CN112045715A

CN112045715A - Balance system for industrial robot

Info

Publication number: CN112045715A
Application number: CN202010865726.7A
Authority: CN
Inventors: 高上杰
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-25
Filing date: 2020-08-25
Publication date: 2020-12-08

Abstract

The invention discloses a balancing system for an industrial robot, which structurally comprises a mechanical hand, a movable arm, a balancing connecting strip, a machine body, a support, a hydraulic balancing cylinder and a rotating support body, wherein the mechanical hand is movably connected with the movable arm through a movable shaft, the rotating support body is arranged below the movable arm and is mechanically connected with the machine body, a buffer hole is a square groove hole assembled by wavy long strip holes, and the assembled connection intersection points are communicated, so that when the piston is pressed down, liquid in the hydraulic cavity can penetrate through the lower end of the punching hole, flow along the communicated track and then flow out from the openings of other holes, thus, the liquid in the hydraulic cavity is buffered by the wavy structure in the buffer hole, the impact force between the piston and the liquid is relieved when the piston slides, therefore, the piston cannot be loosened due to impact force, and equipment is damaged due to leakage.

Description

Balance system for industrial robot

Technical Field

The invention relates to the field of robots, in particular to a balancing system for an industrial robot.

Background

The industrial robot can replace a person to do simple and frequent long-time operation in industrial production, and is a preferred mechanical device in production of various products or small batches due to certain universality and adaptability;

in the prior art, a balance system adopted by an industrial robot is a hydraulic balance system, the hydraulic balance system is a hydraulic execution element for converting hydraulic pressure into mechanical energy, and energy conversion is realized under the coordination of a piston, a piston rod and other equipment parts.

Disclosure of Invention

Aiming at the defects of the prior art, the invention is realized by the following technical scheme: a balance system for an industrial robot structurally comprises a manipulator, a movable arm, a balance connecting strip, a machine body, a support, a hydraulic balance cylinder and a rotating support body, wherein the manipulator is movably connected with the movable arm through a movable shaft;

the hydraulic balance cylinder is provided with a pushing body, a cylinder body, a pushing column, a piston, a guide port, a hydraulic cavity, a communicating channel and a movable cavity, the cylinder body and the movable cavity are of an integrated structure, the movable cavity and the pushing body are in sliding connection, the pushing column is arranged on the pushing body, the piston is mechanically connected with the pushing column, the piston is in sliding connection with the hydraulic cavity, the side surface of the hydraulic cavity is provided with the communicating channel, the guide port is arranged under the cylinder body, the inside of the pushing column is provided with a spring, and the diameter of the pushing column is attached to the opening of the movable cavity.

As a further optimization of the technical proposal, the piston is provided with an installation block, a vacuum cavity, an extension block, a slideway cylinder, a spring block, a piston body, a sliding plug, a buffer hole and a support buckle strip, the front end of the mounting block is provided with a piston body, the spring block is arranged behind the mounting block and is connected with the vacuum cavity in a sliding way, a sliding plug is arranged in the vacuum cavity, the buckling supporting strip is arranged at the rear end of the vacuum cavity, the extension block is fixedly connected with the buckling supporting strip, the extension block is movably connected with a slideway cylinder through a movable shaft, the slideway cylinder is connected with a slideway in a sliding way, a buffer hole is arranged below the slide way, the buffer is mechanically connected with the buffer punching machine, groove bodies which are mutually connected and buckled are arranged on the mounting block and the piston body, the buffer hole is a square slotted hole assembled by wavy long-strip holes, and the wavy long-strip connection intersection points of the buffer hole are communicated.

As a further optimization of this technical scheme, the front end of spring block is equipped with the spring, the rear end of spring block is soft layer, the rear end laminating of spring block is in the vacuum cavity, joint space department is equipped with movable sliding plug between spring block and the vacuum cavity, support the profile for having elastic arc strip, support the both sides of profile and installed the extension piece, the center of extension piece is become an organic whole by circular shape loose axle with two rectangular support swing joint.

As a further optimization of the technical scheme, the buckling strip is an elastic arc-shaped strip, the extension blocks are installed on two sides of the buckling strip, and the two long support bodies are movably connected into a whole by the circular movable shaft at the center of the extension block.

