CN113172527A

CN113172527A - Intelligent polishing and coating integrated robot

Info

Publication number: CN113172527A
Application number: CN202110485059.4A
Authority: CN
Inventors: 李明
Original assignee: Shaanxi Tianrui Chuangda Electronic Technology Co ltd
Current assignee: Shaanxi Tianrui Chuangda Electronic Technology Co ltd
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2021-07-27

Abstract

The invention discloses an intelligent polishing and coating integrated robot in the technical field of robots, which comprises an installation box, wherein a cleaning and coating mechanism is arranged at the top of the installation box, the bottom of the installation box is fixedly connected with a first air cylinder for driving the installation box to move up and down, the bottom of the first air cylinder is fixedly connected with a first mounting plate, the bottom of the inner wall of the installation box is fixedly connected with a second air cylinder through a fixing plate, the right end of the second air cylinder is fixedly connected with a turntable, the right end of the turntable is fixedly connected with a first rotating shaft, the right side wall of the first rotating shaft is fixedly connected with a polishing disc, and the outer side of the polishing disc is provided with a shielding frame which is connected to the bottom of the installation box in a sliding manner; the invention can better clean the surface of the hull after being polished, and can better spray the surface of the hull subsequently.

Description

Intelligent polishing and coating integrated robot

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent polishing and coating integrated robot.

Background

In the manufacturing and cleaning of large-scale equipment, the polishing, cleaning and spraying of the outer surface are indispensable work flows.

The invention discloses a part of invention patents in the technical field of robots, wherein the invention patent with the application number of CN202010548323.X discloses a rope traction type polishing, cleaning and coating integrated operation robot, which comprises a hanging basket, a first traction mechanism connected with the hanging basket, a polishing mechanism arranged at the front part of the hanging basket, a cleaning and spraying mechanism arranged inside the hanging basket and a spring reaction force adjusting mechanism, wherein the first traction mechanism comprises a first rope connecting the hanging basket and the first rope winding mechanism, the cleaning and spraying mechanism comprises a first vertical plate and a second vertical plate which are arranged in parallel in the vertical direction, and a cleaning spray head and a spraying spray head are arranged on the first vertical plate.

The hull surface of the ship body is polished by the prior art, a large amount of dust can be generated, the hull surface is cleaned after polishing, the dust can be attached to the sprayed cleaning liquid to be sprayed on the hull surface, then the cleaning liquid on the hull surface can be attached to the hull surface by a small amount of cleaning liquid when flowing downwards, the cleaning liquid attached with the dust can block the follow-up spraying, the coating can not be adsorbed on the hull surface, the spraying quality can be reduced, the cleaning liquid can flow downwards to the polishing disc, and polishing of the polishing disc can be influenced.

Based on the above, the invention designs an intelligent polishing and coating integrated robot to solve the problems.

Disclosure of Invention

The invention aims to provide an intelligent polishing and coating integrated robot, and the intelligent polishing and coating integrated robot is used for solving the problems that a large amount of dust is generated when the surface of a ship body is polished in the prior art provided by the background art, when the surface of the ship body is cleaned after polishing is finished, the dust can be attached to sprayed cleaning liquid and then is sprayed to the surface of the ship body, then a small amount of cleaning liquid is attached to the surface of the ship body while the cleaning liquid on the surface of the ship body flows downwards, the cleaning liquid attached with the dust can block subsequent spraying, so that paint cannot be adsorbed on the surface of the ship body, the spraying quality can be reduced, and the cleaning liquid can flow downwards onto a polishing disc and can influence the polishing of the polishing disc.

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent polishing and coating integrated robot comprises an installation box, wherein a cleaning and coating mechanism is arranged at the top of the installation box, a first air cylinder for driving the installation box to move up and down is fixedly connected to the bottom of the installation box, a first mounting plate is fixedly connected to the bottom of the first air cylinder, a second air cylinder is fixedly connected to the bottom of the inner wall of the installation box through a fixing plate, a rotary disc is fixedly connected to the right end of the second air cylinder, a first rotary shaft is fixedly connected to the right end of the rotary disc, a polishing disc is fixedly connected to the right side wall of the first rotary shaft, a shielding frame which is slidably connected to the bottom of the installation box is arranged on the outer side of the polishing disc, the first rotary shaft penetrates through the left side wall of the shielding frame and extends to the left side of the shielding frame and is slidably connected to the shielding frame in the left-right direction, a first spring is sleeved on the outer wall of the first rotary shaft, one end of the first spring is fixedly connected to the outer wall of the left side of the shielding frame, the other end of the first drainage plate is in contact with the side wall of the first rotating shaft, the top of the shielding frame is provided with a washing wheel which is rotatably connected to the inner wall of the installation box, the front inner wall and the rear inner wall of the installation box are symmetrically provided with first sliding grooves, the inner walls of the two first sliding grooves are jointly and slidably connected with first drainage plates, the left end part of each first drainage plate is provided with a first collection box connected to the bottom of the inner wall of the installation box, the first drainage plates are positioned between the washing wheel and the shielding frame, the right ends of the first drainage plates are positioned on the outer side of the installation box, the first sliding grooves are internally provided with second springs, one ends of the second springs are fixedly connected to the inner wall of the first sliding grooves, the other ends of the second springs are fixedly connected to the side wall of the first drainage plates, a driving mechanism is arranged inside the installation box and used for driving the grinding wheel to rotate and grind and simultaneously drive the washing wheel to rotate and wash;

the cleaning and coating mechanism comprises a cleaning box, a coating box, a cleaning sprayer and a coating sprayer, wherein the cleaning box and the coating box are fixedly arranged at the middle position of the top of the mounting box, the coating sprayer and the cleaning sprayer are arranged up and down and are positioned on the right side of the top of the mounting box, the coating sprayer and the cleaning sprayer are fixedly connected with a first connecting plate together, the bottom of the first connecting plate is fixedly connected to the top of the mounting box, the cleaning sprayer is communicated with the cleaning box through a cleaning pipe, and the coating sprayer is communicated with the coating box through a coating pipe;

