CN108945124B

CN108945124B - Building spraying robot

Info

Publication number: CN108945124B
Application number: CN201810834067.3A
Authority: CN
Inventors: 谷方励; 张锐
Original assignee: Kunming Longda Enterprise Management Consulting Co ltd
Current assignee: KUNMING LONGDA ENTERPRISE MANAGEMENT CONSULTING Co.,Ltd.
Priority date: 2018-07-26
Filing date: 2018-07-26
Publication date: 2021-08-31
Anticipated expiration: 2038-07-26
Also published as: CN108945124A

Abstract

The invention relates to a building spraying robot, belonging to the technical field of building robot tools, wherein the building spraying robot comprises a crawler walking device, a direction-changeable paint spraying device, a vacuum adsorption device and a chassis; the building spraying robot also comprises a mechanical arm, and the wall climbing function of the building robot is realized by adopting vacuum adsorption and matching with a crawler walking device so as to achieve the purpose of automatic walking spraying of the building spraying robot; two painting processes are realized through the reversible paint spraying device and the paint spraying device, so that painting is more sufficient; the paint spraying device has two degrees of freedom, can change direction, can color heavily to the place of painting unevenness for the spraying has comprehensiveness and homogeneity, avoids the phenomenon that the spraying is not in place. The robot is adopted to replace manual painting, so that the labor intensity of workers is reduced, the automatic painting efficiency and quality are improved, and the robot has a wide market popularization value.

Description

Building spraying robot

Technical Field

The invention belongs to the technical field of building robot tools, and particularly relates to a building spraying robot.

Background

The painting robot is also called a painting robot, and is an industrial robot capable of automatically painting or painting other paints. The spray painting robot mainly comprises a robot body, a computer and a corresponding control system, and the hydraulically driven spray painting robot further comprises a hydraulic oil source, such as an oil pump, an oil tank, a motor and the like. The wrist joint type structure with 5 or 6 degrees of freedom is adopted, the arm has a larger motion space and can do complex track motion, and the wrist part of the wrist joint type structure generally has 2 to 3 degrees of freedom and can flexibly move. The wrist of the advanced paint spraying robot adopts a flexible wrist, can be bent in all directions and can rotate, the action of the wrist is similar to that of a human wrist, and the wrist can conveniently extend into a workpiece through a small hole to spray the inner surface of the workpiece.

However, the spraying robots in the current market are generally used in industry, the spraying robots are few in building industry, the spraying robots capable of climbing walls are almost none, the spraying of wall paint in the house decoration process is mainly finished by manual painting, the labor intensity is high, the working environment is severe, in recent years, due to the rising of labor cost and the enhancement of self health consciousness of workers, the workers are difficult to recruit and replace manual painting, however, most of the spraying robots in the domestic robot market mainly adopt universal joint robots, and the price is generally high.

Therefore, a spraying robot which can meet the requirements of modern building construction needs to be provided.

Disclosure of Invention

In order to overcome the problems in the background art, the invention provides a building spraying robot which can climb a wall, can perform two actions of painting and paint spraying and ensures the sufficient spraying of pigments.

In order to realize the purpose, the invention is realized by the following technical scheme:

the building spraying robot comprises a crawler walking device 1, a direction-changeable spraying device 2, a spraying device 4, a vacuum adsorption device 5 and a chassis 6, wherein the chassis 6 comprises a bottom plate 43 and side plates 46, the left side and the right side of the bottom plate 43 are respectively provided with one side plate 46, and the middle part of the bottom plate 43 is provided with a through hole; the crawler walking device 1 is installed at the bottom of the chassis 6, the vacuum adsorption device 5 is installed at the tops of the two side plates 46, the ventilation opening of the vacuum adsorption device faces the through hole in the middle of the bottom plate 43, the paint spraying device 4 is installed on the rear side of the chassis 6, and the direction-changeable paint spraying device 2 is installed on the front side of the chassis 6.

Further, the building spraying robot further comprises a mechanical arm 3, and the mechanical arm 3 is installed on the side of the vacuum adsorption device 5.