As a further optimization of the technical scheme, the buffer is provided with a shunt cavity, a device body, an internal flow cavity, a rotating block, an assembling column, a turning block, a main flow cavity, a connecting plate, and a rolling ball, the device body is provided with the shunt cavity, the shunt cavity and the main flow cavity are of an integrated structure, the shunt cavity and the rolling ball are movably connected through a connecting shaft, the connecting plate is installed at the center of the device body, the turning block is mechanically connected with the connecting plate, the internal flow cavity is arranged below the connecting plate, the assembling column is arranged on the internal flow cavity, the assembling column and the rotating block are movably connected through the connecting shaft, the internal flow cavity is a font notch, and an arc-shaped groove is sunken inwards at the lower side of the notch center of the internal flow cavity.

As a further optimization of the technical scheme, the turnover block is of an inclined triangular structure, the top edge of the triangular structure of the turnover block is an arc-shaped edge, a semicircular groove is formed in one side edge of the turnover block which is rightward, the turnover block is connected to the connecting plate surface through a circular connecting shaft at the bottom, and a spring is arranged at the connection junction of the turnover block and the connecting plate surface.

As the further optimization of this technical scheme, the equipment post distributes around the rotatory equidistance of circular arc at center, the cylinder length that the equipment post distributes in the circular arc both sides is long in the cylinder that distributes about the circular arc, the port department of equipment post is equipped with the commentaries on classics piece, the commentaries on classics piece is the square piece that four sides all inwards sunken.

As the further optimization of the technical scheme, the diversion cavity is provided with an arc diversion groove opening from the side surface of the main flow cavity, the extension length of the diversion groove opening of the diversion cavity exceeds that of the turnover block and then is communicated with the main flow cavity through the inclined turning groove opening, the arc diversion groove opening of the diversion cavity is provided with a rolling ball, and the surface of the rolling ball is surrounded with a spiral diversion groove.

Advantageous effects

Compared with the prior art, the balance system for the industrial robot has the following advantages:

1. the rear end of the mounting block is provided with the spring block, the spring at the front end of the spring block has resilience, the piston connected to the mounting block can be pushed forwards through pressure, the side wall of the hydraulic cavity provides supporting force for the piston, the acting force of the spring is opposite to that of the piston, and under the influence of the reacting force of the piston and the hydraulic cavity, the piston can be tightly attached to the side wall of the hydraulic cavity, so that the piston slides more compactly, and the phenomenon of looseness is not easy to occur.

2. According to the invention, the extending blocks are arranged on two sides of the buckling strips, the two long supporting bodies are movably connected into a whole by the centers of the extending blocks through the circular movable shafts, when the extending blocks slide forwards, the extending blocks can extend towards two sides due to the shortened distance between the slideway cylinder and the buckling strips, the buckling strips are unfolded to be jointed with the wall body of the vacuum cavity, the forward supporting force is added to the piston through the buckling, a triangular supporting structure can be formed between the extending blocks and the buckling strips, according to the characteristics of the triangle, the buckling supporting force of the buckling strips can be more stable, the jointing degree of the piston and the side wall of the hydraulic cavity is further increased, and the piston is prevented from loosening.

3. The buffer holes are square groove holes assembled by the wavy long holes, and the assembled connection intersection points are communicated, so that when the piston is pressed downwards, liquid in the hydraulic cavity can penetrate from the lower end of the buffer hole, flow along the communicated tracks and flow out from the openings of other holes, the liquid in the hydraulic cavity is buffered by the wavy structure in the buffer holes, the impact force between the piston and the liquid during sliding is relieved, and the piston cannot loosen due to the impact force to cause the leakage phenomenon of equipment to damage the equipment.

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 showing the overall configuration of a balancing system for an industrial robot according to the present invention.

Fig. 2 is a schematic structural diagram of the hydraulic balance cylinder of the present invention.

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

Fig. 4 is the operating state of fig. 3.

FIG. 5 is a diagram of a buffer structure according to the present invention.

Fig. 6 is the operating state of fig. 5.

