CN112389924A

CN112389924A - Manipulator stacker crane

Info

Publication number: CN112389924A
Application number: CN202011217595.8A
Authority: CN
Inventors: 黄春永; 张郑; 代志良; 付祖俊; 殷少平
Original assignee: Chongqing Wuyi Senior Technical School Chongqing Wuyi Technical College
Current assignee: Chongqing Wuyi Senior Technical School Chongqing Wuyi Technical College
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2021-02-23

Abstract

The invention discloses a manipulator stacker crane, which comprises a carrying manipulator, an AGV carrying trolley and a three-dimensional intelligent warehouse, wherein the carrying manipulator is used for grabbing articles; when the manipulator stacker crane disclosed by the invention is used for stacking operation, the AGV carrying trolley bears the carrying mechanical arm and moves to the position near an object to be carried, the carrying robot clamps the object to be carried by using the mechanical claw and then moves the object to be carried to the carrying platform of the three-dimensional intelligent warehouse, and the carrying platform is moved to the specified position on the goods shelf under the matching of the stacking travelling mechanism and the lifting mechanism, so that the stable and reliable automatic carrying of the object is realized, and the goods stacking efficiency is greatly improved.

Description

Manipulator stacker crane

Technical Field

The invention belongs to the field of automation equipment, and particularly relates to a manipulator stacker crane.

Background

With the rapid progress of social science and technology, in the production and conveying processes of bagged products such as sugar, feed, fertilizer and the like, in order to reduce labor intensity, people increasingly use a stacking robot (or a manipulator) to replace manual stacking operation. A general mounting mode is that a palletizing robot is directly mounted beside an output end of a bagged product conveying line, and the palletizing robot directly grabs bagged products conveyed by the conveying line to automatically palletize the bagged products. However, in the production practice, the installation mode still has obvious defects and disadvantages, namely, the stacking robot is fixedly arranged and cannot carry out long-distance carrying operation; on the other hand, the existing warehouse does not generally have the function of automatically storing materials, and the goods to be stored are stored by actively selecting the storage grids to be stored manually or by a robot, so that the height and the like of the warehouse cannot be set to be too large, and the capacity of the warehouse is greatly reduced.

Disclosure of Invention

Therefore, a manipulator stacker crane which can realize stable and reliable automatic carrying of articles and greatly improve stacking efficiency is needed.

In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:

a manipulator stacker crane comprises a carrying mechanical arm for grabbing articles, an AGV carrying trolley for bearing the movement of the carrying mechanical arm and a three-dimensional intelligent warehouse for storing articles;

the stereoscopic intelligent warehouse comprises a goods shelf assembly, a stacking travelling mechanism, a lifting mechanism and a goods carrying platform;

the shelf assembly comprises a plurality of pillars, a cross beam fixed between the pillars and a bearing strip horizontally fixed between two adjacent pillars; the bearing strip is used for bearing the cargo pallet;

the stacking travelling mechanism comprises a guide rail fixedly arranged on the ground, a sliding seat matched with the guide rail and a sliding driving device used for driving the sliding seat to slide along the guide rail; the guide rail is an I-shaped section guide rail, and two ends of the guide rail are fixedly provided with limiting seats; a cylindrical elastic buffer cushion is fixedly arranged on the opposite sides of the two limiting seats; the sliding seat is provided with two main pulleys and two pairs of limiting wheels; the main pulley is used for being matched with the top surface of the guide rail in a rolling way, and the two limiting pulleys are externally clamped in grooves on two sides of the I-shaped guide rail; the sliding driving device comprises a driving motor and a reduction gearbox; a worm and gear speed reducing mechanism is arranged in the reduction gearbox; the power output by the driving motor drives the main pulley to rotate through the worm gear;

the lifting mechanism comprises an upright post, a lifting platform in sliding fit with the upright post and a lifting driving device for driving the lifting platform to lift; the upright post is made of a rectangular tube and is fixedly welded on the sliding seat, and two opposite side surfaces of the upright post are fixedly provided with sliding rails through bolts; the lifting platform is of a rectangular frame structure, and is sleeved on the upright post; two guide wheel sets are arranged on two opposite inner walls of the lifting platform; the guide wheel set comprises a middle pulley which is used for being in rolling fit with the top surface of the slide rail and two side pulleys which are in rolling fit with the two side surfaces of the slide rail; the lifting driving device comprises a driving chain wheel, a driven chain wheel and a chain which are arranged on the upright post, and a lifting driving motor for driving the driving chain wheel to rotate; the lifting platform is connected with the chain and is driven to lift and slide by the chain;

