CN112045698A

CN112045698A - Industrial robot clamping component

Info

Publication number: CN112045698A
Application number: CN202010909437.2A
Authority: CN
Inventors: 高上杰
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-02
Filing date: 2020-09-02
Publication date: 2020-12-08

Abstract

The invention discloses an industrial robot clamping component, which comprises a machine body, a first gear, a straight gear block, a shell, a moving block, a rotating block, a push shaft, a moving wall, a second gear, a telescopic shaft and a connecting plate, wherein the second gear is arranged below the first gear and is in sliding connection with the straight gear block, the connecting plate is arranged on the telescopic shaft, the straight gear block is fixedly connected with the moving block, the moving block is in sliding connection with the moving wall, and one end of the moving block is movably connected with the push shaft through the moving shaft.

Description

Industrial robot clamping component

Technical Field

The invention relates to the field of robots, in particular to an industrial robot clamping component.

Background

With the development of society, the current industrial robot technology is gradually developing towards the direction of having walking ability, various sensing ability and stronger self-adaptive ability to the working environment, and the material clamping industrial robot is the most basic industrial robot, even though the industrial robot is continuously innovated, the material clamping industrial robot is still widely popularized and used;

in the prior art, industrial robot's centre gripping part is a parallel surface that the surface is coarse structure, the centre gripping of material is realized to dynamics through the centre gripping, and some materials are anomalous multilateral structure and spheroid structure, press from both sides and get irregular structure, irregular structure has a plurality of impetus, these impetus are not all on same straight line, irregular piece can take place the slope when pressing from both sides and getting, the focus is unstable easily causes the material to drop, and when equipment is pressing from both sides and is getting spheroid structure, the sphere is little with the area of contact of centre gripping part's surface contact, and spheroidal surface is ARC structure, when equipment centre gripping, the spheroid material drops easily.

Disclosure of Invention

Aiming at the defects of the prior art, the invention is realized by the following technical scheme: the clamping component of the industrial robot structurally comprises a grabbing arm, a supporting arm, a machine body, an installation knob, a movable arm and a clamp holder, wherein the grabbing arm is movably connected with the supporting arm through a movable shaft;

the organism is equipped with second gear, straight tooth piece, casing, movable block, commentaries on classics piece, pushes away the axle, removes the wall, first gear, telescopic shaft, connecting plate, first gear meshes with the second gear mutually, second gear and straight tooth piece sliding connection, the connecting plate is established on the telescopic shaft, straight tooth piece and movable block fixed connection, movable block and removal wall sliding connection, the one end of movable block is passed through the loose axle and is pushed away a swing joint, be equipped with on the commentaries on classics piece and push away the axle, be equipped with the telescopic shaft on the casing, the both sides of straight tooth piece are equipped with dentate structure, the straight tooth piece clamp is in the juncture of the rotation tooth of second gear and rotation tooth, the dentate structure of straight tooth piece is identical with the dentate structure of second gear.

As a further optimization of the technical scheme, the holder is provided with a holder body, a fastener, a clamping shaft, a turnover cover, a holder body and a support, wherein the holder body is fixedly connected with the support, the support is connected with the fastener in a clamping manner, the clamping shaft is arranged on the side surface of the holder body, the turnover cover is connected with the clamping shaft in a clamping manner through a connecting shaft, and the holder body is mechanically connected with the holder body.

As a further optimization of this technical scheme, the holding body is equipped with equipment axle, top grip block, trip shaft, go-between, crooked festival piece, extension piece, the crooked body of spring, crooked board, the go-between is connected with the trip shaft block, trip shaft and equipment axle fixed connection, crooked board passes through connecting axle and equipment axle swing joint, crooked board inside is equipped with crooked festival piece, crooked festival piece and extension piece sliding connection, crooked festival piece and the crooked body fixed connection of spring, the top grip block is established in crooked board face port department, the trip shaft encircles on the go-between for fretwork cylinder structure machinery, the trip shaft forms around the rotatory equidistance distribution of center origin.

As a further optimization of the technical scheme, the curved plate surface is of an arc-shaped surface structure, a spring is arranged in the curved plate surface, the arc-shaped edges on two sides of the curved plate surface are fixedly connected with the extension blocks, the extension blocks and the spring bending bodies are connected in a staggered mode to form a combined structure with one section and one section, and the extension blocks and the spring bending bodies are supported on the inner portion of the curved plate surface.