the driving mechanism comprises a first belt pulley, a motor, a second rotating shaft and a fourth belt pulley, the first belt pulley is fixedly connected to the outer wall of the first rotating shaft, the motor is fixedly arranged at the bottom of the inner wall of the installation box, an output shaft of the motor is fixedly connected with a second belt pulley and a first bevel gear, the outer walls of the second belt pulley and the first belt pulley are jointly in transmission connection with a first transmission belt, the second rotating shaft is rotatably connected to the inner wall of the front part of the installation box, the outer wall of the second rotating shaft is fixedly connected with a third belt pulley and a second bevel gear, the second bevel gear is meshed with the first bevel gear, the fourth belt pulley is fixedly connected to a rotating shaft of the washing wheel, and the outer walls of the third belt pulley and the fourth belt pulley are jointly in transmission connection with a second transmission belt;

when the ship hull surface polishing device works, a large amount of dust is generated when the ship hull surface is polished in the prior art, when the ship hull surface is cleaned after polishing is finished, the dust can be attached to sprayed cleaning liquid and sprinkled on the ship hull surface, then the cleaning liquid on the ship hull surface can flow downwards while a small amount of cleaning liquid is attached to the ship hull surface, the cleaning liquid attached with the dust can obstruct the subsequent spraying, so that coating can not be adsorbed on the ship hull surface, the spraying quality can be reduced, the cleaning liquid can flow downwards to the polishing disc, and polishing of the polishing disc can be influenced, the technical scheme solves the problems, and comprises the following specific scheme that when the ship hull surface is polished, the first mounting plate is moved to a polishing position, then the first air cylinder is started to drive the mounting box to move to the highest polishing position, then the right side wall of the mounting box is attached to a polishing surface, the mounting box can drive the shielding frame and the right side wall of the first drainage plate to be attached to the polishing surface together, at the moment, the shielding frame and the first drainage plate respectively cling to a polishing surface under the action of the first spring and the second spring, the second cylinder is started to extend rightwards, the second cylinder drives the first rotating shaft to move rightwards through the rotating disc until the first rotating shaft drives the polishing disc to slightly move rightwards to cling to the polishing surface, then the motor is started to rotate an output shaft of the motor, the output shaft of the motor drives the second belt pulley and the first bevel gear to synchronously rotate, the second belt pulley drives the first belt pulley to rotate through the first driving belt, the first belt pulley drives the first rotating shaft to synchronously rotate, the first rotating shaft drives the polishing disc to rotate to polish the surface of the ship body, dust and the like generated in the polishing process can fall into the shielding frame, the shielding frame can block the dust in the shielding frame, the dust cannot fly in the air, the first cylinder is started to shrink after polishing is completed at one position, the first cylinder drives the installation box to move downwards, the installation box can drive the shielding frame and the polishing disc to move downwards together, the polishing disc can polish the next position, the cleaning box is started to spray cleaning liquid to the surface of the ship body through the cleaning nozzle in the polishing process, the cleaning liquid can clean the polished position, the cleaning liquid can wash small part of dust remained on the surface of the ship body after polishing, the cleaning liquid can adsorb the dust remained on the surface of the ship body, the cleaning liquid adsorbed with the dust can flow to the top of the first drainage plate and then flow into the first collection box along the first drainage plate, the first bevel gear can be driven to rotate with the second bevel gear meshed with the first bevel gear through the teeth while the motor drives the first bevel gear to rotate, the second bevel gear can drive the second rotating shaft to rotate, the second rotating shaft can drive the third belt pulley to rotate, the third belt pulley can drive the fourth belt pulley to rotate through the second driving belt, the fourth belt pulley can drive the washing wheel to rotate clockwise, the washing wheel can scrape the residual cleaning solution on the surface of the ship body downwards, the residual cleaning solution can flow onto the first drainage plate along the surface of the ship body under the scraping action, then the residual cleaning solution can flow into the first collection box along the first drainage plate, then the coating box can be started, the coating line can spray the surface of the ship body through the coating pipe and the coating spray head, the dust generated during the grinding of the grinding disc can fall into the shielding frame by arranging the shielding frame which can surround the grinding disc outside the grinding disc, the shielding frame can block the dust in the shielding frame, the dust cannot fly in the air, the dust cannot be adsorbed when the subsequent cleaning solution is sprayed to clean the surface of the ship body, the cleaning solution can be ensured to be kept clean before cleaning, and the cleaning solution can be prevented from being adsorbed on the surface of the ship body after adsorbing the dust, meanwhile, the washing wheels can be rotated to wash the surface of the ship body, the washing wheels can scrape the washing liquid attached to the surface of the ship body onto the first drainage plate, so that the residual washing liquid can be quickly removed, the washing liquid is prevented from remaining on the surface of the ship body to block subsequent spraying, the coating can be better adsorbed on the surface of the ship body, and the spraying can be better and more complete.

As a further scheme of the invention, a plurality of semi-cylindrical protrusions are arranged on the top of the first drainage plate, a second connecting plate is fixedly connected to the plurality of semi-cylindrical protrusions together, the second connecting plate is connected to the top of the first drainage plate in a sliding manner in a drainage direction, a first air spring is arranged between the second connecting plate and the first drainage plate, one end of the first air spring is fixedly connected to the right side wall of the first drainage plate, and the other end of the first air spring is fixedly connected to the side wall of the first drainage plate; in the working process, considering that the cleaning solution and dust are remained on the surface of the first drainage plate, the technical scheme is that the washing wheel can drive the pushing plate to rotate together while rotating, when the pushing plate rotates to a position contacting with the pushing rod, the pushing plate can act on the pushing rod, so that the pushing rod drives the second connecting plate to slide towards the lower left side on the top of the first drainage plate, the second connecting plate can drive the plurality of semi-cylindrical lugs to slide towards the lower left side together, the semi-cylindrical lugs can push the cleaning solution staying on the surface of the first drainage plate to move downwards, the falling of the cleaning solution into the first collection box can be accelerated, the cleaning solution can be prevented from staying on the first drainage plate, when the pushing plate and the pushing rod are staggered, the second connecting plate can slide back to the initial position towards the upper right side under the action of the first air spring, the second connecting plate can drive the semi-cylindrical lugs to slide towards the upper right side together, the semi-cylindrical lug can push part of cleaning liquid to flow upwards, convection can be generated between the upwards flowing cleaning liquid and the downwards flowing cleaning liquid, the cleaning liquid remained on the first drainage plate can move under the action of impact, and then the cleaning liquid can flow from the first drainage plate to the first collection box.