the goods carrying platform comprises a goods carrying platform base, a primary telescopic plate, a secondary telescopic plate, a carrying platform fixed on the secondary telescopic plate and a telescopic driving device; the goods carrying table base is provided with a mounting groove, and two rows of primary pulleys are fixedly mounted in the mounting groove; i-shaped steel is fixed on two sides of the primary expansion plate and matched with the primary pulley through the outer side of the I-shaped steel; two rows of secondary pulleys are fixed at the bottom of the secondary expansion plate and are in rolling fit with the inner side of the I-shaped steel through the secondary pulleys; the telescopic driving device comprises a primary telescopic mechanism and a secondary telescopic mechanism; the primary telescopic mechanism comprises a primary rack fixed at the bottom of the primary telescopic plate, a primary telescopic driving motor arranged on the base of the cargo carrying platform and a primary driving gear of a rotating shaft fixed on the primary telescopic driving motor; the primary driving gear is meshed with the primary rack; the secondary telescopic mechanism comprises a secondary rack fixed at the bottom of the secondary telescopic plate, a secondary telescopic driving motor arranged on the primary telescopic plate and a secondary driving gear fixed on a rotating shaft of the secondary telescopic driving motor; the secondary driving gear is meshed with the secondary rack; the mounting groove end of the loading platform base is also provided with a limit switch.

Furthermore, the AGV comprises a chassis, two steering driving wheels and four follow-up wheels which are arranged at the bottom of the chassis, and a scissor type lifting platform arranged on the chassis;

the steering driving wheel comprises a wheel frame fixed on the chassis, a rotating frame rotationally connected to the wheel frame, a wheel body rotationally connected to the rotating frame, a walking driving mechanism used for driving the wheel body to rotate and a steering driving mechanism used for driving the rotating frame to rotate relative to the wheel frame;

the wheel carrier comprises a wheel carrier top plate, a wheel carrier bottom plate and a connecting column fixedly connected between the wheel carrier top plate and the wheel carrier bottom plate; a conical fluted disc is fixed on the end surface of the wheel body; the wheel carrier bottom plate is provided with a step hole which is in running fit with the rotating frame;

the steering driving mechanism comprises a steering driving motor fixed on the top plate of the wheel carrier, a steering driving shaft arranged between the top plate of the wheel carrier and the bottom plate of the wheel carrier through a bearing and a large synchronous belt wheel fixed at the top of the rotating frame; the steering driving motor transmits power to a steering driving shaft through a gear pair; a small synchronous belt wheel is fixed on the steering driving shaft and matched with the large synchronous belt wheel through a synchronous belt; a detection driving gear is fixedly arranged at the top of the large synchronous belt wheel; the top plate of the wheel carrier is fixed with an absolute encoder, and a rotating shaft of the absolute encoder is fixed with a detection driven gear meshed with a detection driving gear;

the walking driving mechanism comprises a walking driving motor fixed on the top plate of the wheel carrier, a walking driving shaft supported between the top plate of the wheel carrier and the upper end surface of the large synchronous pulley through a bearing, an intermediate shaft supported through the bearing and penetrating through the large synchronous pulley, and a speed change mechanism used for adjusting the transmission ratio between the walking driving motor and the walking driving shaft;

a fast gear driving gear and a slow gear driving gear are fixedly arranged on the rotating shaft of the walking driving motor; the walking driving shaft is sleeved with a fast-gear driven gear and a slow-gear driven gear which are correspondingly meshed with the fast-gear driving gear and the slow-gear driving gear, and a power output gear fixed with the walking driving shaft; the upper end of the intermediate shaft is fixedly provided with a power input gear meshed with a power output gear, and the lower end of the intermediate shaft is fixedly provided with a bevel gear meshed with the bevel gear disc; the speed change mechanism comprises a joint sleeve sleeved outside the walking driving shaft through a spline, a rocker arm arranged on the top plate of the wheel carrier and an electric push rod for driving the rocker arm to swing; the two end faces of the joint sleeve are provided with lugs, and the end faces of the fast-gear driven gear and the slow-gear driven gear are provided with grooves matched with the lugs; the upper end of the walking driving shaft is provided with a coaxial mounting hole, and a driving rod capable of axially sliding is arranged in the mounting hole; a strip-shaped hole is formed in the middle section of the walking driving shaft, a connecting pin is fixed on the driving rod, and the connecting pin penetrates through the strip-shaped hole to be connected with the joint sleeve so as to drive the joint sleeve to slide; the upper end of the driving rod is hinged with the rocker arm, and the other end of the rocker arm is hinged with the electric push rod.