As a further optimization of this technical scheme, top grip block is equipped with extension post, reinforced axle, laminating piece, holds object plane, slider, upset piece, smooth chamber, the extension post passes through loose axle and slider swing joint, the front end of slider is equipped with the laminating piece, the junction of laminating piece and extension post is equipped with reinforced axle, slider and smooth chamber sliding connection, it is equipped with smooth chamber on the object plane to hold, hold the end of object plane and installed the upset piece, the laminating piece is the spheroid structure, and its surface is equipped with protruding piece, the inside spring layer that is equipped with of front end hemisphere body plane of laminating piece, the extension post is the arc strip, the extension post is supported and is detained holding object plane both sides, reinforced axle forms through loose axle swing joint for two rectangular axles.

As a further optimization of this technical scheme, the clip is equipped with turning block, wall body, clamping block, slide rail, installation piece, spliced pole, extension body, propelling movement body, block face, the center of wall body is equipped with the installation piece, installation piece and spliced pole mechanical connection, the turning block has been installed on the spliced pole, the both sides and the block face block of wall body are connected, be equipped with the slide rail on the clamping plate face, slide rail and extension body sliding connection, the extension body and propelling movement body mechanical connection, propelling movement body and clamping block fixed connection, the clamping block is inside sunken triangular structure, the inside notch that is equipped with irregular structure of sunken triangular structure of clamping block.

As further optimization of the technical scheme, the pushing body is of an arched arc structure, a sliding structure is arranged inside the pushing body, the size of the sliding structure of the pushing body is twice smaller than that of the arched arc structure of the pushing body, the arched radian of the pushing body is downward, and a spring is arranged at the sliding end of the sliding structure of the pushing body.

As the further optimization of this technical scheme, the turning block is passed through loose axle swing joint by two rectangular posts and is in the same place, the inside wave limit of one side for the slope of rectangular structure of turning block, be equipped with protruding piece on the inboard wave limit of turning block, the loose axle clamp of turning block is on the annular slip notch of a circle, the loose axle and the annular slip track mechanical connection of turning block.

Advantageous effects

Compared with the prior art, the industrial robot clamping component has the following advantages:

1. the curved plate surface is of an arc-shaped surface structure, the spring is arranged in the curved plate surface, and the curved plate surface can be unfolded and bent for a certain radian under the matching of the extension block and the spring curved body, so that the curved plate surface is an arched curved claw and can be perfectly attached to a sphere structure, the contact area between the curved plate surface and the sphere structure is increased, and sphere materials can be firmly clamped.

2. The sticking block is of a spherical structure, the sticking block can be pushed out of the body when the equipment works, the spring layer is arranged inside the front hemispherical surface of the sticking block, the sticking block can be mutually abutted and extruded together when pushed out of the equipment to wrap spherical materials inside the clamping part, so that the spherical structure cannot slide, the surface of the sticking block is provided with the protruding block which is of a rough structure, the friction force of the equipment is increased, the spherical materials cannot slide randomly, and the spherical materials can be further stabilized.

3. The clamping block is of an inwards-concave triangular structure, and the notch of the irregular structure is arranged in the concave triangular structure, so that when the equipment clamps materials of the irregular structure, the structure of the equipment can be clamped on the clamping block, the notch of the irregular structure of the triangular structure increases the acting points of the clamping, the acting points of the irregular materials which can be grabbed by the clamping block are increased, and the materials cannot easily fall off.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic view of the overall structure of a gripping member of an industrial robot according to the present invention.

Fig. 2 is an overall sectional structure diagram of the present invention.

Fig. 3 is a schematic view of the structure of the holder of the present invention.

FIG. 4 is a schematic view of a clamping body according to the present invention.

Fig. 5 is a diagram of the operation state of fig. 4.

Fig. 6 is a partial schematic view of fig. 5.

Fig. 7 is a schematic view of the structure of the buckle of the present invention.