In the figure: the mechanical arm 1, the movable arm 2, the balance connecting strip 3, the machine body 4, the support 5, the hydraulic balance cylinder 6, the rotating support body 7, the pushing body 60, the cylinder body 61, the pushing column 62, the piston 63, the guide port 64, the hydraulic cavity 65, the communication channel 66, the movable cavity 67, the mounting block 631, the vacuum cavity 632, the extension block 633, the slide 634, the slide column 635, the spring block 636, the piston body 637, the slide plug 638, the buffer 639, the buffer hole 63a, the retaining strip 63b, the shunt cavity 391, the machine body 392, the internal flow cavity 393, the rotating block 394, the assembling column 395, the turning block 396, the main flow cavity 397, the connecting plate 398 and the rolling ball 399.

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. 1-4, a balance system for an industrial robot structurally comprises a manipulator 1, a movable arm 2, a balance connecting bar 3, a machine body 4, a support 5, a hydraulic balance cylinder 6 and a rotation support 7, wherein the manipulator 1 is movably connected with the movable arm 2 through a movable shaft, the rotation support 7 is arranged below the movable arm 2, the rotation support 7 is mechanically connected with the machine body 4, the support 5 is arranged below the machine body 4, the hydraulic balance cylinder 6 is arranged on the machine body 4, the balance connecting bar 3 is arranged on the hydraulic balance cylinder 6, and the balance connecting bar 3 is mechanically connected with the movable arm 2 and the rotation support 7;

the hydraulic balance cylinder 6 is provided with a pushing body 60, a cylinder body 61, a pushing column 62, a piston 63, a guide port 64, a hydraulic cavity 65, a communication channel 66 and a movable cavity 67, the cylinder body 61 and the movable cavity 67 are of an integrated structure, the movable cavity 67 and the pushing body 60 are in sliding connection, the pushing column 62 is arranged on the pushing body 60, the piston 63 is mechanically connected with the pushing column 62, the piston 63 and the hydraulic cavity 65 are in sliding connection, the communication channel 66 is arranged on the side face of the hydraulic cavity 65, the guide port 64 is arranged under the cylinder body 61, a spring is arranged inside the pushing column 62, an opening of the diameter-fitted movable cavity 67 of the pushing column 62 prevents the piston 63 from loosening.

The piston 63 is provided with an installation block 631, a vacuum cavity 632, an extension block 633, a slide way 634, a slide way cylinder 635, a spring block 636, a piston body 637, a slide plug 638, a buffer 639, a buffer hole 63a and a retaining strip 63b, the front end of the installation block 631 is provided with the piston body 637, the spring block 636 is arranged behind the installation block 631, the spring block 636 is slidably connected with the vacuum cavity 632, the slide plug 638 is arranged inside the vacuum cavity 632, the retaining strip 63b is arranged at the rear end of the vacuum cavity 632, the extension block 633 is fixedly connected with the retaining strip 63b, the extension block 633 is movably connected with the slide way cylinder 635 through a movable shaft, the slide way cylinder 635 is slidably connected with the slide way 634, the buffer hole 63a is arranged below the slide way 634, the buffer 639 is mechanically connected with the retaining hole 63a, groove bodies which are mutually connected and buckled with each other are arranged on the installation block 631 and the piston body 637, the buffer hole 63a is a rectangular slotted hole assembled into a wavy, the connection intersection points of the wavy long strips of the buffer holes 63a are communicated, and the piston 63 is tightly attached to the wall body of the hydraulic cavity 65 through the forward acting force of the equipment parts.

The front end of spring block 636 is equipped with the spring, the rear end of spring block 636 is soft layer, the rear end laminating of spring block 636 is in vacuum cavity 632, joint space department is equipped with movable sliding plug 638 between spring block 636 and the vacuum cavity 632, support profile 63b for having elastic arc strip, support profile 63 b's both sides and installed extension block 633, extension block 633's center is become integrative with two rectangular support body swing joint by the circular shape loose axle, realizes closely laminating of piston 63 through the spring.

Support holding strip 63b for having elastic arc strip, support holding strip 63 b's both sides and installed extension block 633, extension block 633's center is become integrative with two rectangular support body swing joint by the circular shape loose axle, further improves piston 63's the inseparable laminating.

