CN111360877A

CN111360877A - Manipulator belt cleaning device

Info

Publication number: CN111360877A
Application number: CN202010271178.5A
Authority: CN
Inventors: 汪奇
Original assignee: Hangzhou Waxing Intelligent Technology Co ltd
Current assignee: Hangzhou Waxing Intelligent Technology Co ltd
Priority date: 2020-04-08
Filing date: 2020-04-08
Publication date: 2020-07-03

Abstract

The invention discloses a manipulator cleaning device which comprises a vehicle body, wherein a cleaning cavity with a right opening is formed in the vehicle body, a limiting device for limiting the movement of the vehicle body is arranged in the bottom wall of the cleaning cavity, the limiting device comprises a locking cavity arranged on the bottom wall of the cleaning cavity, a worm shaft which is matched with the upper end wall and the lower end wall in a rotating mode and extends up and down is arranged at the right end of the cleaning cavity, a vehicle door is fixedly connected with the worm shaft in the cleaning cavity, the lower end of the worm shaft extends through the locking cavity, a worm wheel is meshed with the worm shaft in the locking cavity, the worm wheel is fixedly arranged on a locking screw rod, friction plates with opposite threads are connected on the locking screw rod in a left-right symmetric threaded mode, the friction plates are in sliding fit with the inner wall of the locking cavity, and a.

Description

Manipulator belt cleaning device

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator cleaning device.

Background

The development of industrial technology is currently used as a manipulator which can imitate the function of a human arm and can assist in simultaneously replacing the human hand to carry out special work such as grabbing, carrying and the like of a fixed program. As a device capable of working in a harmful environment and various polluted environments, a robot needs to be cleaned for protection and convenience of subsequent use. At present, a good mechanical arm cleaning device is not arranged on the market, manual cleaning is mostly arranged, and meanwhile, due to the fact that bending, rotation and other conditions can occur in the mechanical arm during working, more dirt can be generated at the joint, and the mechanical arm is not easy to clean.

Disclosure of Invention

Aiming at the technical defects, the invention provides a manipulator cleaning device which can overcome the defects.

The manipulator cleaning device comprises a vehicle body, a cleaning cavity with a right opening is arranged in the vehicle body, a limiting device for limiting the movement of the vehicle body is arranged in the bottom wall of the cleaning cavity, the limiting device comprises a locking cavity arranged on the bottom wall of the cleaning cavity, a worm shaft which is matched with the upper end wall and the lower end wall in a rotating mode and extends up and down is arranged at the right end of the cleaning cavity, a vehicle door is fixedly connected in the cleaning cavity through the worm shaft, the lower end of the worm shaft extends through the locking cavity, a worm wheel is meshed in the locking cavity through the worm shaft, the worm wheel is fixedly arranged on a locking screw rod, friction plates with opposite threads are connected on the locking screw rod in a left-right symmetric threaded mode, the friction plates are in sliding fit with the inner wall of the locking cavity, a wheel shaft which is matched with the locking cavity in a front-back penetrating mode and rotating mode is, a movable cavity is arranged in the rear end wall of the cleaning cavity, a transmission mechanism capable of cleaning mechanical arms is arranged in the movable cavity, a belt cavity is arranged in the left end wall of the cleaning cavity, a control motor is fixedly mounted on the left end wall of the belt cavity, a main motor shaft is connected to the control motor in a power mode, a telescopic cavity is connected to the left end wall of the belt cavity, a main belt wheel is fixedly connected to the main motor shaft, a cylinder is rotatably mounted on the left end wall of the belt cavity, a threaded belt wheel is fixedly connected to the cylinder, the threaded belt wheel and the main belt wheel are connected in a belt transmission mode, a telescopic screw rod is connected to the inner side of the threaded belt wheel in a threaded mode, the left end of the telescopic screw rod extends into the telescopic groove, the right end of the telescopic screw rod extends through the belt cavity and extends into the cleaning cavity, wash the chamber upper end and be equipped with and link up the chamber, link up the chamber lower extreme and be connected with the spout that the opening is decurrent, link up the intracavity and be equipped with the equipment that washs the joint, equipment includes that the right-hand member extends and stretches into link up the main motor shaft in chamber, it installs the countershaft to link up to rotate on the chamber bottom wall, main motor shaft passes through helical gear group link the countershaft, sliding fit has the sliding block in the spout.