In the figure: the device comprises a grabbing arm 1, a supporting arm 2, a machine body 3, a mounting knob 4, a movable arm 5, a clamper 6, a first gear 30, a straight gear block 31, a shell 32, a moving block 33, a rotating block 34, a pushing shaft 35, a moving wall 36, a second gear 30, a telescopic shaft 38, a connecting plate 39, a machine body 60, a buckle 61, a clamping shaft 62, a turnover cover 63, a clamping body 64, a support 65, an assembling shaft 641, a top clamping block 642, a turnover shaft 643, a connecting ring 644, a bending joint block 645, an extending block 646, a spring bending body 647, a bending plate surface 648, an extending column 421, a reinforcing shaft 422, a fitting block 423, an object holding surface 424, a sliding block 425, a turnover block 426, a sliding cavity 427, a rotating block 611, a wall body 612, a clamping block 613, a sliding rail 614, a mounting block 615, a connecting column 616, an extending body 617, a pushing body 618 and a clamping plate surface.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the following description and the accompanying drawings further illustrate the preferred embodiments of the invention.

Example one

Referring to fig. 1-6, a clamping component of an industrial robot structurally comprises a grab arm 1, a supporting arm 2, a machine body 3, a mounting knob 4, a movable arm 5 and a clamp holder 6, wherein the grab arm 1 is movably connected with the supporting arm 2 through a movable shaft, the movable arm 5 is arranged at the rear end of the grab arm 1, the movable arm 5 is mechanically connected with the machine body 3, and the mounting knob 4 is mounted on the machine body 3;

the machine body 3 is provided with a first gear 30, a straight gear block 31, a shell 32, a moving block 33, a rotating block 34, a push shaft 35, a moving wall 36, a second gear 30, a telescopic shaft 38 and a connecting plate 39, the first gear 37 is meshed with the second gear 30, the second gear 30 is connected with the straight gear block 31 in a sliding way, the connecting plate 39 is arranged on the telescopic shaft 38, the straight tooth block 31 is fixedly connected with the moving block 33, the moving block 33 is connected with the moving wall 36 in a sliding way, one end of the moving block 33 is movably connected with the push shaft 35 through a moving shaft, a push shaft 35 is arranged on the rotating block 34, a telescopic shaft 38 is arranged on the shell 32, tooth-shaped structures are arranged on two sides of the straight tooth block 31, the straight tooth block 31 is clamped at the junction of the rotating teeth and the rotating teeth of the second gear 30, and the tooth-shaped structure of the straight tooth block 31 is matched with the tooth-shaped structure of the second gear 30, so that clamping of irregular objects is realized.

The clamp holder 6 is provided with a device body 60, a clip device 61, a clamping shaft 62, a turning cover 63, a clamping body 64 and a support 65, the device body 60 is fixedly connected with the support 65, the support 65 is connected with the clip device 61 in a clamping manner, the clamping shaft 62 is arranged on the side surface of the device body 60, the turning cover 63 is connected with the clamping shaft 62 in a clamping manner through a connecting shaft, and the device body 60 is mechanically connected with the clamping body 64 to realize a spherical clamping structure.

The clamping body 64 is provided with an assembling shaft 641, a top clamping block 642, an overturning shaft 643, a connecting ring 644, a bending joint block 645, an extending block 646, a spring bending body 647 and a bending plate surface 648, the connecting ring 644 is connected with the overturning shaft 643 in a clamping manner, the overturning shaft 643 is fixedly connected with the assembling shaft 641, the bending plate surface 648 is movably connected with the assembling shaft 641 through a connecting shaft, the bending joint block 645 is arranged inside the bending plate surface 648, the bending joint block 645 is connected with the extending block 646 in a sliding manner, the bending joint block 645 is fixedly connected with the spring bending body 647, the top clamping block 642 is arranged at the port of the bending plate surface 648, the overturning shaft 643 is of a hollowed-out cylindrical structure and mechanically surrounds the connecting ring 644, the overturning shaft 643 is formed by rotating around a central origin at equal intervals, and clamping is realized through the movement of the connecting shaft.

The curved face 648 is the arcwall face structure, and its inside is equipped with the spring, the arc limit and the extension piece 646 fixed connection of curved face 648 both sides, the integrated configuration of extension piece 646 and the curved body 647 staggered connection of spring one section, extension piece 646 and the curved body 647 of spring support inside curved face 648, through the bending in equipment position, make it coincide with the spheroid structure and press from both sides and get.