Firstly, a piston body 637 is assembled together through an assembling notch of an installation block 631, after the hydraulic balance cylinder 6 is assembled, the hydraulic balance cylinder 6 is arranged at the bottom of a machine body 4, a balance connecting strip 3 on the hydraulic balance cylinder 6 is mechanically connected with a manipulator 1, a movable arm 2 and the like, a power supply is started, the manipulator 1, the movable arm 2 and a rotation support 7 of the industrial robot can work in a matched mode, the hydraulic balance cylinder 6 converts energy generated when a piston 63 is hydraulically operated into mechanical energy and transmits the mechanical energy to each connected part through the balance connecting strip 3 to ensure balanced and stable operation of the industrial robot, a pushing body 60 in the hydraulic balance cylinder 6 is matched with a pushing column 62 to push the piston 63 forwards, when the piston 63 slides, a spring of a spring block 636 extrudes the piston 63 forwards, and the wall body of the piston 63 is attached to a hydraulic cavity 65 through extrusion force, the rear end of the spring block 636 is provided with a soft layer and is connected with the vacuum chamber 632 in a sliding manner, so that the internal space of the vacuum chamber 632 is limited, when the piston 63 is supported by the hydraulic chamber 65 to press the piston 63 backwards, because the space in the vacuum chamber 632 is limited and the vacuum chamber 632 is internally provided with the sliding plug 638, when the vacuum chamber 632 is contracted by extrusion force, the sliding plug 638 pushes the spring block 636 forwards to form a reaction force with the hydraulic chamber 65, so that the piston body 637 can be tightly attached to the wall of the hydraulic chamber 65, meanwhile, the slide column 635 slides forwards along the slide 634, the extension block 633 extends towards two sides by taking the movable shaft as an origin during sliding, so that the distance between the long strip column of the extension block 633 is lengthened, and the abutting strip 63b is a soft spring arc strip, the normal column of the extension block 633 can pull the abutting strip 63b to abut against the rear end of the vacuum chamber 632, therefore, the piston body 637 will receive forward abutting-buckling supporting force between the extending block 633 and the abutting-buckling strip 63b, the piston body 637 will receive force from the same direction, the resilience of the spring block 636, the forward pushing force of the vacuum chamber 632 and the sliding plug 638, and the resultant force formed between the forward supporting force of the extending block 633 and the abutting-buckling strip 63b can make the piston body 637 tightly attached to the hydraulic chamber 65 to slide, and the piston 63 is not easy to loosen.

Example two

Referring to fig. 1-6, a balance system for an industrial robot structurally comprises a manipulator 1, a movable arm 2, a balance connecting bar 3, a machine body 4, a support 5, a hydraulic balance cylinder 6 and a rotation support 7, wherein the manipulator 1 is movably connected with the movable arm 2 through a movable shaft, the rotation support 7 is arranged below the movable arm 2, the rotation support 7 is mechanically connected with the machine body 4, the support 5 is arranged below the machine body 4, the hydraulic balance cylinder 6 is arranged on the machine body 4, the balance connecting bar 3 is arranged on the hydraulic balance cylinder 6, and the balance connecting bar 3 is mechanically connected with the movable arm 2 and the rotation support 7;

The buffer 639 is provided with a flow dividing cavity 391, a body 392, an inner flow cavity 393, a rotating block 394, an assembling column 395, an overturning block 396, a main flow cavity 397, a connecting plate surface 398 and a rolling ball 399, the body 392 is provided with the flow dividing cavity 391, the flow dividing cavity 391 and the main flow cavity 397 are of an integrated structure, the flow dividing cavity 391 and the rolling ball 399 are movably connected through a connecting shaft, the connecting plate surface 398 is installed at the center of the body 392, the overturning block 396 and the connecting plate surface 398 are mechanically connected, an inner flow cavity 393 is arranged below the connecting plate surface 398, the assembling column 395 is arranged on the inner flow cavity 393, the assembling column 395 and the rotating block 394 are movably connected through the connecting shaft, the inner flow cavity 393 is a U-shaped notch, and an arc-shaped groove is formed on the lower side of the notch center of the inner flow cavity 393, so that the sliding impact force of.