As a further scheme of the invention, the top of the shielding frame is rotatably connected with a second mounting plate, the front and rear inner walls of the second mounting plate are jointly and slidably connected with a washing plate, a second gas spring is arranged between the washing plate and the second mounting plate, one end of the second gas spring is fixedly connected to the left inner wall of the second mounting plate, the other end of the second gas spring is fixed to the left side wall of the washing plate, the outer wall of the first rotating shaft is provided with a cam groove, the inner wall of the cam groove is slidably connected with a first slide bar matched with the cam groove, the top of the first slide bar is fixedly connected with a first sliding plate, the first sliding plate is slidably connected to the front and rear inner walls of the shielding frame, the top of the first sliding plate is rotatably connected with a first connecting rod, and the top of the first connecting rod is rotatably connected to the bottom of the second mounting plate; the during operation, when first pivot rotates, first pivot can drive first slide bar and first slide through the cam groove and circulate in the left and right sides direction of sheltering from the frame and slide, first slide can drive the second mounting panel through first connecting rod and rotate at the top circulation of sheltering from the frame, the second mounting panel can drive the scrubbing board and rotate together, the scrubbing board rotates and can scrape the position after polishing the mill, can carry out preliminary clearance to the position after polishing the hull surface, remaining dust is scraped off on the position after will polishing, the adnexed dust after can significantly reducing the hull surface is polished, can make follow-up washing liquid light when wasing the hull surface, totally, can also reduce the use of washing liquid simultaneously, can make better going on of subsequent spraying.

As a further scheme of the invention, a second drainage plate which is connected with the front and rear inner walls of the shielding frame in a sliding manner in the left-right direction is arranged between the washing plate and the polishing disc, a third gas spring is fixedly connected to the left side wall of the second drainage plate, and the left end of the third gas spring is fixedly connected to the left inner wall of the shielding frame; when the dust collector works, dust scraped off by the scrubbing plate can fall onto the second drainage plate and then fall onto the bottom of the shielding frame along the top surface of the second drainage plate, so that the dust scraped off by the scrubbing plate can be prevented from falling onto the scrubbing disc and affecting the normal work of the scrubbing disc.

As a further scheme of the invention, the front inner wall and the rear inner wall of the shielding frame are both rotatably connected with third drainage plates positioned below the second drainage plates, the top of each third drainage plate is rotatably connected with a second connecting rod, the top end of each second connecting rod is rotatably connected to the bottom of the corresponding first sliding plate, the bottom of the shielding frame is provided with a first leak hole, the bottom of the mounting box is provided with a second leak hole, the first leak hole is communicated with the second leak hole and has the same size, the right side wall of the first leak hole is positioned at the bottom of the corresponding third drainage plate, and a second collecting box connected to the bottom of the outer wall of the mounting box is arranged below the second leak hole; when the dust collector works, dust generated in the grinding process can fall onto the third drainage plate, the first rotating shaft can drive the first connecting rod and the first sliding plate to move leftwards on the inner wall of the shielding frame through the cam groove while rotating, the first sliding plate can drive the third drainage plate to rotate upwards in the shielding frame through the second connecting rod, the dust falling onto the third drainage plate can fall into the first leakage hole along the top surface of the third drainage plate, and then the dust can fall into the second collection box from the second leakage hole. The subsequent spraying can be better carried out.

As a further scheme of the invention, a plurality of second sliding chutes distributed in an array manner are formed in the right side wall of the shielding frame, second sliding rods are connected to the inner walls of the second sliding chutes in a sliding manner, hemispherical blocks are arranged at the right ends of the second sliding rods, fourth gas springs are arranged in the second sliding chutes, one ends of the fourth gas springs are fixedly connected to the inner walls of the second sliding chutes, and the other ends of the fourth gas springs are fixedly connected to the side walls of the second sliding rods; during operation, when the arc face on hull surface was polished to the dish of polishing, a plurality of second slide bars can laminate rather than the arc face of contact with respectively on the shielding frame lateral wall, can make the lateral wall of shielding frame can laminate with the surface of hull all the time, can make the robot polish to the hull better, can make better going on of subsequent spraying.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the shielding frame capable of surrounding the polishing disc is arranged on the outer side of the polishing disc, so that dust generated during polishing of the polishing disc can fall into the shielding frame, the shielding frame can block the dust in the shielding frame, the dust cannot fly in the air, a subsequent cleaning solution can be sprayed out to clean the surface of the ship body, the dust cannot be adsorbed, the cleaning solution can be kept clean before cleaning, the cleaning solution can be prevented from staying on the surface of the ship body after adsorbing the dust, meanwhile, the surface of the ship body can be cleaned by the cleaning wheel through rotation of the cleaning wheel, the cleaning solution attached to the surface of the ship body can be scraped onto the first drainage plate by the cleaning wheel, the residual cleaning solution can be quickly removed, the cleaning solution is prevented from remaining on the surface of the ship body to obstruct subsequent spraying, the coating can be better adsorbed on the surface of the ship body, and the sprayed coating can be better, And is more complete.

2. According to the invention, through the arrangement of the semi-cylindrical lug, the pushing plate can be driven to move by the push rod in the rotating process of the washing wheel, the pushing plate drives the semi-cylindrical lug to move back and forth on the inclined plane of the first drainage plate through the second connecting plate, the semi-cylindrical lug can drive the residual washing liquid on the first drainage plate to move, the washing liquid can be prevented from staying on the first drainage plate, and the first drainage plate is always kept in a clean state.

3. According to the invention, through the arrangement of the washing plate, the grinding disc can be driven to rotate while rotating, the rotation of the washing plate can scrape the position of the grinding disc after grinding, the position of the hull surface after grinding can be preliminarily cleaned, and the residual dust on the position after grinding can be scraped off, so that the dust attached to the hull surface after grinding can be greatly reduced, the hull surface can be cleaned more easily and cleanly by subsequent cleaning liquid, meanwhile, the use of the cleaning liquid can be reduced, and the subsequent spraying can be better carried out.