The top clamping block 642 is provided with an extension column 421, a reinforcing shaft 422, an attaching block 423, an object holding surface 424, a sliding block 425, an overturning block 426 and a sliding cavity 427, the extension column 421 is movably connected with a slide block 425 through a movable shaft, the front end of the slide block 425 is provided with a fitting block 423, a reinforced shaft 422 is arranged at the joint of the fitting block 423 and the extending column 421, the sliding block 425 is connected with the sliding cavity 427 in a sliding way, the object holding surface 424 is provided with a sliding cavity 427, the end of the object holding surface 424 is provided with a turning block 426, the fitting block 423 is a sphere structure, the surface of the bonding block 423 is provided with a convex block, the inner part of the front end hemisphere surface of the bonding block 423 is provided with a spring layer, the extending columns 421 are arc-shaped strips, the extending columns 421 are buckled at two sides of the holding surface 424, the reinforcing shaft 422 is formed by movably connecting two strip shafts through a movable shaft, and further clamps the ball structure, so that the ball structure can be grabbed more firmly.

The using method comprises the following steps: when a ball material is clamped, a power supply is started, the rotating block 34 rotates anticlockwise around an origin, the pushing shaft 35 on the rotating block 34 slides downwards, the moving block 33 moves downwards along the moving wall 36 during sliding, the straight tooth block 31 moves downwards, the tooth-shaped structure of the straight tooth block drives the first gear 30 and the second gear 30 to rotate, so that the moving arm 5 is clamped inwards, the telescopic shaft 38 contracts downwards, the supporting arm 2 is pulled downwards under the cooperation of the connecting plate 39, the distance between the grabbing arms 1 on two sides of the device is smaller and smaller, when the clamping device 6 approaches the ball material, the overturning shaft 643 overturns outwards along the connecting ring 644, the assembly shaft 641 extends out of the device, the curved plate surface 648 bends downwards under the cooperation of the spring curved body 647 according to the diameter radian of the ball material, and the curved joint block 645 inside the curved plate surface 648 plays a certain supporting role at this moment, so as to prevent the curved plate surface 648 from collapsing when the curved plate surface 648 bends, the structure of the device is unstable, when the curved plate surface 648 is curved by a certain radian, the extension block 646 slides towards two sides to enlarge the curved plate surface 648, and the area of the curved plate surface 648 is increased, so that the device can wrap the spherical structure more comprehensively when wrapping, the top clamping block 642 takes a movable connecting shaft as a turning connecting shaft, and turns over for a certain extent to clamp the spherical material, the sliding block 425 slides forwards along the sliding cavity 427, the front ends of the attaching block 423 and the attaching block 423 are mutually abutted and wrapped, and the clamping opening at the bottom of the device when clamping the device, so that the spherical material is completely wrapped inside the clamping body 64, meanwhile, the extension column 421 rotates by taking the movable shaft as the center to enlarge the object holding surface, so that the wrapping gap of the device is reduced, the spherical material is more difficult to fall off, when the extension column 421 rotates, two long strips of the reinforcing shaft 422 are straightened, and a triangular structure is formed between the extension column 421 and the attaching block 423, so that the stability of the equipment is improved.

Example two

Referring to fig. 1-7, a clamping component of an industrial robot structurally comprises a grab arm 1, a supporting arm 2, a machine body 3, a mounting knob 4, a movable arm 5 and a clamp holder 6, wherein the grab arm 1 is movably connected with the supporting arm 2 through a movable shaft, the movable arm 5 is arranged at the rear end of the grab arm 1, the movable arm 5 is mechanically connected with the machine body 3, and the mounting knob 4 is mounted on the machine body 3;

The clip 61 is provided with a rotating block 611, a wall body 612, a clamping block 613, a sliding rail 614, an installation block 615, a connection column 616, an extension body 617, a pushing body 618 and a clamping plate surface 619, the center of the wall body 612 is provided with the installation block 615, the installation block 615 is mechanically connected with the connection column 616, the rotating block 611 is installed on the connection column 616, two sides of the wall body 612 are connected with the clamping plate surface 619 in a clamping manner, the clamping plate surface 619 is provided with the sliding rail 614, the sliding rail 614 is connected with the extension body 617 in a sliding manner, the extension body 617 is mechanically connected with the pushing body 618, the pushing body 618 is fixedly connected with the clamping block 613, the clamping block 613 is of an inward-recessed triangular structure, and a notch of an irregular structure is arranged inside the recessed triangular structure of the clamping block 613, so that the clamping of the irregular block is realized.