Preferably, fixing device is including locating flexible screw rod right-hand member and opening spacing groove to the right, sliding fit just stretches out in the spacing groove the two-sided rack of spacing groove, two-sided rack in wash the intracavity and rotate and be connected with the magnet board, spacing inslot fixedly connected with the spacing spring that two-sided rack is connected, both ends wall is connected with the turn trough about the spacing groove, the end wall rotates around the turn trough and is connected with and runs through flexible screw rod's bull stick, the bull stick in fixedly connected with drive gear and chain wheel in the turn trough, drive gear with two-sided rack toothing, the bull stick in the outer fixedly connected with connecting rod of flexible screw rod, the connecting rod rotates through the roller bearing and is connected with splint, fixed connection on the roller bearing with the chain that the chain wheel is connected.

Preferably, drive mechanism including equally divide and rotate connect in the activity chamber with the spline sleeve of wall body between the clear chamber around connect vice crank axle on the spline sleeve, it is positive spline sleeve in-connection has the main crank axle, the main crank axle in activity intracavity power is connected in the work motor, work motor fixed mounting in activity chamber rear end wall, the main crank axle with sliding connection has the sleeve on the vice crank axle, the sleeve is connected through connecting the rocker, vice crank axle rear end rotates and is connected with the connecting plate, the connecting plate passes through connecting spring coupling activity chamber rear end wall.

Preferably, the working device further comprises a movable shaft which is rotatably installed in the sliding block and extends up and down, the movable shaft is connected with the connection cavity and the auxiliary shaft through belt transmission, the movable shaft is rotatably connected with a connection plate in the cleaning cavity, the movable shaft is connected with a movable spline sleeve through a spline at the lower end of the connection plate, the lower end of the movable spline sleeve is fixedly connected with a device for cleaning the mechanical arm, and the movable spline sleeve is connected with the connection plate through a reset spring.

Preferably, an annular rack is fixedly connected to the rear end of the sliding block in the sliding groove, the annular rack is engaged with a half gear, a transmission shaft extending forward and backward is rotatably mounted on a wall body between the sliding groove and the movable cavity, the transmission shaft is fixedly connected to the half gear in the sliding groove, a linking shaft is rotatably mounted on the rear end wall of the movable cavity, the linking shaft is connected to the main crankshaft through a belt transmission, a fixed friction disc is fixedly connected to the right end of the linking shaft, a connecting spline sleeve is connected to the transmission shaft in the movable cavity, and a movable friction disc capable of being matched with the fixed friction disc is fixedly connected to the left end of the connecting spline sleeve.

Preferably, the upper end of the connecting cavity is provided with a transmission cavity, the upper end wall of the transmission cavity is fixedly provided with a starting motor, the starting motor is in power connection with an auxiliary motor shaft, the auxiliary motor shaft is in transmission connection with the worm shaft of which the upper end extends into the transmission cavity through a belt, a gear is fixedly connected to the shaft of the auxiliary motor, the gear is meshed with a rack, a hydraulic cavity is arranged at the rear end of the transmission cavity, the front end of the hydraulic cavity is provided with a main piston plate, the rack extends backwards and extends into the hydraulic cavity to be fixedly connected with the main piston plate, an auxiliary piston plate is arranged at the rear end of the hydraulic cavity, a mandril penetrating through the hydraulic cavity is fixedly connected at the rear end of the auxiliary piston plate, the ejector rod is in sliding fit with a wall body between the ejector hydraulic cavity and the movable cavity, the ejector rod is fixedly connected with a movable plate in sliding fit with the left end wall and the right end wall in the movable cavity, and the movable plate is rotatably connected with the connecting spline sleeve.