Further, the mechanical arm 3 comprises a support I18, a motor III 19, a support II 20, a motor IV 21, a support III 22, a motor V23, a support IV 24, a support V25, a motor VI 26, a support VI 27, a motor VII 28 and a gripper 29; the vacuum adsorption device is characterized in that a support I18 is fixedly installed on the vacuum adsorption device 5, a motor III 19 is fixed on the support I18, a support II 20 is installed on an output shaft of the motor III 19, a motor IV 21 is fixedly installed on the support II 20, a support III 22 is installed on an output shaft of the motor IV 21, a motor V23 is installed on the support III 22, a support IV 24 is installed on an output shaft of the motor V23, a support V25 is connected with the support IV 24, a motor VI 26 is installed on the support V25, a support VI 27 is installed on an output shaft of the motor VI 26, a motor VII 28 is installed on the support VI 27, and a gripper 29 is installed on an output shaft of the motor VII 28.

Further, crawler travel unit 1 include action wheel 7, follow driving wheel 8, leading wheel 9, supporting wheel 10, support frame 11, backup pad 12, crawler wheel motor 44, crawler wheel fixed block 45, track 47, crawler wheel motor 44, crawler wheel fixed block 45 install on bottom plate 43, action wheel 7 links to each other with the output shaft of crawler wheel motor 44, follows the axle on driving wheel 8 and the crawler wheel fixed block 45 and passes through the bearing and link to each other, backup pad 12 has two, parallelly installs relatively on chassis 6, evenly installs support frame I11 on two backup pads 12, is located and installs leading wheel 9 through the bearing on the support frame I11 of 8 one sides of follow driving wheel, installs supporting wheel 10 through the bearing on other support frames I11, and track 47 cup joints on action wheel 7, follow driving wheel 8, leading wheel 9, supporting wheel 10.

Further, the vacuum adsorption device 5 comprises a sealing gasket 37, an I-shaped duct 38, a pressurizing paddle 39, a shell 40, an end cover 41 and a negative pressure motor 42, the sealing gasket 37 is fixed at the bottom of the I-shaped duct 38, the upper end of the I-shaped duct 38 is fixedly installed on the shell 40, the end cover 41 is installed at the top end of the I-shaped duct 38, the negative pressure motor 42 is installed in an upper pipeline of the I-shaped duct 38 and fixed on the inner side of the end cover 41, the pressurizing paddle 39 is connected with an output shaft of the negative pressure motor 42, and the shell 40 is installed on a bottom plate 43.

Further, the paint spraying device 4 comprises a large painting cylinder 30, a large bracket 31, a small painting cylinder 32, a small bracket 33, a total bracket 34, a paint conveying pipe 35 and a fixing block 36; the fixing block 36 is installed on the bottom plate 43, the paint conveying pipe 35 is installed on the fixing block 36, the paint conveying pipe 35 is connected with an external paint spraying tool, the main support 34 is installed on the fixing block 36, the large support 31 and the small support 33 are vertically installed on the main support 34, and the large painting cylinder 30 and the small painting cylinder 32 are installed on the large support 31 and the small support 33 through shafts and bearings respectively.

Further, but paint spraying apparatus 2 include support frame II 13, motor I14, L shape frame 15, paint spraying port 16, motor II 17, support frame II 13 install on bottom plate 43, motor II 17 installs on support frame II 13, L shape frame 15 installs on the output shaft of motor II 17, motor I14 installs on L shape frame 15, paint spraying port 16 installs on motor I14's output shaft, paint spraying port 16 is connected with outside paint spraying tool.

Preferably, the number of the motors II 17 is two, the motors II are respectively installed at two ends of the support frame II 13, an L-shaped frame 15 is respectively installed on an output shaft of each motor II 17, a paint spraying opening 16 is installed on each L-shaped frame 15, and the paint spraying opening 16 is connected with an external paint spraying tool.

The invention has the beneficial effects that:

(1) the invention adopts vacuum adsorption and is matched with the crawler traveling device to realize the wall climbing function of the building robot so as to achieve the purpose of automatic traveling and spraying of the building spraying robot.

(2) The invention realizes two painting processes through the reversible painting device and the paint spraying device, so that painting is more sufficient.

(3) The paint spraying device has two degrees of freedom, can change directions, and can emphatically color the places with uneven paint, so that the spraying has comprehensiveness and uniformity, and the phenomenon of incomplete spraying is avoided.