4. According to the invention, through the arrangement of the second drainage plate, dust scraped off by the scrubbing plate can fall onto the second drainage plate and then fall to the bottom of the shielding frame along the top surface of the second drainage plate, so that the dust scraped off by the scrubbing plate can be prevented from falling onto the scrubbing disc and influencing the normal work of the scrubbing disc.

5. According to the invention, through the arrangement of the third drainage plate, the first leakage hole and the second leakage hole, the third drainage plate can circularly rotate under the action of the polishing disc, so that dust falling onto the third drainage plate can fall into the second collection box along the top surface of the third drainage plate, the dust can be prevented from being accumulated in the shielding frame, the influence of the accumulated dust on polishing of the polishing disc can be avoided, and subsequent spraying can be better carried out.

Drawings

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

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

FIG. 2 is a cross-sectional view of the general construction of the present invention;

FIG. 3 is an enlarged view of a portion A of FIG. 2;

FIG. 4 is a cross-sectional view of the mounting box and its internal mechanism of the present invention;

FIG. 5 is a partial enlarged view of FIG. 4 at B;

FIG. 6 is a schematic view of a connection structure of a first flow guide plate and a washing wheel according to the present invention;

FIG. 7 is a sectional view of the structure of the mounting box and the shielding frame of the present invention;

FIG. 8 is an enlarged view of a portion of FIG. 7 at C;

FIG. 9 is a sectional view (rear view) of the structure of the mounting box and the shielding frame of the present invention;

FIG. 10 is an enlarged view of a portion of FIG. 9 at D;

FIG. 11 is a sectional view of the shadow frame structure of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

the device comprises a mounting box 1, a first air cylinder 2, a first mounting plate 3, a second air cylinder 4, a rotary disc 5, a first rotary shaft 6, a polishing disc 7, a shielding frame 8, a first spring 9, a polishing wheel 10, a first sliding chute 11, a first flow guide plate 12, a first collecting box 13, a second spring 14, a cleaning box 15, a coating box 16, a first connecting plate 17, a cleaning sprayer 18, a coating sprayer 19, a cleaning pipe 20, a coating pipe 21, a first belt pulley 22, a motor 23, a second rotary shaft 24, a fourth belt pulley 25, a second belt pulley 26, a first bevel gear 27, a first transmission belt 28, a third belt pulley 29, a second bevel gear 30, a second transmission belt 31, a semi-cylindrical convex block 32, a second connecting plate 33, a push rod 34, a first air spring 35, a push plate 36, a second mounting plate 37, a polishing plate 38, a second air spring 39, a cam groove 40, a first slide rod 41, a first slide plate 42, a first connecting rod 43, a second air spring 39, a cam groove 40, a first slide rod, The device comprises a second drainage plate 44, a third gas spring 45, a third drainage plate 46, a second connecting rod 47, a first leak hole 48, a second leak hole 49, a second collecting box 50, a second sliding groove 51, a second sliding rod 52, a hemispherical block 53 and a fourth gas spring 54.

Detailed Description

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

Referring to fig. 1-11, the present invention provides a technical solution: an intelligent polishing and coating integrated robot comprises an installation box 1, wherein a cleaning and coating mechanism is arranged at the top of the installation box 1, a first air cylinder 2 for driving the installation box 1 to move up and down is fixedly connected to the bottom of the installation box 1, a first mounting plate 3 is fixedly connected to the bottom of the first air cylinder 2, a second air cylinder 4 is fixedly connected to the bottom of the inner wall of the installation box 1 through a fixing plate, a rotary disc 5 is fixedly connected to the right end of the second air cylinder 4, a first rotary shaft 6 is fixedly connected to the right end of the rotary disc 5, a polishing disc 7 is fixedly connected to the right side wall of the first rotary shaft 6, a shielding frame 8 which is slidably connected to the bottom of the installation box 1 is arranged on the outer side of the polishing disc 7, the first rotary shaft 6 penetrates through the left side wall of the shielding frame 8 and extends to the left side of the shielding frame 8 and is slidably connected with the shielding frame 8 in the left-right direction, a first spring 9 is sleeved on the outer wall of the first rotary shaft 6, one end of the first spring 9 is fixedly connected to the outer wall of the left side of the shielding frame 8, the other end of the first drainage plate is contacted with the side wall of the first rotating shaft 6, the top of the shielding frame 8 is provided with a washing wheel 10 which is rotationally connected with the inner wall of the installation box 1, the front and the back inner walls of the installation box 1 are symmetrically provided with first sliding chutes 11, the inner walls of the two first sliding chutes 11 are jointly and slidably connected with a first drainage plate 12, the left end part of the first drainage plate 12 is provided with a first collection box 13 which is connected with the bottom of the inner wall of the installation box 1, the first drainage plate 12 is positioned between the washing wheel 10 and the shielding frame 8, the right end of the mounting box is positioned on the outer side of the mounting box 1, a second spring 14 is arranged in each first sliding chute 11, one end of each second spring 14 is fixedly connected to the inner wall of each first sliding chute 11, the other end of each second spring 14 is fixedly connected to the side wall of each first drainage plate 12, a driving mechanism is arranged in the mounting box 1 and used for driving the polishing disc 7 to rotate and polish and driving the washing wheel 10 to rotate and wash;

the cleaning and coating mechanism comprises a cleaning box 15, a coating box 16, a cleaning spray head 18 and a coating spray head 19, wherein the cleaning box 15 and the coating box 16 are fixedly arranged at the middle position of the top of the installation box 1, the coating spray head 19 and the cleaning spray head 18 are arranged up and down and are positioned on the right side of the top of the installation box 1, the coating spray head 19 and the cleaning spray head 18 are fixedly connected with a first connecting plate 17 together, the bottom of the first connecting plate 17 is fixedly connected to the top of the installation box 1, the cleaning spray head 18 is communicated with the cleaning box 15 through a cleaning pipe 20, and the coating spray head 19 is communicated with the coating box 16 through a coating pipe 21;