Upset piece 396 is the triangle-shaped structure of slope, the triangle-shaped structure topside of upset piece 396 is the arc limit, be equipped with semi-circular recess on a side edge of upset piece 396 right, upset piece 396 is connected on connecting face 398 through the circular connecting axle of bottom, upset piece 396 is equipped with the spring with the junction of being connected of connecting face 398, and through liquid and rotating-structure contact, promotion rotating-structure slows down the impact force of equipment.

The circular arc of equipment post 395 round center is rotatory equidistance and is distributed, the cylinder length that equipment post 395 distributes in the circular arc both sides is longer than the cylinder that distributes on the circular arc about, the port department of equipment post 395 is equipped with commentaries on classics piece 394, the commentaries on classics piece is the square piece that four sides all inwards sunken, and liquid contacts package assembly and can promote package assembly, consumes the impact force.

The diversion cavity 391 is provided with an arc diversion notch from the side surface of the main flow cavity 397, the extension length of the diversion notch of the diversion cavity 391 exceeds the turning block 396 and then is communicated with the main flow cavity 397 through the inclined turning notch, the arc diversion notch of the diversion cavity 391 is provided with a rolling ball 399, the surface of the rolling ball 399 is annularly provided with a spiral diversion groove, and the impact force is relieved through diversion.

On the basis of the first embodiment, the buffer 639 and the buffer hole 63a are installed at the lower end of the piston 63, when the piston 63 slides downwards, the piston 63 contacts with the cavity of the hydraulic chamber 65, since the space of the hydraulic chamber 65 is limited, the liquid in the hydraulic chamber 65 will pass through the buffer hole 63a and flow inside the buffer hole 63a, since the holes of the buffer hole 63a are wavy, the flow velocity of the liquid will be reduced during the flow of the liquid inside the holes, the flow impact force of the liquid is consumed during the process, the liquid will pass through the buffer hole 63a and simultaneously pass through the main flow chamber 397 and the inner flow chamber 393 of the buffer 639, when the liquid passes through the inner flow chamber 393, the liquid will have the impact force on the rotor 394, since the four sides of the rotor 394 are grooves, the impact force of the liquid will be accumulated on the grooves at the beginning, when the accumulation point is, the liquid can push the rotor 394, and when the rotor 394 is continuously pushed to rotate, energy is consumed, so that the impact force of the liquid is relieved, when the liquid flows from the main flow cavity 397, the liquid passes through the diversion cavity 391 and is diverted to the diversion cavity 391, the diversion cavity 391 is provided with the rolling ball 399, the surface of the rolling ball 399 is provided with the spiral notch, the liquid can push the rolling ball 399 to rotate along the spiral notch, in the process, the flow speed of the liquid is relieved, the energy is consumed, the liquid passes through the diversion cavity 391 and is converged in the main flow cavity 397, when the liquid contacts the groove of the turnover block 396, the turnover block 396 is pushed, the spring is arranged at the bottom of the turnover block 396, forward thrust is achieved, mutual abutting acting force can be achieved between the turnover block 396 and the liquid, the liquid needs larger extrusion force to push the turnover block 396, therefore, more energy can be consumed, under the matching of the buffer 639 and the slow punching hole 63a, the impact force of the liquid in the process of the equipment sliding downwards is reduced, there is no possibility of the piston 63 loosening in response to excessive impact force.

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. A balancing system for an industrial robot, characterized by: the mechanical arm comprises a mechanical arm (1), a movable arm (2), a balance connecting strip (3), a machine body (4), a support (5), a hydraulic balance cylinder (6) and a rotating support body (7), wherein the mechanical arm (1) is movably connected with the movable arm (2) through a movable shaft, the rotating support body (7) is arranged below the movable arm (2), the rotating support body (7) is mechanically connected with the machine body (4), the support (5) is arranged below the machine body (4), the hydraulic balance cylinder (6) is arranged on the machine body (4), the balance connecting strip (3) is arranged on the hydraulic balance cylinder (6), and the balance connecting strip (3) is mechanically connected with the movable arm (2) and the rotating support body (7);