The beneficial effects are that: this device simple structure, convenient operation, through the magnet board with the contact of gripper is fixed, carries out the joint through control motor control equipment and washs and carry out the removal of arm simultaneously and buckle the joint that makes mechanical wall and expose convenient work and wash, carries out the locking of wheel and closes the door through the starter motor, makes the convenient follow-up work of linking coupling simultaneously, drives crank axle UNICOM through the work motor and carries out the washing of arm side body and drive simultaneously the back and forth cycle removes of equipment, guarantees that the polylinker can carry out cleaning work, and whole device can carry out the fixed of arm automatically and carry out cleaning work simultaneously, has reduced the consumption of manpower, guarantees simultaneously that the arm can continue stable work backward.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a robot cleaning device according to the present invention;

FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;

FIG. 3 is an enlarged view of the structure at B in FIG. 1;

fig. 4 is a schematic cross-sectional view taken at C-C in fig. 1.

Detailed Description

All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.

The invention will now be described in detail with reference to fig. 1-4, for convenience of description, the following orientations will now be defined: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

The manipulator cleaning device comprises a vehicle body 7, a cleaning cavity 8 with a rightward opening is arranged in the vehicle body 7, a limiting device for limiting the movement of the vehicle body 7 is arranged in the bottom wall of the cleaning cavity 8, the limiting device comprises a locking cavity 28 arranged on the bottom wall of the cleaning cavity 8, a worm shaft 25 which is matched with the upper end wall and the lower end wall in a rotating mode and extends up and down is arranged at the right end of the cleaning cavity 8, a vehicle door 14 is fixedly connected to the worm shaft 25 in the cleaning cavity 8, the lower end of the worm shaft 25 extends through the locking cavity 28, a worm wheel 31 is meshed in the locking cavity 28 of the worm shaft 25, the worm wheel 31 is fixedly arranged on a locking screw 29, friction plates 26 with opposite threads are connected to the locking screw 29 in a left-right symmetrical mode through threads, the friction plates 26 are in sliding fit with the inner wall of the locking cavity 28, a wheel shaft 30 which is penetrated through the front and, the wheel shaft 30 is fixedly connected with a roller 27 which can be matched with the friction plate 26, a movable cavity 28 is arranged in the rear end wall of the cleaning cavity 8, a transmission mechanism capable of cleaning a mechanical arm is arranged in the movable cavity 28, a belt cavity 15 is arranged in the left end wall of the cleaning cavity 8, a control motor 1 is fixedly arranged on the left end wall of the belt cavity 15, a main motor shaft 2 is connected to the control motor 1 in a power mode, the left end wall of the belt cavity 15 is connected with a telescopic cavity 5, a main belt wheel 16 is fixedly connected to the main motor shaft 2, a cylinder 4 is rotatably arranged on the left end wall of the belt cavity 15, a threaded belt wheel 3 is fixedly connected to the cylinder 4, the threaded belt wheel 3 is connected with the main belt wheel 16 in a belt transmission mode, a telescopic screw rod 6 is connected to the inner side of the threaded belt wheel 3 through threads, the left end of the telescopic screw rod 6 extends into the telescopic groove 5, and the right end of, 6 right-hand members in wash the fixing device of 8 internal fixedly connected with fixed mechanical arm paws in chamber, wash 8 upper ends in chamber and be equipped with and link up chamber 23, link up 23 lower extremes in chamber and be connected with the decurrent spout 24 of opening, link up and be equipped with the equipment that washs the joint in the chamber 23, equipment includes that the right-hand member extends and stretches into link up the main motor shaft 2 in chamber 23, it has countershaft 17 to rotate to install on 23 diaplasis in the chamber, main motor shaft 2 passes through helical gear group link countershaft 17, sliding fit has sliding block 55 in the spout 24.

Beneficially, the fixing device includes a limiting groove 32 provided at the right end of the telescopic screw 6 and having a right opening, a double-sided rack 38 slidably fitted in the limiting groove 32 and extending out of the limiting groove 32, a magnet plate 39 rotatably connected to the double-sided rack 38 in the cleaning chamber 8, a limiting spring 33 connected to the double-sided rack 38 and fixedly connected to the limiting groove 32, a rotary groove 40 connected to the upper and lower end walls of the limiting groove 32, a rotary rod 36 penetrating through the telescopic screw 6 and rotatably connected to the front and rear end walls of the rotary groove 40, a transmission gear 34 and a chain wheel 35 fixedly connected to the rotary rod 36 in the rotary groove 40, the transmission gear 34 engaged with the double-sided rack 38, a connecting rod 41 fixedly connected to the outside of the telescopic screw 6 and the rotary rod 36, a clamping plate 43 rotatably connected to the connecting rod 41 through a roller 42, and a chain 37 connected to the chain wheel 35 and fixedly connected to the roller 42, the fixing device can fix the paw of the mechanical arm and drive the mechanical arm to move.