the driving mechanism comprises a first belt pulley 22, a motor 23, a second rotating shaft 24 and a fourth belt pulley 25, the first belt pulley 22 is fixedly connected to the outer wall of the first rotating shaft 6, the motor 23 is fixedly arranged at the bottom of the inner wall of the installation box 1, an output shaft of the motor 23 is fixedly connected with a second belt pulley 26 and a first bevel gear 27, the outer walls of the second belt pulley 26 and the first belt pulley 22 are jointly in transmission connection with a first transmission belt 28, the second rotating shaft 24 is rotatably connected to the inner wall of the front part of the installation box 1, the outer wall of the second rotating shaft 24 is fixedly connected with a third belt pulley 29 and a second bevel gear 30, the second bevel gear 30 is meshed with the first bevel gear 27, the fourth belt pulley 25 is fixedly connected to the rotating shaft of the washing wheel 10, and the outer walls of the third belt pulley 29 and the fourth belt pulley 25 are jointly in transmission connection with a second transmission belt 31;

when the ship hull surface polishing device works, a large amount of dust is generated when the surface of a ship hull is polished in the prior art, when the surface of the ship hull is cleaned after polishing is finished, the dust can be attached to sprayed cleaning liquid to the surface of the ship hull, then the cleaning liquid on the surface of the ship hull can flow downwards while a small amount of cleaning liquid is attached to the surface of the ship hull, the cleaning liquid attached with the dust can block subsequent spraying, so that coating can not be adsorbed on the surface of the ship hull, the spraying quality can be reduced, and the cleaning liquid can flow downwards to a polishing disc to influence polishing of the polishing disc, the technical scheme solves the problems, and the specific scheme is that when the surface of the ship hull is required to be polished, a first mounting plate 3 is moved to a polishing position, then a first air cylinder 2 is started to drive a mounting box 1 to move to the highest polishing position, and then the right side wall of the mounting box 1 is attached to a polishing surface, the mounting box 1 can drive the shielding frame 8 and the right side wall of the first drainage plate 12 to be attached to a polished surface together, at the moment, the shielding frame 8 and the first drainage plate 12 can be respectively close to the polished surface under the action of the first spring 9 and the second spring 14, the second cylinder 4 is started to extend rightwards, the second cylinder 4 drives the first rotating shaft 6 to move rightwards through the rotating disc 5 until the first rotating shaft 6 drives the polishing disc 7 to slightly move rightwards to be attached to the polished surface, then the motor 23 is started to rotate the output shaft of the motor 23, the output shaft of the motor 23 can drive the second belt pulley 26 and the first bevel gear 27 to synchronously rotate, the second belt pulley 26 can drive the first belt pulley 22 to rotate through the first transmission belt 28, the first belt pulley 22 can drive the first rotating shaft 6 to synchronously rotate, the first rotating shaft 6 can drive the polishing disc 7 to polish the surface, dust and the like generated in the polishing process can fall into the shielding frame 8, the shielding frame 8 can block dust in the shielding frame, so that the dust cannot fly in the air, the first air cylinder 2 is started to contract after polishing is finished at one position, the first air cylinder 2 drives the installation box 1 to move downwards, the installation box 1 can drive the shielding frame 8 and the polishing disc 7 to move downwards together, the polishing disc 7 can polish the next position, the cleaning box 15 is started to spray cleaning liquid to the surface of the ship body through the cleaning spray head 18 during polishing, the cleaning liquid can clean the polished position, the cleaning liquid can wash a small part of dust remained on the surface of the ship body after polishing, the cleaning liquid can adsorb the dust remained on the surface of the ship body, the cleaning liquid adsorbed with the dust can flow to the top of the first drainage plate 12, then flow into the first collection box 13 along the first drainage plate 12, and when the motor 23 drives the first bevel gear 27 to rotate, the first bevel gear 27 drives the second bevel gear 30 engaged with the first bevel gear to rotate through teeth, the second bevel gear 30 drives the second rotating shaft 24 to rotate, the second rotating shaft 24 drives the third belt pulley 29 to rotate, the third belt pulley 29 drives the fourth belt pulley 25 to rotate through the second transmission belt 31, the fourth belt pulley 25 drives the washing wheel 10 to rotate clockwise, the washing wheel 10 scrapes the residual washing liquid on the surface of the ship body downwards, the residual washing liquid can flow onto the first drainage plate 12 along the surface of the ship body under the action of scraping, then the residual washing liquid can flow into the first collection box 13 along the first drainage plate 12, then the coating box 16 can be started, so that the coating line can perform spraying treatment on the surface of the ship body through the coating pipe 21 and the coating nozzle 19, the invention arranges the shielding frame 8 which can surround the polishing disc 7 outside the polishing disc 7, the dust that can make when polishing dish 7 polish and produce drops in sheltering from frame 8, sheltering from frame 8 can stop the dust inside it, make the dust can not fly upward in the air, can make follow-up washing liquid spout can not adsorb the dust when wasing the hull surface, can guarantee that the washing liquid keeps clean before wasing, can avoid the washing liquid to adsorb the surface that stops at the hull after the dust, simultaneously can be through the rotation of scrubbing wheel 10, make scrubbing wheel 10 wash the surface of hull, scrubbing wheel 10 can scrape the washing liquid attached to the hull surface and move on first drainage plate 12, make remaining washing liquid can be quick clear away, avoid the washing liquid to remain and hinder subsequent spraying on the surface of hull, can make better absorption of coating ability at the hull surface, can make the spraying better, it is more complete.