Further, the carrying mechanical arm comprises a base fixed on the chassis, a multi-link arm mechanism rotatably supported on the base and a mechanical claw arranged at the tail end of the multi-link arm mechanism; the multi-link arm mechanism comprises a rotating seat, an arm connecting rod group and a control connecting rod group; the arm body connecting rod group comprises a crank, a connecting rod arm, a big arm and a small arm which are sequentially hinged to form a quadrilateral connecting rod mechanism; a crank driving motor and a small arm driving motor are fixed on the side wall of the rotating seat; the crank driving motor drives the crank to rotate through the belt transmission mechanism, and the small arm driving motor directly drives the small arm to rotate; the control connecting rod group comprises a control arm, a connecting arm, a triangular component, a front arm and a paw seat; the connecting triangular component, the large arm, the paw seat and the front arm are sequentially hinged to form a quadrilateral linkage; a control driving motor for driving the control arm to rotate is fixed on the side wall of the rotating seat; the connecting arm is hinged between the outer end of the control arm and the triangular component; the rotating seat is supported on the base through a thrust bearing; a rotating motor is fixed at the bottom of the rotating seat, and a rotating shaft of the rotating motor is fixedly connected to the base, so that the rotating seat can be driven to rotate;

the mechanical claw comprises a mechanical claw body and a mechanical claw bracket; a paw rotating motor is fixed on the paw seat, and a rotating shaft of the paw rotating motor is fixedly connected with the mechanical paw support; the mechanical claw body comprises a cylindrical shell, five finger groups distributed on the front end surface of the shell and a grabbing driving device arranged in the shell and used for driving the finger groups to open or close; the finger group comprises a finger seat fixed at the front end of the shell, a finger sliding block in sliding fit with the shell, a finger body hinged with the finger seat, and a finger connecting rod hinged between the finger body and the finger sliding block; the inner side of the finger body is provided with anti-slip teeth; the grabbing driving device comprises a grabbing driving motor, a multi-stage reduction gear pair and a screw rod; the bottoms of the five finger sliding blocks are fixed on a drive plate, the upper end of the screw rod is fixed on the drive plate, and a final stage gear of the multistage reduction gear pair is provided with a threaded hole matched with the screw rod.

The invention has the beneficial effects that: when the manipulator stacker crane disclosed by the invention is used for stacking operation, the AGV carrying trolley bears the carrying mechanical arm and moves to the position near an object to be carried, the carrying robot clamps the object to be carried by using the mechanical claw and then moves the object to be carried to the loading platform of the three-dimensional intelligent warehouse, and the loading platform is moved to the specified position on the goods shelf under the coordination of the stacking travelling mechanism and the lifting mechanism.

Drawings

The invention is further illustrated by the non-limiting examples given in the accompanying drawings;

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

FIG. 2 is a schematic structural view of a stacking and traveling mechanism according to the present invention;

FIG. 3 is a schematic structural view of a hoisting mechanism according to the present invention;

FIG. 4 is a schematic view of the structure of the cargo bed of the present invention;

FIG. 5 is a schematic diagram of an AGV handling cart according to the present invention;

FIG. 6 is a schematic view showing the construction of a steering driving wheel according to the present invention;

FIG. 7 is a schematic view showing the construction of a steering driving wheel according to the present invention

FIG. 8 is a schematic view of the handling robot of the present invention;

FIG. 9 is a schematic view of the handling robot of the present invention;

fig. 10 is a schematic structural view of the gripper of the present invention.

Detailed Description

In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.