Beneficially, the drive mechanism is including equalling divide and rotate connect in activity chamber 49 with the spline sleeve 52 of wall body between the clear chamber 8, around connect vice crank axle 51 on the spline sleeve 52, in the middle of spline sleeve 52 in-connection has main crank axle 46, main crank axle 46 in activity intracavity 49 power connection is in work motor 47, work motor 47 fixed mounting in activity chamber 49 rear end wall, main crank axle 46 with sliding connection has sleeve 50 on the vice crank axle 51, sleeve 50 connects through connecting rocker 48, vice crank axle 51 rear end rotates and is connected with connecting plate 44, connecting plate 44 connects through connecting spring 45 activity chamber 49 rear end wall, drive mechanism can guarantee the whole removal that carries out synchro-drive work and can paste the mechanical arm.

Beneficially, the working device further comprises a movable shaft 10 rotatably installed on the sliding block 55 and extending up and down, the movable shaft 10 is connected with the auxiliary shaft 17 in the connecting cavity 23 through belt transmission, the movable shaft 10 is rotatably connected with a connecting plate 9 in the cleaning cavity 8, the movable shaft 10 is connected with a movable spline sleeve 11 in a spline mode at the lower end of the connecting plate 9, a device for cleaning the mechanical arm is fixedly connected to the lower end of the movable spline sleeve 11, the movable spline sleeve 11 is connected with the connecting plate 9 through a reset spring 13, and the working device can be attached to the mechanical arm to perform joint cleaning work.

Advantageously, an annular rack 53 is fixedly connected to the rear end of the sliding block 55 in the sliding slot 24, a half gear 54 is engaged with the annular rack 53, a transmission shaft 65 extending forwards and backwards is rotatably mounted on the wall body between the sliding slot 24 and the movable cavity 49, the transmission shaft 65 is fixedly connected to the half gear 54 in the sliding slot 24, an engagement shaft 56 is rotatably mounted on the rear end wall of the movable cavity 49, the engagement shaft 56 is connected to the main crankshaft 46 through a belt transmission, a fixed friction disc 57 is fixedly connected to the right end of the engagement shaft 56, a connection spline sleeve 60 is connected to the movable cavity 49 of the transmission shaft 65, a movable friction disc 59 capable of being matched with the fixed friction disc 57 is fixedly connected to the left end of the connection spline sleeve 60, and the mechanism controls the working device to move back and forth when the transmission mechanism works.

Beneficially, a transmission chamber 22 is provided at the upper end of the engaging chamber 23, a starting motor 19 is fixedly mounted on the upper end wall of the transmission chamber 22, the starting motor 19 is power-connected with a secondary motor shaft 21, the secondary motor shaft 21 is connected with the worm shaft 25 whose upper end extends into the transmission chamber 22 through a belt transmission, a gear 20 is fixedly connected to the secondary motor shaft 21, the gear 20 is engaged with a rack 18, a hydraulic chamber 63 is provided at the rear end of the transmission chamber 22, a main piston plate 64 is provided at the front end of the hydraulic chamber 63, the rack 18 extends backwards and extends into the hydraulic chamber 63 and is fixedly connected with the main piston plate 64, a secondary piston plate 62 is provided at the rear end of the hydraulic chamber 63, a push rod 61 penetrating through the hydraulic chamber 63 is fixedly connected to the rear end of the secondary piston plate 62, the push rod 61 is in sliding fit with the wall body between the top hydraulic chamber 63 and the movable chamber 49, a movable plate 59 in sliding fit with the left and right end walls is fixedly connected, the movable plate 59 is rotatably coupled to the spline-coupling sleeve 60, and the mechanism controls the fixed friction disks 57 and the movable friction disks 58 to be in contact while ensuring the locking device to operate.