As a further scheme of the present invention, a plurality of semi-cylindrical protrusions 32 are disposed on the top of the first drainage plate 12, the plurality of semi-cylindrical protrusions 32 are jointly and fixedly connected with a second connecting plate 33, the second connecting plate 33 is slidably connected in the drainage direction of the top of the first drainage plate 12, a first air spring 35 is disposed between the second connecting plate 33 and the first drainage plate 12, one end of the first air spring 35 is fixedly connected to the right side wall of the first drainage plate 12, and the other end is fixedly connected to the side wall of the first drainage plate 12; in operation, considering that the cleaning solution and dust remain on the surface of the first drainage plate 12, the technical solution solves the above problems, and the specific solution is as follows, the washing and brushing wheel 10 can drive the pushing plate 36 to rotate together while rotating, when the pushing plate 36 rotates to the position contacting with the pushing rod 34, the pushing plate 36 can act on the pushing rod 34, so that the pushing rod 34 drives the second connecting plate 33 to slide to the lower left at the top of the first drainage plate 12, the second connecting plate 33 drives the plurality of semi-cylindrical protrusions 32 to slide to the lower left together, the semi-cylindrical protrusions 32 can push the cleaning solution staying on the surface of the first drainage plate 12 to move downwards, the cleaning solution can be accelerated to fall into the first collecting box 13, the cleaning solution can be prevented from staying on the first drainage plate 12, when the pushing plate 36 and the pushing rod 34 are staggered, the second connecting plate 33 can slide to the upper right back to the initial position under the action of the first air spring 35, the second connecting plate 33 will drive the semi-cylindrical protrusion 32 to slide upward and rightward, the semi-cylindrical protrusion 32 can push part of the cleaning solution to flow upward, convection can be generated between the upwardly flowing cleaning solution and the downwardly flowing cleaning solution, so that the cleaning solution remained on the first drainage plate 12 can move under the action of impact, the cleaning fluid can then flow from the first drainage plate 12 to the first collection reservoir 13, and the present invention, through the provision of the semi-cylindrical projections 32, the push rod 34 can drive the push plate 36 to move during the rotation of the washing wheel 10, the push plate 36 can drive the semi-cylindrical protrusion 32 to move back and forth on the inclined surface of the first drainage plate 12 through the second connecting plate 33, the semi-cylindrical protrusion 32 can drive the residual cleaning solution on the first drainage plate 12 to move, cleaning fluid can be prevented from remaining on the first flow-guide plate 12, so that the first flow-guide plate 12 is always kept clean.

As a further scheme of the present invention, a second mounting plate 37 is rotatably connected to the top of the shielding frame 8, a washing plate 38 is slidably connected to the front and rear inner walls of the second mounting plate 37 together, a second gas spring 39 is arranged between the washing plate 38 and the second mounting plate 37, one end of the second gas spring 39 is fixedly connected to the left inner wall of the second mounting plate 37, the other end of the second gas spring 39 is fixed to the left side wall of the washing plate 38, a cam groove 40 is formed in the outer wall of the first rotating shaft 6, a first slide bar 41 matched with the cam groove 40 is slidably connected to the inner wall of the cam groove 40, a first slide plate 42 is fixedly connected to the top of the first slide bar 41, the first slide plate 42 is slidably connected to the front and rear inner walls of the shielding frame 8, a first link 43 is rotatably connected to the top of the first slide plate 42, and the top end of the first link 43 is rotatably connected to the bottom of the second mounting plate 37; during operation, when first pivot 6 rotates, first pivot 6 can drive first slide bar 41 and first slide 42 through cam groove 40 and circulate in the left and right directions of sheltering from frame 8 and slide, first slide 42 can drive second mounting panel 37 through first connecting rod 43 and circulate at the top of sheltering from frame 8 and rotate, second mounting panel 37 can drive scrubbing plate 38 and rotate together, scrubbing plate 38 rotates and can scrape the position after polishing 7, can carry out preliminary clearance to the position after polishing the hull surface, scrape remaining dust on the position after will polishing, adnexed dust after can significantly reducing the hull surface of polishing, can make follow-up washing liquid wash the hull surface more easily, it is clean, simultaneously can also reduce the use of washing liquid, can make the better going on of subsequent spraying.

As a further scheme of the invention, a second flow guide plate 44 which is connected with the front inner wall and the rear inner wall of the shielding frame 8 in a sliding manner in the left-right direction is arranged between the washing plate 38 and the polishing disc 7, a third gas spring 45 is fixedly connected to the left side wall of the second flow guide plate 44, and the left end of the third gas spring 45 is fixedly connected to the left inner wall of the shielding frame 8; during operation, the dust scraped off by the scrubbing plate 38 falls on the second flow guide plate 44 and then slides down to the bottom of the shielding frame 8 along the top surface of the second flow guide plate 44, so that the dust scraped off by the scrubbing plate 38 can be prevented from falling on the scrubbing disc 7 and affecting the normal operation of the scrubbing disc 7.

As a further scheme of the invention, the front and rear inner walls of the shielding frame 8 are rotatably connected with third flow guide plates 46 positioned below the second flow guide plates 44, the top of each third flow guide plate 46 is rotatably connected with a second connecting rod 47, the top end of each second connecting rod 47 is rotatably connected with the bottom of the corresponding first sliding plate 42, the bottom of the shielding frame 8 is provided with a first leakage hole 48, the bottom of the mounting box 1 is provided with a second leakage hole 49, the first leakage holes 48 are communicated with the second leakage holes 49 and have the same size, the right side wall of each first leakage hole 48 is positioned at the bottom of the corresponding third flow guide plate 46, and a second collecting box 50 connected with the bottom of the outer wall of the mounting box 1 is arranged below the corresponding second leakage hole 49; in the working process, dust generated in the grinding process can fall onto the third flow guide plate 46, when the first rotating shaft 6 rotates and drives the first connecting rod 43 and the first sliding plate 42 to move leftwards on the inner wall of the shielding frame 8 through the cam groove 40, the first sliding plate 42 can drive the third flow guide plate 46 to rotate upwards in the shielding frame 8 through the second connecting rod 47, the dust falling onto the third flow guide plate 46 can fall into the first leakage hole 48 along the top surface of the third flow guide plate 46, and then the dust can fall into the second collection box 50 from the second leakage hole 49, through the arrangement of the third flow guide plate 46, the first leakage hole 48 and the second leakage hole 49, the third flow guide plate 46 can rotate circularly under the action of the grinding disc 7, the dust falling onto the third flow guide plate 46 can fall into the second collection box 50 along the top surface of the third flow guide plate 46, and the dust can be prevented from accumulating in the shielding frame 8, the grinding disc 7 can be prevented from being influenced by accumulated dust, and subsequent spraying can be better carried out.