(4) The robot is adopted to replace manual painting, so that the labor intensity of workers is reduced, the automatic painting efficiency and quality are improved, and the robot has a wide market popularization value.

Drawings

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

FIG. 2 is a schematic structural view of the chassis of the present invention;

FIG. 3 is a schematic view of a robotic arm according to the present invention;

FIG. 4 is a schematic bottom view of the vacuum suction apparatus of the present invention;

FIG. 5 is a schematic structural view of the vacuum adsorption apparatus of the present invention with the end cap removed;

FIG. 6 is a schematic view of the construction of the crawler track assembly of the present invention;

FIG. 7 is a schematic view of the construction of the painting apparatus of the present invention;

FIG. 8 is a schematic view of the direction-changeable painting apparatus according to the present invention.

In the figure, 1-crawler traveling device, 2-direction-changeable paint spraying device, 3-mechanical arm, 4-paint spraying device, 5-vacuum adsorption device, 6-chassis, 7-driving wheel, 8-driven wheel, 9-guide wheel, 10-supporting wheel, 11-supporting frame, 12-supporting plate, 13-supporting frame II, 14-motor I, 15-L-shaped frame, 16-paint spraying opening, 17-motor II, 18-bracket I, 19-motor III, 20-bracket II, 21-motor IV, 22-bracket III, 23-motor V, 24-bracket IV, 25-bracket V, 26-motor VI, 27-bracket VI, 28-motor, 29-mechanical claw, 30-large paint cylinder, 31-large bracket IV, 32-small painting cylinder, 33-small bracket, 34-main bracket, 35-paint conveying pipe, 36-fixed block, 37-sealing pad, 38-I-shaped duct, 39-pressurizing paddle, 40-shell, 41-end cover, 42-negative pressure motor, 43-bottom plate, 44-crawler wheel motor, 45-crawler wheel fixed block, 46-side plate and 47-crawler belt.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 and 2, the building painting robot comprises a crawler 1, a direction-changeable painting device 2, a painting device 4, a vacuum adsorption device 5 and a chassis 6, wherein the chassis 6 comprises a bottom plate 43 and side plates 46, the left side and the right side of the bottom plate 43 are respectively provided with one side plate 46, and the middle part of the bottom plate 43 is provided with a through hole; the crawler walking device 1 is installed at the bottom of the chassis 6, the vacuum adsorption device 5 is installed at the tops of the two side plates 46, the ventilation opening of the vacuum adsorption device faces the through hole in the middle of the bottom plate 43, the paint spraying device 4 is installed on the rear side of the chassis 6, and the direction-changeable paint spraying device 2 is installed on the front side of the chassis 6.

As shown in fig. 6, the crawler traveling device 1 includes a driving wheel 7, a driven wheel 8, guide wheels 9, support wheels 10, support frames 11, support plates 12, crawler wheel motors 44, crawler wheel fixing blocks 45, and a crawler belt 47, where the crawler wheel motors 44 and the crawler wheel fixing blocks 45 are installed on a bottom plate 43, the driving wheel 7 is connected with an output shaft of the crawler wheel motor 44, the driven wheel 8 is connected with a shaft of the crawler wheel fixing block 45 through a bearing, the two support plates 12 are installed on a chassis 6 in parallel and oppositely, the two support plates 12 are uniformly provided with the support frames i 11, the support frame i 11 located on one side of the driven wheel 8 is provided with the guide wheels 9 through a bearing, the other support frames i 11 are provided with the support wheels 10 through bearings, and the crawler belt 47 is sleeved on the driving wheel 7, the driven wheel 8, the guide. The crawler wheel motor 44 works to drive the driving wheel 7 to work, so that the crawler 47 rotates, the driven wheel 8, the guide wheel 9 and the supporting wheel 10 rotate accordingly, and the robot can walk independently due to the rotation of the crawler 47.