In an initial state, the fixed friction disc 57 is separated from the movable friction disc 58, the connecting spring 45, the return spring 13 and the limiting spring 33 are in a normal state, the control motor 1, the working motor 47 and the starting motor 19 are closed, and the vehicle door 14 is opened;

when the automobile starts to work, the automobile body 7 is moved to enable the mechanical wall to enter the cleaning cavity 8 and contact with the magnet plate 39, the starting motor 19 works, the secondary motor shaft 20 drives the gear 20 and the worm shaft 25 to rotate, the worm shaft 25 drives the automobile door 14 to close and drives the worm wheel 31 to rotate, the worm wheel 31 drives the friction disc 26 to move through the locking screw 29 and limits the rotation of the wheel shaft 30 through the roller 27, the gear 20 drives the secondary piston plate 62 to move through the movement of the primary piston plate 64, the secondary piston plate 62 drives the movable plate 59 and the movable spline sleeve 60 through the ejector rod 61 to enable the fixed friction disc 57 to contact with the movable friction disc 58, the control motor 1 and the working motor 47 are started, the working motor 47 drives the connecting shaft 56 to rotate through the primary crank shaft 46 and enables the secondary crank shaft 51 to rotate through the sleeve 50 and the connecting rocker 48, the primary crank shaft 46 and the secondary crank shaft 51 perform cleaning work on the side body of the mechanical, the half gear 54 drives the sliding block 55 to slide left and right through the annular rack 53, the control motor 1 drives the auxiliary shaft 17 to rotate through the main motor shaft 2, the auxiliary shaft 17 enables the movable shaft 10 to work through belt transmission to carry out joint work of the mechanical arm, the main motor shaft 2 enables the telescopic screw 6 to rotate and move right through the main belt wheel 16 and the threaded belt wheel 3, the magnet plate 39 contacts a paw of the mechanical arm to enable the double-sided rack 38 to move, the double-sided rack drives the connecting rod 41 to move through the transmission gear 34 and drives the chain locking wheel 35 to rotate, and the chain locking wheel 35 drives the roller 42 through the chain locking wheel 37 to enable the clamping plate 43 to fix the paw.

And after the work is finished, the work motor 47 is turned off, the control motor 1 and the starting motor 19 reversely rotate, the device is recovered, the control motor 1 and the starting motor 19 are turned off, and the device is recovered to the initial state.

The above description is only an embodiment of the invention, but the scope of the invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the invention. Therefore, the protection scope of the invention should be subject to the protection scope defined by the claims.

Claims

1. The utility model provides a manipulator belt cleaning device, includes the automobile body, be equipped with the washing chamber that the opening was right in the automobile body, its characterized in that: the cleaning device comprises a cleaning cavity, a cleaning cavity is arranged in the cleaning cavity, a limiting device for limiting the movement of the vehicle body is arranged in the bottom wall of the cleaning cavity, the limiting device comprises a locking cavity arranged in the bottom wall of the cleaning cavity, a worm shaft which is matched with the upper end wall and the lower end wall in a rotating manner and extends up and down is arranged at the right end of the cleaning cavity, a vehicle door is fixedly connected in the cleaning cavity by the worm shaft, the lower end of the worm shaft extends through the locking cavity, a worm wheel is meshed in the locking cavity by the worm shaft, the worm wheel is fixedly arranged on a locking screw rod, friction plates with opposite threads are connected on the locking screw rod in a left-right symmetrical threaded manner, the friction plates are in sliding fit with the inner wall of the locking cavity, a vehicle wheel shaft which is penetrated through in the front-back direction and is matched with the locking cavity in a rotating manner, a belt cavity is arranged in the left end wall of the cleaning cavity, a control motor is fixedly mounted on the left end wall of the belt cavity, a main motor shaft is connected to the control motor in a power mode, a telescopic cavity is connected to the left end wall of the belt cavity, a main belt wheel is fixedly connected to the main motor shaft, a cylinder is rotatably mounted on the left end wall of the belt cavity, a threaded belt wheel is fixedly connected to the cylinder, the threaded belt wheel and the main belt wheel are connected in a belt transmission mode, a telescopic screw rod is connected to the inner side of the threaded belt wheel through threads, the left end of the telescopic screw rod extends into the telescopic groove, the right end of the telescopic screw rod extends through the belt cavity and extends into the cleaning cavity, a fixing device for fixing the mechanical arm paw is fixedly connected to the right end of the telescopic screw rod in the cleaning cavity, a linking cavity is arranged, the joint cleaning device is characterized in that a working device for cleaning joints is arranged in the connecting cavity, the working device comprises a main motor shaft, the right end of the main motor shaft extends into the connecting cavity, an auxiliary shaft is rotatably arranged on the bottom wall of the connecting cavity, the main motor shaft is connected with the auxiliary shaft through a bevel gear set, and a sliding block is in sliding fit in the sliding groove.