As shown in fig. 1, the manipulator stacker includes a handling robot arm 3 for gripping an article, an AGV handling carriage 2 for carrying the handling robot arm 3 to move, and a stereoscopic intelligent warehouse 1 for storing articles.

as shown in fig. 2, the stacking and traveling mechanism includes a guide rail 114 fixedly disposed on the ground, a sliding seat engaged with the guide rail 114, and a sliding driving device for driving the sliding seat to slide along the guide rail 114; the guide rail 114 is an I-shaped section guide rail, and two ends of the guide rail are fixedly provided with limiting seats; a cylindrical elastic buffer cushion is fixedly arranged on the opposite sides of the two limiting seats; the sliding seat is provided with two main pulleys 115 and two pairs of limiting wheels 113; the rotating shaft of the main pulley 115 is horizontally arranged and is used for being matched with the top surface of the guide rail 114 in a rolling way; the side wall of the sliding seat is provided with a bearing for supporting the rotation of the main pulley; the rotating shafts of the limiting pulleys are vertically arranged, so that the two limiting pulleys 113 are externally clamped in grooves on two sides of the I-shaped guide rail 114; thereby avoiding derailment of the sliding seat; the driving device comprises a driving motor 112 and a reduction box 111; a worm and gear speed reducing mechanism is arranged in the reduction box 111; an output shaft of the driving motor 112 is fixedly connected to the worm; a worm wheel engaged with the worm is fixedly connected to a rotating shaft of one of the main pulleys 115.

As shown in fig. 3, the hoisting mechanism includes an upright 124, a lifting platform 126 slidably engaged with the upright 124, and a lifting driving device for driving the lifting platform 126 to lift; the upright post 124 is made of a rectangular tube and is fixedly welded on the sliding seat, and two opposite side surfaces of the upright post are fixedly provided with sliding rails 125 through bolts; the lifting platform 126 is a rectangular frame structure, and is sleeved on the upright post 124; two guide wheel sets are arranged on two opposite inner walls of the lifting platform 126; the guide wheel set comprises a middle pulley which is used for being matched with the top surface of the sliding rail in a rolling way and two side pulleys which are matched with the two side surfaces of the sliding rail in a rolling way. The lifting driving device comprises a driving chain wheel 122, a driven chain wheel and a chain 123 which are arranged on the upright post 124, and a lifting driving motor 121 for driving the driving chain wheel to rotate; the lifting platform 126 is connected with the chain 123, and the lifting platform 126 is driven by the chain 123 to lift and slide; the lifting driving motor 121 is also a worm gear and worm speed reducing motor, has a reverse self-locking function, and avoids the cargo carrying platform from falling.

As shown in fig. 4, the cargo bed includes a cargo bed base 131, a primary retractable plate 135, a secondary retractable plate 139, a cargo platform fixed on the secondary retractable plate, and a retractable driving device; two rows of primary pulleys 136 are fixedly arranged in the mounting groove of the cargo bed base through an angle steel connecting frame; i-shaped steel is fixed on two sides of the primary expansion plate 135 and matched with the primary pulley 136 through the outer side of the I-shaped steel; two rows of secondary pulleys 137 are fixed at the bottom of the secondary expansion plate 139 and are matched with the inner side of the I-shaped steel through the secondary pulleys 137. The telescopic driving device comprises a primary telescopic mechanism and a secondary telescopic mechanism; the primary telescopic mechanism comprises a primary rack 133 fixed at the bottom of a primary telescopic plate 135, a primary telescopic driving motor arranged on the base of the cargo carrying platform and a primary driving gear 132 of a rotating shaft fixed on the primary telescopic driving motor; the primary driving gear 132 is meshed with the primary rack 133; the secondary telescopic mechanism comprises a secondary rack 138 fixed at the bottom of a secondary telescopic plate 139, a secondary telescopic driving motor arranged on a primary telescopic plate 135, and a secondary driving gear fixed on a rotating shaft of the secondary telescopic driving motor; the secondary drive gear is engaged with the secondary rack 138. The end part of the mounting groove of the cargo carrying platform base is also provided with a limit switch 134; this limit switch is equipped with the push rod, will interrupt its action when this push rod of one-level expansion plate touching, realizes spacing effect.