As a further scheme of the present invention, a plurality of second sliding grooves 51 distributed in an array are formed on a right side wall of the shielding frame 8, second sliding rods 52 are slidably connected to inner walls of the second sliding grooves 51, hemispherical blocks 53 are disposed at right ends of the second sliding rods 52, a fourth gas spring 54 is disposed inside the second sliding grooves 51, one end of the fourth gas spring 54 is fixedly connected to the inner wall of the second sliding grooves 51, and the other end of the fourth gas spring is fixedly connected to a side wall of the second sliding rods 52; during operation, when the arc surface on hull surface was polished to polishing dish 7, a plurality of second slide bars 52 can laminate rather than the arc surface of contact with respectively on the lateral wall of sheltering from frame 8, can make the lateral wall of sheltering from frame 8 can laminate with the surface of hull all the time, can make the robot polish the better of hull, can make the better going on of subsequent spraying.

The working principle is as follows: when the ship hull surface polishing device works, a large amount of dust is generated when the surface of a ship hull is polished in the prior art, when the surface of the ship hull is cleaned after polishing is finished, the dust can be attached to sprayed cleaning liquid to the surface of the ship hull, then the cleaning liquid on the surface of the ship hull can flow downwards while a small amount of cleaning liquid is attached to the surface of the ship hull, the cleaning liquid attached with the dust can block subsequent spraying, so that coating can not be adsorbed on the surface of the ship hull, the spraying quality can be reduced, and the cleaning liquid can flow downwards to a polishing disc to influence polishing of the polishing disc, the technical scheme solves the problems, and the specific scheme is that when the surface of the ship hull is required to be polished, a first mounting plate 3 is moved to a polishing position, then a first air cylinder 2 is started to drive a mounting box 1 to move to the highest polishing position, and then the right side wall of the mounting box 1 is attached to a polishing surface, the mounting box 1 can drive the shielding frame 8 and the right side wall of the first drainage plate 12 to be attached to a polished surface together, at the moment, the shielding frame 8 and the first drainage plate 12 can be respectively close to the polished surface under the action of the first spring 9 and the second spring 14, the second cylinder 4 is started to extend rightwards, the second cylinder 4 drives the first rotating shaft 6 to move rightwards through the rotating disc 5 until the first rotating shaft 6 drives the polishing disc 7 to slightly move rightwards to be attached to the polished surface, then the motor 23 is started to rotate the output shaft of the motor 23, the output shaft of the motor 23 can drive the second belt pulley 26 and the first bevel gear 27 to synchronously rotate, the second belt pulley 26 can drive the first belt pulley 22 to rotate through the first transmission belt 28, the first belt pulley 22 can drive the first rotating shaft 6 to synchronously rotate, the first rotating shaft 6 can drive the polishing disc 7 to polish the surface, dust and the like generated in the polishing process can fall into the shielding frame 8, the shielding frame 8 can block dust in the shielding frame, so that the dust cannot fly in the air, the first air cylinder 2 is started to contract after polishing is finished at one position, the first air cylinder 2 drives the installation box 1 to move downwards, the installation box 1 can drive the shielding frame 8 and the polishing disc 7 to move downwards together, the polishing disc 7 can polish the next position, the cleaning box 15 is started to spray cleaning liquid to the surface of the ship body through the cleaning spray head 18 during polishing, the cleaning liquid can clean the polished position, the cleaning liquid can wash a small part of dust remained on the surface of the ship body after polishing, the cleaning liquid can adsorb the dust remained on the surface of the ship body, the cleaning liquid adsorbed with the dust can flow to the top of the first drainage plate 12, then flow into the first collection box 13 along the first drainage plate 12, and when the motor 23 drives the first bevel gear 27 to rotate, the first bevel gear 27 drives the second bevel gear 30 engaged with the first bevel gear to rotate through teeth, the second bevel gear 30 drives the second rotating shaft 24 to rotate, the second rotating shaft 24 drives the third belt pulley 29 to rotate, the third belt pulley 29 drives the fourth belt pulley 25 to rotate through the second transmission belt 31, the fourth belt pulley 25 drives the washing wheel 10 to rotate clockwise, the washing wheel 10 scrapes the residual washing liquid on the surface of the ship body downwards, the residual washing liquid can flow onto the first drainage plate 12 along the surface of the ship body under the action of scraping, then the residual washing liquid can flow into the first collection box 13 along the first drainage plate 12, then the coating box 16 can be started, so that the coating line can perform spraying treatment on the surface of the ship body through the coating pipe 21 and the coating nozzle 19, the invention arranges the shielding frame 8 which can surround the polishing disc 7 outside the polishing disc 7, the dust that can make when polishing dish 7 polish and produce drops in sheltering from frame 8, sheltering from frame 8 can stop the dust inside it, make the dust can not fly upward in the air, can make follow-up washing liquid spout can not adsorb the dust when wasing the hull surface, can guarantee that the washing liquid keeps clean before wasing, can avoid the washing liquid to adsorb the surface that stops at the hull after the dust, simultaneously can be through the rotation of scrubbing wheel 10, make scrubbing wheel 10 wash the surface of hull, scrubbing wheel 10 can scrape the washing liquid attached to the hull surface and move on first drainage plate 12, make remaining washing liquid can be quick clear away, avoid the washing liquid to remain and hinder subsequent spraying on the surface of hull, can make better absorption of coating ability at the hull surface, can make the spraying better, it is more complete.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides an intelligent application integration robot of polishing, includes install bin (1), the top of install bin (1) is provided with washs the coating mechanism, its first cylinder (2) that reciprocate of bottom fixedly connected with drive of install bin (1), the first mounting panel of bottom fixedly connected with (3) of first cylinder (2), fixed plate fixedly connected with second cylinder (4) are passed through to the inner wall bottom of install bin (1), right-hand member fixedly connected with carousel (5) of second cylinder (4), the first pivot (6) of right-hand member fixedly connected with of carousel (5), fixedly connected with grinds dish (7), its characterized in that on the right side wall of first pivot (6): the outside of polishing dish (7) is provided with shielding frame (8) of sliding connection in install bin (1) bottom, first pivot (6) pass the left side wall of shielding frame (8) and extend to the left side of shielding frame (8) to with shielding frame (8) sliding connection on the left right direction, the cover is equipped with first spring (9) on the outer wall of first pivot (6), the one end fixed connection of first spring (9) is on the left side outer wall of shielding frame (8), the other end and the lateral wall contact of first pivot (6), the top of shielding frame (8) is provided with rotates washing wheel (10) of connection on install bin (1) inner wall, first spout (11), two have been seted up to the symmetry on the inner wall around install bin (1) on the inner wall first spout (11) common sliding connection have first drainage plate (12), the left side end connection of first drainage plate (12) is provided with the first collection of install bin (1) inner wall bottom and collects Case (13), first drainage plate (12) are located wash brush wheel (10) and shelter from between frame (8) to the right-hand member is located the outside of installing case (1), all be provided with second spring (14) in first spout (11), the one end fixed connection of second spring (14) is on the inner wall of first spout (11), and other end fixed connection is on the lateral wall of first drainage plate (12), the inside of installing case (1) is provided with actuating mechanism, actuating mechanism is used for driving to beat the rotatory polishing of mill (7) to drive simultaneously and wash brush wheel (10) rotation and wash.