As shown in fig. 4 and 5, the vacuum adsorption device 5 includes a sealing gasket 37, an I-shaped duct 38, a pressurizing paddle 39, a housing 40, an end cover 41, and a negative pressure motor 42, the sealing gasket 37 is fixed at the bottom of the I-shaped duct 38, the upper end of the I-shaped duct 38 is fixedly mounted on the housing 40, the end cover 41 is mounted at the top end of the I-shaped duct 38, the negative pressure motor 42 is mounted in an upper pipe of the I-shaped duct 38 and fixed inside the end cover 41, the pressurizing paddle 39 is connected with an output shaft of the negative pressure motor 42, and the housing 40 is mounted on a bottom plate 43. When the building spraying robot is attached to the wall surface of a building, the negative pressure motor 42 works to drive the pressurizing paddle 39 to rotate, so that the space between the wall surface of the building and the end cover 41, namely the I-shaped duct 38 is close to vacuum, the air pressure in the I-shaped duct 38 is smaller than the external air pressure, so that the robot can be attached to the wall, the sealing gasket 37 is made of rubber, the sealing gasket can be attached to the wall surface of the building when in use, the whole building spraying robot can be adsorbed on the wall surface of the building through the vacuum adsorption device 5, and then the robot can stably and independently walk under the action of the crawler walking device 1, so that the function of automatically climbing the wall is realized.

As shown in fig. 7, the painting device 4 includes a large painting cylinder 30, a large bracket 31, a small painting cylinder 32, a small bracket 33, a main bracket 34, a paint conveying pipe 35, and a fixing block 36; the fixed block 36 is installed on the bottom plate 43, the paint conveying pipe 35 is installed on the fixed block 36, the paint conveying pipe 35 is connected with an external paint spraying tool, the main support 34 is installed on the fixed block 36, the large support 31 and the small support 33 are vertically installed on the main support 34, the large painting cylinder 30 and the small painting cylinder 32 are installed on the large support 31 and the small support 33 through shafts and bearings respectively, and the building spraying robot ensures that the large support 31 and the small support 33 are in contact with the wall surface of a building in the working process. The large painting cylinder 30 and the small painting cylinder 32 are both made of flexible materials which are easy to dip in paint. After the paint conveying pipe 35 is connected with an external paint spraying tool, paint is sprayed onto the large painting cylinder 30, the crawler 1 drives the large painting cylinder 30 to roll on the wall surface in the walking process, and the large painting cylinder 30 paints the paint on the wall surface to realize first-stage paint; the small paint cylinder 32 then contacts and rolls with the wall surface, making the paint applied to the wall surface more uniform, achieving a second level of paint.

As shown in fig. 8, the direction-changeable paint spraying device 2 comprises a support frame ii 13, a motor i 14, an L-shaped frame 15, a paint spraying opening 16 and a motor ii 17, wherein the support frame ii 13 is installed on a bottom plate 43, the motor ii 17 is installed on the support frame ii 13, the L-shaped frame 15 is installed on an output shaft of the motor ii 17, the motor i 14 is installed on the L-shaped frame 15, the paint spraying opening 16 is installed on an output shaft of the motor i 14, and the paint spraying opening 16 is connected with an external paint spraying tool. The two motors II 17 are respectively arranged at two ends of the support frame II 13, an L-shaped frame 15 is respectively arranged on an output shaft of each motor II 17, a paint spraying opening 16 is arranged on each L-shaped frame 15, and the paint spraying opening 16 is connected with an external paint spraying tool. The motor II 17 works to drive the L-shaped frame 15 to rotate, so that the motor I14 rotates by taking the output shaft of the motor II 17 as a rotating shaft, and the paint spraying port 16 fixed on the motor I14 rotates by taking the output shaft of the motor II 17 as a rotating shaft; the motor I14 works, so that the paint spraying opening 16 can also rotate by taking the output shaft of the motor I14 as a rotating shaft, and in the rotating process, the paint spraying opening 16 sprays external pigment to the wall surface.