the hydraulic balance cylinder (6) is provided with a pushing body (60), a cylinder body (61), a pushing column (62), a piston (63), a guide port (64), a hydraulic cavity (65), a communicating channel (66) and a movable cavity (67), the cylinder body (61) and the movable cavity (67) are of an integrated structure, the movable cavity (67) is in sliding connection with the pushing body (60), the pushing column (62) is arranged on the pushing body (60), the piston (63) is in mechanical connection with the pushing column (62), the piston (63) is in sliding connection with the hydraulic cavity (65), the communicating channel (66) is arranged on the side face of the hydraulic cavity (65), and the guide port (64) is arranged under the cylinder body (61).

2. A balancing system for an industrial robot according to claim 1, characterized in that: the piston (63) is provided with a mounting block (631), a vacuum cavity (632), an extension block (633), a slide way (634), a slide way cylinder (635), a spring block (636), a piston body (637), a sliding plug (638), a buffer (639), a buffer hole (63a) and a buckling supporting strip (63b), the front end of the mounting block (631) is provided with the piston body (637), the spring block (636) is arranged behind the mounting block (631), the spring block (636) is in sliding connection with the vacuum cavity (632), the sliding plug (638) is arranged inside the vacuum cavity (632), the buckling supporting strip (63b) is arranged at the rear end of the vacuum cavity (632), the extension block (633) is fixedly connected with the buckling supporting strip (63b), the extension block (633) is movably connected with the slide way cylinder (635) through a movable shaft, the slide way cylinder (635) is in sliding connection with the slide way (634), and the buffer hole (63a) is arranged below the slide way (634), the buffer (639) is mechanically connected with the buffer hole (63a), and groove bodies which are mutually connected and buckled are arranged on the mounting block (631) and the piston body (637).

3. A balancing system for an industrial robot according to claim 2, characterized in that: the front end of the spring block (636) is provided with a spring, the rear end of the spring block (636) is a soft layer, the rear end of the spring block (636) is attached to the vacuum cavity (632), and a movable sliding plug (638) is arranged at a connecting gap between the spring block (636) and the vacuum cavity (632).

4. A balancing system for an industrial robot according to claim 2, characterized in that: support profile (63b) for having elastic arc strip, support the both sides of profile (63b) and installed extension piece (633), the center of extension piece (633) is become integrative with two rectangular support body swing joint by the circular shape loose axle.

5. A balancing system for an industrial robot according to claim 2, characterized in that: the buffer (639) is provided with a flow dividing cavity (391), a device body (392), an internal flow cavity (393), a rotating block (394), an assembly column (395), a turning block (396), a main flow cavity (397), a connecting plate surface (398) and a rolling ball (399), the device body (392) is provided with the flow dividing cavity (391), the flow dividing cavity (391) and the main flow cavity (397) are of an integrated structure, the flow dividing cavity (391) is movably connected with the rolling ball (399) through a connecting shaft, the connecting plate surface (398) is installed at the center of the device body (392), the turning block (396) is mechanically connected with the connecting plate surface (398), the internal flow cavity (393) is arranged below the connecting plate surface (398), the assembly column (395) is arranged on the internal flow cavity (393), and the assembly column (395) is movably connected with the rotating block (394).

6. A balancing system for an industrial robot according to claim 5, characterized in that: upset piece (396) is the triangle-shaped structure of slope, the triangle-shaped structure topside of upset piece (396) is the arc limit, be equipped with semi-circular recess on a side of upset piece (396) right.

7. A balancing system for an industrial robot according to claim 5, characterized in that: the assembled columns (395) are distributed around the central arc in a rotating and equidistant mode, and the lengths of the columns distributed on the two sides of the arc of the assembled columns (395) are longer than those of the columns distributed above and below the arc.

8. A balancing system for an industrial robot according to claim 5, characterized in that: the side of the main flow cavity (397) of the diversion cavity (391) is provided with an arc diversion notch, and the diversion notch of the diversion cavity (391) extends to a length exceeding the turning block (396) and then is communicated with the main flow cavity (397) through an inclined turning notch.