As shown in fig. 5, the AGV transport cart includes a chassis 23, two steering driving wheels 24 and four following wheels disposed at the bottom of the chassis 23, and a scissor lift platform disposed on the chassis 23; the scissor lift comprises a scissor lift mechanism 22 and a lifting platform 21; the scissor lift mechanism 22 is of a conventional construction and will not be described herein; the scissor type lifting mechanism 22 can drive the lifting platform 21 to lift, and finally the lifting action of the carrying mechanical arm is realized.

As shown in fig. 6 and 7, the steering driving wheel 24 includes a wheel frame fixed to the chassis 23, a rotating frame 2411 rotatably connected to the wheel frame, a wheel body 241 rotatably connected to the rotating frame 2411, a traveling driving mechanism for driving the wheel body 241 to rotate, and a steering driving mechanism for driving the rotating frame 2411 to rotate relative to the wheel frame;

the wheel frame comprises a wheel frame top plate 244, a wheel frame bottom plate 242 and a connecting column fixedly connected between the wheel frame top plate 244 and the wheel frame bottom plate 242; the rotating frame 2411 comprises a circular top plate, two triangular side frames fixed at the bottom of the circular top plate and a wheel shaft connected between the two side frames, wherein the wheel body 241 is installed on the wheel shaft, and a conical fluted disc is fixed on the end surface of the wheel body 241; the wheel frame bottom plate 242 is provided with a step hole which is rotationally matched with the circular top plate of the rotating frame 2411.

The steering driving mechanism comprises a steering driving motor 248 fixed on the wheel frame top plate 244, a steering driving shaft 249 installed between the wheel frame top plate 244 and the wheel frame bottom plate 242 through a bearing, and a large synchronous belt wheel fixed on the top of the rotating frame 2411; the steering drive motor 248 transmits power to a steering drive shaft 249 through a gear pair; a small synchronous pulley is fixed on the steering driving shaft 249 and is matched with the large synchronous pulley through a synchronous belt; a detection driving gear is fixedly arranged at the top of the large synchronous belt wheel; the wheel carrier top plate 244 is fixed with an absolute encoder, and a detection driven gear meshed with a detection driving gear is fixed on a rotating shaft of the absolute encoder; when the steering driving wheel needs to steer, the steering driving motor 248 drives the steering driving shaft 249 to rotate through the gear pair, and the steering driving shaft 249 drives the whole rotating frame 2411 to rotate through the belt transmission mechanism to realize steering; the absolute encoder is used to detect the rotation angle of the rotary frame 2411.

The walking driving mechanism comprises a walking driving motor 247 fixed on the wheel carrier top plate 244, a walking driving shaft supported between the wheel carrier top plate 244 and the upper end surface of the large synchronous pulley through a bearing, an intermediate shaft supported through the bearing and penetrating through the large synchronous pulley, and a speed change mechanism for adjusting the transmission ratio between the walking driving motor 247 and the walking driving shaft;

a fast gear driving gear and a slow gear driving gear are fixedly arranged on a rotating shaft of the walking driving motor 247; the walking driving shaft is sleeved with a fast-gear driven gear and a slow-gear driven gear which are correspondingly meshed with the fast-gear driving gear and the slow-gear driving gear, and a power output gear fixed with the walking driving shaft; the upper end of the intermediate shaft is fixedly provided with a power input gear meshed with a power output gear, and the lower end of the intermediate shaft is fixedly provided with a bevel gear meshed with the bevel gear disc; the speed change mechanism comprises a joint sleeve 243 externally sleeved on the walking drive shaft through a spline, a rocker arm 246 arranged on the wheel carrier top plate 244 and an electric push rod 245 for driving the rocker arm 246 to swing; the two end faces of the joint sleeve 243 are provided with projections, and the end faces of the fast-gear driven gear and the slow-gear driven gear are provided with grooves matched with the projections; the upper end of the walking driving shaft is provided with a coaxial mounting hole, and a driving rod capable of axially sliding is arranged in the mounting hole; a strip-shaped hole is formed in the middle section of the walking driving shaft, and a connecting pin is fixed on the driving rod and penetrates through the strip-shaped hole to be connected with the joint sleeve 243 so as to drive the joint sleeve 243 to slide; the upper end of the driving rod is hinged with a rocker arm 246, and the other end of the rocker arm 246 is hinged with an electric push rod 245.