As shown in fig. 1 and 3, the building spraying robot further comprises a mechanical arm 3, and the mechanical arm 3 is mounted at the side of the vacuum adsorption device 5. The mechanical arm 3 comprises a support I18, a motor III 19, a support II 20, a motor IV 21, a support III 22, a motor V23, a support IV 24, a support V25, a motor VI 26, a support VI 27, a motor VII 28 and a mechanical claw 29; the vacuum adsorption device is characterized in that a support I18 is fixedly installed on the vacuum adsorption device 5, a motor III 19 is fixed on the support I18, a support II 20 is installed on an output shaft of the motor III 19, a motor IV 21 is fixedly installed on the support II 20, a support III 22 is installed on an output shaft of the motor IV 21, a motor V23 is installed on the support III 22, a support IV 24 is installed on an output shaft of the motor V23, a support V25 is connected with the support IV 24, a motor VI 26 is installed on the support V25, a support VI 27 is installed on an output shaft of the motor VI 26, a motor VII 28 is installed on the support VI 27, and a gripper 29 is installed on an output shaft of the motor VII 28. The motor III 19 works to drive the support II 20 to rotate, the motor IV 21 fixed on the drive support II 20 works to drive the support III 22 to rotate, the motor V23 can drive the support IV 24 and the support V25 to rotate simultaneously, the motor VI 26 can drive the support VI 27 to rotate, the motor VII 28 can drive the gripper 29 to rotate, and through the cooperation of the motors, the movement of the gripper 29 in a three-dimensional space can be realized, so that the mechanical arm 3 can cooperate with the paint spraying device 4 and can work in a direction-changeable paint spraying device 2.

The working process of the invention is as follows:

make building spraying robot paste tight building wall, negative pressure motor 42 works, it is rotatory to drive pressure boost oar 39, make between building wall and the end cover 41I shape duct 38 be close to the vacuum, atmospheric pressure in the I shape duct 38 is less than external atmospheric pressure, make the robot paste on the wall, then crawler wheel motor 44 works, drive action wheel 7 work, thereby make track 47 rotate, from driving wheel 8 this moment, leading wheel 9, supporting wheel 10 all can follow the rotation, under the absorbent effect of negative pressure, the rotation of track 47 makes the robot can independently walk on building wall, realize its automatic function of climbing the wall. After the paint conveying pipe 35 is connected with an external paint spraying tool, paint is sprayed onto the large painting cylinder 30, the crawler 1 drives the large painting cylinder 30 to roll on the wall surface in the walking process, and the large painting cylinder 30 paints the paint on the wall surface to realize first-stage paint; the small paint cylinder 32 then contacts and rolls with the wall surface, making the paint applied to the wall surface more uniform, achieving a second level of paint. The painting port 16 is connected to an external painting tool. The motor II 17 works to drive the L-shaped frame 15 to rotate, so that the motor I14 rotates by taking the output shaft of the motor II 17 as a rotating shaft, and the paint spraying port 16 fixed on the motor I14 rotates by taking the output shaft of the motor II 17 as a rotating shaft; the work of motor I14 for the mouth 16 that sprays paint can also be the rotation of rotation axis for the output shaft of motor I14, and at the rotation in-process, the mouth 16 that sprays paint sprays external pigment to the wall. The mechanical arm 3 can realize the movement of the mechanical claw 29 in a three-dimensional space, so that the mechanical arm 3 can work with the paint spraying device 4 and the reversible paint spraying device 2.

The invention adopts vacuum adsorption and is matched with the crawler traveling device to realize the wall climbing function of the building robot so as to achieve the purpose of automatic traveling and spraying of the building spraying robot; two painting processes are realized through the reversible paint spraying device and the paint spraying device, so that painting is more sufficient; the paint spraying device has two degrees of freedom, can change direction, can color heavily to the place of painting unevenness for the spraying has comprehensiveness and homogeneity, avoids the phenomenon that the spraying is not in place. The robot is adopted to replace manual painting, so that the labor intensity of workers is reduced, the automatic painting efficiency and quality are improved, and the robot has a wide market popularization value.

Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims.