The pushing body 618 is an arched arc-shaped structure, a sliding structure is arranged inside the pushing body 618, the volume of the sliding structure of the pushing body 618 is twice smaller than that of the arched arc-shaped structure of the pushing body 618, the arched radian of the pushing body 618 is downward, a spring is arranged at the sliding end of the sliding structure of the pushing body 618, and clamping is achieved through movement of the arc-shaped structure.

The rotating block 611 is formed by movably connecting two long columns together through a movable shaft, an inward side of a long-strip structure of the rotating block 611 is an inclined wavy edge, a protruding block is arranged on the inner wavy edge of the rotating block 611, the movable shaft of the rotating block 611 is clamped on a circular sliding groove opening, and the movable shaft of the rotating block 611 is mechanically connected with a circular sliding track to further clamp an irregular structure.

The clamping device 61 is installed on the basis of the first embodiment, when a planar object is clamped, the turning cover 63 is closed, the clamping device 61 covers the planar object, the clamping of the planar material is realized through the cover body structure, the surface of the turning cover 63 is rough, the planar object cannot slide off when the planar object is clamped, when the device clamps an irregular polygonal material, as a plurality of edges and corners of the irregular material are generated, the turning cover 63 is turned over and opened along the clamping shaft 62, the working surface of the device is the clamping device 61, then the clamping plate surface 619 turns over along the connecting movable shaft for a certain angle, the clamping block 613 is turned over, the clamping block is clamped with the material, the extension body 617 slides out along the sliding rail 614 to push the clamping block 613 out of the body, the notch inside the triangular groove of the clamping block 613 can be clamped with the edges and corners of the irregular material, and the stability of the structure during the grabbing can be improved, the sliding structure inside the pushing body 618 can slide out a certain distance along the arch structure of the pushing body 618, because the pushing body 618 is of the arch structure, the clamping block 613 is pushed out to bend a certain radian, so that the clamping block can be more attached to the inclined edge of the irregular material, the clamping of the equipment is further reinforced, the material cannot easily slide off, meanwhile, the rotating block 611 can rotate to a proper position along the rotating ring connected with the rotating block 611 and extend out under the matching of the connecting column 616, the rotating block 611 is opened to a certain radian, the included angle between the connecting structures of the rotating block 611 is increased, the periphery of the irregular material is clamped through the wavy surface inside the rotating block 611, the wavy structure inside the rotating block 611 is in a wavy shape and can be attached to the convex and concave edge surfaces of the irregular material, and the rough surface of the rotating block 611 can increase the friction force, therefore, when the equipment clamps the irregular structure, the irregular material can be firmly clamped.

While there have been shown and described what are at present considered the fundamental principles of the invention, the essential features and advantages thereof, it will be understood by those skilled in the art that the present invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but rather, is capable of numerous changes and modifications in various forms without departing from the spirit or essential characteristics thereof, and it is intended that the invention be limited not by the foregoing descriptions, but rather by the appended claims and their equivalents.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. An industrial robot clamping component characterized in that: the structure of the robot comprises a grabbing arm (1), a supporting arm (2), a machine body (3), a mounting knob (4), a movable arm (5) and a clamp holder (6), wherein the grabbing arm (1) is movably connected with the supporting arm (2) through a movable shaft, the movable arm (5) is arranged at the rear end of the grabbing arm (1), the movable arm (5) is mechanically connected with the machine body (3), and the mounting knob (4) is mounted on the machine body (3);

organism (3) are equipped with second gear (30), straight-teeth piece (31), casing (32), movable block (33), commentaries on classics piece (34), push away axle (35), removal wall (36), first gear (37), telescopic shaft (38), connecting plate (39), first gear (37) mesh mutually with second gear (30), second gear (30) and straight-teeth piece (31) sliding connection, connecting plate (39) are established on telescopic shaft (38), straight-teeth piece (31) and movable block (33) fixed connection, movable block (33) and removal wall (36) sliding connection, the one end of movable block (33) is passed through the loose axle and is pushed away axle (35) swing joint, be equipped with push away axle (35) on commentaries on classics piece (34), be equipped with telescopic shaft (38) on casing (32).

