding cylinder (2) is connected with the feeding frame (3), a plurality of groups of positioning assemblies (4) are arranged on the upper side of the feeding frame (3) side by side along the round tube conveying direction, a plurality of conveying stations are formed on the feeding frame (3), each group of positioning assemblies (4) comprises a plurality of positioning assemblies arranged along the perpendicular to the round tube conveying direction, and each positioning assembly (4) is connected with a jacking device.

4. The pipe end connector welding apparatus of claim 3, wherein: the positioning assembly (4) comprises two positioning plates (9) arranged at intervals, the top of each positioning plate (9) is inclined, and the tops of the two positioning plates (9) are spliced into positioning parts with widths gradually reduced from top to bottom.

5. The pipe end connector welding apparatus of claim 3, wherein: the jacking device comprises a jacking frame (18) and a jacking cylinder (15), a piston rod of the jacking cylinder (15) is connected with the jacking frame (18) and drives the jacking frame (18) to lift, and the positioning assembly (4) is installed at the top of the jacking frame (18).

6. The pipe end connector welding apparatus of claim 1, wherein: outer end welding set (5) including feeding device, driving motor, electric chuck (10) and outer end welder (12), rotatable the installing on feeding device of electric chuck (10), driving motor is connected with electric chuck (10), outer end welder (12) are installed on feeding device, outer end welder (12) are the inner slope form of being close to electric chuck (10), feeding device's direction of feed perpendicular to the direction of delivery setting of pipe.

7. The pipe end connector welding apparatus of claim 1, wherein: inner welding set (7) including translation device, adjusting device and inner welder (30), translation device's translation direction is perpendicular with pipe direction of delivery, one side that is close to pipe conveyor at translation device is provided with location portion, adjusting device installs on translation device, adjusting device's regulation direction is the same with translation device's translation direction, inner welder (30) are installed on adjusting device, inner welder (30) are for being close to pipe conveyor's slope form gradually from top to bottom.

8. The pipe end connector welding apparatus of claim 1, wherein: the rotating device (33) comprises two driving wheels (35) and two rotating motors, wherein the two driving wheels (35) are arranged side by side, and the rotating motors are connected with any one of the driving wheels (35) and drive the rotating motors to rotate.

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