As shown in fig. 8 and 9, the carrying robot includes a base 31, a multi-link arm mechanism rotatably supported by the base 31, and a gripper provided at an end of the multi-link arm mechanism; the multi-link arm mechanism comprises a rotating seat 314, an arm linkage and a control linkage; the arm body connecting rod group comprises a crank 32, a connecting rod arm 39, a big arm 34 and a small arm 33 which are sequentially hinged to form a quadrilateral connecting rod mechanism; a crank driving motor and a small arm driving motor are fixed on the side wall of the rotating seat 314; the crank driving motor drives the crank to rotate through the belt transmission mechanism, and the small arm driving motor directly drives the small arm 33 to rotate; the control linkage comprises a control arm 311, a connecting arm 310, a triangular member 38, a front arm 37 and a paw seat 35; the connecting triangular component 38, the large arm 34, the paw seat 35 and the front arm 37 are sequentially hinged to form a quadrilateral linkage; a control driving motor for driving the control arm to rotate is fixed on the side wall of the rotating seat 314; the connecting arm 310 is hinged between the outer end of the control arm 311 and the triangular component 38; the rotary seat 314 is supported on the base 31 through a thrust bearing; the rotating base 314 is fixed with a rotating motor 312 at the bottom, and the rotating shaft of the rotating motor 312 is fixedly connected to the base 31, so as to drive the rotating base 314 to rotate.

As shown in fig. 10, the gripper comprises a gripper body and a gripper bracket; a paw rotating motor is fixed on the paw seat, and a rotating shaft of the paw rotating motor is fixedly connected with the mechanical paw support; the mechanical claw body comprises a cylindrical shell, five finger groups distributed on the front end surface of the shell and a grabbing driving device arranged in the shell and used for driving the finger groups to open or close; the finger group comprises a finger seat 363 fixed at the front end of the shell, a finger sliding block 364 in sliding fit with the shell, a finger body 361 hinged with the finger seat, and a finger connecting rod 362 hinged between the finger body 361 and the finger sliding block 364; the inner side of the finger body 361 is provided with anti-slip teeth; the grabbing driving device comprises a grabbing driving motor 365, a multi-stage reduction gear pair and a screw rod; the bottoms of the five finger sliding blocks are fixed on a drive plate, the upper end of the screw rod is fixed on the drive plate, and a final stage gear of the multistage reduction gear pair is provided with a threaded hole matched with the screw rod. When the grabbing driving motor rotates, the five finger sliding blocks can be driven to synchronously slide, so that the opening and closing actions of fingers are realized.

The above description of specific embodiments is only intended to facilitate an understanding of the method of the invention and its core ideas. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. The utility model provides a manipulator hacking machine which characterized in that: the system comprises a carrying mechanical arm for grabbing articles, an AGV carrying trolley for bearing the movement of the carrying mechanical arm and a stereoscopic intelligent warehouse for storing articles;

2. A manipulator stacker according to claim 1, wherein: the AGV carrying trolley comprises a chassis, two steering driving wheels and four follow-up wheels which are arranged at the bottom of the chassis, and a scissor type lifting platform arranged on the chassis;

3. A manipulator stacker according to claim 1, wherein: the carrying mechanical arm comprises a base fixed on the chassis, a multi-link arm mechanism rotatably supported on the base and a mechanical claw arranged at the tail end of the multi-link arm mechanism; the multi-link arm mechanism comprises a rotating seat, an arm connecting rod group and a control connecting rod group; the arm body connecting rod group comprises a crank, a connecting rod arm, a big arm and a small arm which are sequentially hinged to form a quadrilateral connecting rod mechanism; a crank driving motor and a small arm driving motor are fixed on the side wall of the rotating seat; the crank driving motor drives the crank to rotate through the belt transmission mechanism, and the small arm driving motor directly drives the small arm to rotate; the control connecting rod group comprises a control arm, a connecting arm, a triangular component, a front arm and a paw seat; the connecting triangular component, the large arm, the paw seat and the front arm are sequentially hinged to form a quadrilateral linkage; a control driving motor for driving the control arm to rotate is fixed on the side wall of the rotating seat; the connecting arm is hinged between the outer end of the control arm and the triangular component; the rotating seat is supported on the base through a thrust bearing; a rotating motor is fixed at the bottom of the rotating seat, and a rotating shaft of the rotating motor is fixedly connected to the base, so that the rotating seat can be driven to rotate;