Claims

1. A building spraying robot which characterized in that: the building spraying robot comprises a crawler walking device (1), a direction-changeable spraying device (2), a spraying device (4), a vacuum adsorption device (5) and a chassis (6), wherein the chassis (6) comprises a bottom plate (43) and side plates (46), the left side and the right side of the bottom plate (43) are respectively provided with one side plate (46), and the middle part of the bottom plate (43) is provided with a through hole; the bottom of the chassis (6) is provided with the crawler belt walking device (1), the vacuum adsorption device (5) is arranged at the tops of the two side plates (46), a vent of the vacuum adsorption device is opposite to a through hole in the middle of the bottom plate (43), the rear side of the chassis (6) is provided with the paint spraying device (4), and the paint spraying device (4) comprises a large paint cylinder (30), a large bracket (31), a small paint cylinder (32), a small bracket (33), a main bracket (34), a paint conveying pipe (35) and a fixing block (36); the paint spraying device is characterized in that the fixing block (36) is installed on the bottom plate (43), the paint conveying pipe (35) is installed on the fixing block (36), the paint conveying pipe (35) is connected with an external paint spraying tool, the main support (34) is installed on the fixing block (36), the large support (31) and the small support (33) are vertically installed on the main support (34), and the large painting cylinder (30) and the small painting cylinder (32) are installed on the large support (31) and the small support (33) through shafts and bearings respectively; the front side of the chassis (6) is provided with a direction-changeable paint spraying device (2); the direction-changeable paint spraying device (2) comprises a support frame II (13), a motor I (14), an L-shaped frame (15), a paint spraying opening (16) and a motor II (17), wherein the support frame II (13) is installed on a bottom plate (43), the motor II (17) is installed on the support frame II (13), the L-shaped frame (15) is installed on an output shaft of the motor II (17), the motor I (14) is installed on the L-shaped frame (15), the paint spraying opening (16) is installed on the output shaft of the motor I (14), and the paint spraying opening (16) is connected with an external paint spraying tool; the motor II (17) have two, install respectively at the both ends of support frame II (13), install an L shape frame (15) on the output shaft of every motor II (17) respectively, all install a paint spraying opening (16) on L shape frame (15), paint spraying opening (16) are connected with outside paint spraying tool.

2. A building painting robot as defined in claim 1, wherein: the building spraying robot further comprises a mechanical arm (3), and the mechanical arm (3) is installed on the side portion of the vacuum adsorption device (5).

3. A building painting robot as defined in claim 2, wherein: the mechanical arm (3) comprises a support I (18), a motor III (19), a support II (20), a motor IV (21), a support III (22), a motor V (23), a support IV (24), a support V (25), a motor VI (26), a support VI (27), a motor VII (28) and a mechanical claw (29); the vacuum adsorption device is characterized in that a support I (18) is fixedly installed on the vacuum adsorption device (5), a motor III (19) is fixed on the support I (18), a support II (20) is installed on an output shaft of the motor III (19), a motor IV (21) is fixedly installed on the support II (20), a support III (22) is installed on an output shaft of the motor IV (21), a motor V (23) is installed on the support III (22), a support IV (24) is installed on an output shaft of the motor V (23), the support V (25) is connected with the support IV (24), a motor VI (26) is installed on the support V (25), a support VI (27) is installed on an output shaft of the motor VI (26), a motor VII (28) is installed on the support VI (27), and a mechanical claw (29) is installed on an output shaft of the motor VII (28).

4. A building painting robot as claimed in claim 1 or 2, wherein: the crawler traveling device (1) comprises a driving wheel (7), a driven wheel (8), guide wheels (9), supporting wheels (10), supporting frames (11), supporting plates (12), a crawler wheel motor (44), crawler wheel fixing blocks (45) and a crawler belt (47), wherein the crawler wheel motor (44) and the crawler wheel fixing blocks (45) are installed on a bottom plate (43), the driving wheel (7) is connected with an output shaft of the crawler wheel motor (44), the driven wheel (8) is connected with a shaft on the crawler wheel fixing blocks (45) through a bearing, the two supporting plates (12) are parallelly and oppositely installed on a chassis (6), the supporting frames I (11) are evenly installed on the two supporting plates (12), the guide wheels (9) are installed on the supporting frame I (11) located on one side of the driven wheel (8) through bearings, the supporting wheels (10) are installed on the other supporting frames I (11) through bearings, the crawler belt (47) is sleeved on the driving wheel (7), the driven wheel (8), the guide wheel (9) and the supporting wheel (10).

5. A building painting robot as claimed in claim 1, 2 or 4, wherein: vacuum adsorption device (5) including sealed pad (37), I shape duct (38), pressure boost oar (39), casing (40), end cover (41), negative pressure motor (42), sealed pad (37) are fixed in the bottom of I shape duct (38), the upper end fixed mounting of I shape duct (38) is on casing (40), end cover (41) are installed on the top of I shape duct (38), negative pressure motor (42) are installed in the upper portion pipeline of I shape duct (38), and fix the inboard at end cover (41), pressure boost oar (39) link to each other with the output shaft of negative pressure motor (42), casing (40) are installed on bottom plate (43).