2. The robot cleaning device according to claim 1, wherein: fixing device is including locating telescopic screw right-hand member and opening spacing groove right, sliding fit just stretches out in the spacing groove the double-sided rack of spacing groove, double-sided rack in wash the intracavity and rotate and be connected with the magnet board, spacing inslot fixedly connected with the spacing spring that double-sided rack is connected, both ends wall is connected with the turn trough about the spacing groove, the end wall rotates around the turn trough and is connected with and runs through telescopic screw's bull stick, the bull stick in fixedly connected with drive gear and sprocket in the turn trough, drive gear with double-sided rack toothing, the bull stick in the outer fixedly connected with connecting rod of telescopic screw, the connecting rod rotates through the roller bearing and is connected with splint, fixed connection on the roller bearing with the chain that the sprocket is connected.

3. The robot cleaning device according to claim 1, wherein: drive mechanism including equally divide and rotate connect in the activity chamber with the spline sleeve of wall body between the clear chamber is around connect vice crank axle on the spline sleeve, it is positive spline sleeve in-connection has the main crank axle, the main crank axle in activity intracavity power is connected in the work motor, work motor fixed mounting in activity chamber rear end wall, the main crank axle with sliding connection has the sleeve on the vice crank axle, the sleeve is connected through connecting the rocker, vice crank axle rear end rotates and is connected with the connecting plate, the connecting plate passes through connecting spring and connects activity chamber rear end wall.

4. The robot cleaning device according to claim 1, wherein: the working device further comprises a movable shaft which is rotatably installed in the sliding block and extends up and down, the movable shaft is connected with the connection cavity and the auxiliary shaft through belt transmission, the movable shaft is rotatably connected with a connection plate in the cleaning cavity, a movable spline sleeve is connected to the lower end of the connection plate through a spline, a device for cleaning the mechanical arm is fixedly connected to the lower end of the movable spline sleeve, and the movable spline sleeve is connected with the connection plate through a reset spring.

5. The robot cleaning device according to claim 1, wherein: the sliding block rear end in fixedly connected with annular rack in the spout, annular rack meshing has the half-gear, the spout with wall body between the activity chamber rotates installs the transmission shaft that extends forward and backward, the transmission shaft in fixedly connected with in the spout half-gear, rotate on the activity chamber rear end wall and install linking axle, linking axle is through taking the transmission to connect the main crankshaft, linking axle right-hand member fixedly connected with fixed friction disc, the transmission shaft in the activity intracavity is connected with the connection spline sleeve, connection spline sleeve left end fixedly connected with can with fixed friction disc complex movable friction disc.

6. The robot cleaning device according to claim 1, wherein: a transmission cavity is arranged at the upper end of the connecting cavity, a starting motor is fixedly arranged on the upper end wall of the transmission cavity, the starting motor is in power connection with an auxiliary motor shaft, the auxiliary motor shaft is in transmission connection with the worm shaft of which the upper end extends into the transmission cavity through a belt, a gear is fixedly connected to the shaft of the auxiliary motor, the gear is meshed with a rack, a hydraulic cavity is arranged at the rear end of the transmission cavity, the front end of the hydraulic cavity is provided with a main piston plate, the rack extends backwards and extends into the hydraulic cavity to be fixedly connected with the main piston plate, an auxiliary piston plate is arranged at the rear end of the hydraulic cavity, a mandril penetrating through the hydraulic cavity is fixedly connected at the rear end of the auxiliary piston plate, the ejector rod is in sliding fit with a wall body between the ejector hydraulic cavity and the movable cavity, the ejector rod is fixedly connected with a movable plate in sliding fit with the left end wall and the right end wall in the movable cavity, and the movable plate is rotatably connected with the connecting spline sleeve.