2. An industrial robot gripping member according to claim 1, characterized in that: the clamp holder (6) is provided with a holder body (60), a clamping device (61), a clamping shaft (62), a turnover cover (63), a clamping body (64) and a support (65), the holder body (60) is fixedly connected with the support (65), the support (65) is clamped with the clamping device (61) and connected with the clamping shaft (62), the side face of the holder body (60) is provided with the turnover cover (63) which is clamped with the clamping shaft (62) through a connecting shaft, and the holder body (60) is mechanically connected with the clamping body (64).

3. An industrial robot gripping member according to claim 2, characterized in that: the clamping body (64) is provided with an assembling shaft (641), a top clamping block (642), a turnover shaft (643), a connecting ring (644), a bending joint block (645), an extending block (646), a spring bending body (647) and a bending plate surface (648), the connecting ring (644) is connected with the turnover shaft (643) in a clamping mode, the turnover shaft (643) is fixedly connected with the assembling shaft (641), the bending plate surface (648) is movably connected with the assembling shaft (641) through a connecting shaft, the bending joint block (645) is arranged inside the bending plate surface (648), the bending joint block (645) is connected with the extending block (646) in a sliding mode, the bending joint block (645) is fixedly connected with the spring bending body (647), and the top clamping block (642) is arranged at a port of the bending plate surface (648).

4. An industrial robot gripping member according to claim 3, characterized in that: the curved face (648) is the arcwall face structure, and its inside is equipped with the spring, the arc limit and the extension piece (646) fixed connection of curved face (648) both sides, extend piece (646) and spring bending body (647) staggered connection and become the integrated configuration of a lesson and a lesson.

5. An industrial robot gripping member according to claim 3, characterized in that: the top clamping block (642) is provided with an extension column (421), a reinforcing shaft (422), an attaching block (423), an object holding surface (424), a sliding block (425), a turning block (426) and a sliding cavity (427), the extension column (421) is movably connected with the sliding block (425) through a movable shaft, the front end of the sliding block (425) is provided with the attaching block (423), the joint of the attaching block (423) and the extension column (421) is provided with the reinforcing shaft (422), the sliding block (425) is in sliding connection with the sliding cavity (427), the sliding cavity (427) is arranged on the object holding surface (424), the turning block (426) is installed at the tail end of the object holding surface (424), the attaching block (423) is of a sphere structure, a convex block is arranged on the surface of the attaching block, a spring layer is arranged inside a hemisphere surface of the front end of the attaching block (423), and the extension column (421) is an arc-shaped strip.

6. An industrial robot gripping member according to claim 2, characterized in that: the buckle holder (61) is provided with a rotating block (611), a wall body (612), a clamping block (613), a sliding rail (614), an installation block (615), a connecting column (616), an extension body (617), a pushing body (618) and a clamping plate surface (619), the center of the wall body (612) is provided with the installation block (615), the installation block (615) is mechanically connected with the connecting column (616), the rotating block (611) is installed on the connecting column (616), two sides of the wall body (612) are connected with the clamping plate surface (619) in a clamping manner, the sliding rail (614) is arranged on the clamping plate surface (619), the sliding rail (614) is slidably connected with the extension body (617), the extension body (617) is mechanically connected with the pushing body (618), and the pushing body (618) is fixedly connected with the clamping block (613).

7. An industrial robot gripping member according to claim 6, characterized in that: the pushing body (618) is of an arched arc structure, a sliding structure is arranged inside the pushing body (618), the volume of the sliding structure of the pushing body (618) is twice smaller than that of the arched arc structure of the pushing body (618), and the arched radian of the pushing body (618) is downward.

8. An industrial robot gripping member according to claim 6, characterized in that: the rotating block (611) is movably connected together through a movable shaft by two long-strip columns, one inward side of the long-strip structure of the rotating block (611) is an inclined wavy edge, and a convex block is arranged on the inner wavy edge of the rotating block (611).