2. The intelligent sanding and painting integrated robot of claim 1, wherein: wash coating mechanism including wasing case (15), coating case (16), washing shower nozzle (18), application shower nozzle (19), wash case (15) and coating case (16) and all fix the top intermediate position that sets up in install bin (1), application shower nozzle (19) and washing shower nozzle (18) are arranged from top to bottom to all be located the top right side of install bin (1), application shower nozzle (19) and washing shower nozzle (18) first connecting plate (17) of common fixedly connected with, the bottom fixed connection of first connecting plate (17) is at the top of install bin (1), wash shower nozzle (18) and wash case (15) intercommunication through scavenge pipe (20), application shower nozzle (19) are through scribbling dress pipe (21) and coating case (16) intercommunication.

3. The intelligent sanding and painting integrated robot of claim 1, wherein: the driving mechanism comprises a first belt pulley (22), a motor (23), a second rotating shaft (24) and a fourth belt pulley (25), the first belt pulley (22) is fixedly connected to the outer wall of the first rotating shaft (6), the motor (23) is fixedly arranged at the bottom of the inner wall of the installation box (1), an output shaft of the motor (23) is fixedly connected with a second belt pulley (26) and a first bevel gear (27), the outer walls of the second belt pulley (26) and the first belt pulley (22) are jointly connected with a first transmission belt (28) in a transmission manner, the second rotating shaft (24) is rotatably connected to the inner wall of the front part of the installation box (1), the outer wall of the second rotating shaft (24) is fixedly connected with a third belt pulley (29) and a second bevel gear (30), the second bevel gear (30) is meshed with the first bevel gear (27), and the fourth belt pulley (25) is fixedly connected to a rotating shaft of the washing wheel (10), and the outer walls of the third belt pulley (29) and the fourth belt pulley (25) are connected with a second transmission belt (31) in a co-transmission manner.

4. The intelligent sanding and painting integrated robot of claim 1, wherein: the top of first drainage plate (12) is provided with a plurality of semicylinder lugs (32), and is a plurality of the common fixedly connected with second connecting plate (33) of semicylinder lug (32), second connecting plate (33) sliding connection is in the top drainage direction of first drainage plate (12), the top of second connecting plate (33) is provided with push rod (34), be provided with first air spring (35) between second connecting plate (33) and first drainage plate (12), the one end fixed connection of first air spring (35) is on the right side wall of first drainage plate (12), and other end fixed connection is on the lateral wall of first drainage plate (12), fixedly connected with is located second connecting plate (33) top and acts on catch plate (36) of push rod (34) in the axis of rotation of scrubbing wheel (10).

5. The intelligent sanding and painting integrated robot of claim 1, wherein: the top of sheltering from frame (8) is rotated and is connected with second mounting panel (37), common sliding connection has scrubbing plate (38) on the front and back inner wall of second mounting panel (37), be provided with second air spring (39) between scrubbing plate (38) and second mounting panel (37), the one end fixed connection of second air spring (39) is on the left side inner wall of second mounting panel (37), and the other end is fixed on the left side wall of scrubbing plate (38), cam groove (40) have been seted up on the outer wall of first pivot (6), sliding connection has first slide bar (41) with cam groove (40) matching on the inner wall of cam groove (40), the first slide bar's (41) of top fixedly connected with first slide plate (42), first slide plate (42) sliding connection is on inner wall around sheltering from frame (8), the top of first slide plate (42) is rotated and is connected with first connecting rod (43), the top end of the first connecting rod (43) is rotatably connected to the bottom of the second mounting plate (37).

6. The intelligent sanding and painting integrated robot of claim 5, wherein: be provided with sliding connection between washing board (38) and make grinding dish (7) and shelter from the ascending second drainage plate (44) of the left and right sides of frame (8) front and back inner wall, fixedly connected with third air spring (45) on the left side wall of second drainage plate (44), the left end fixed connection of third air spring (45) is on the left side inner wall of shelter from frame (8).

7. The intelligent sanding and painting integrated robot of claim 1, wherein: the utility model discloses a drainage box, including shielding frame (8), first slide (42), second slide (46), first small opening (48) have been seted up to the bottom of shielding frame (8), second small opening (49) have been seted up to the bottom of install bin (1), first small opening (48) and second small opening (49) intercommunication, and the size is the same, the right side wall of first small opening (48) is located the bottom of third slide (46), the below of second small opening (49) is provided with second collecting box (50) of connection in install bin (1) outer wall bottom all to be connected with third drainage plate (46) on the front and back inner wall of shielding frame (8), the top of third drainage plate (46) rotates and is connected with second connecting rod (47), the top of second connecting rod (47) rotates the bottom of connecting at first slide (42), first small opening (48) have been seted up to the bottom of shielding frame (8).

8. The intelligent sanding and painting integrated robot of claim 1, wherein: the utility model discloses a shelter from frame (8) right side wall on set up second spout (51) that a plurality of array distributes, equal sliding connection has second slide bar (52) on the inner wall of second spout (51), the right-hand member of second slide bar (52) all is provided with hemisphere piece (53), second spout (51) inside is provided with fourth gas spring (54), the one end fixed connection of fourth gas spring (54) is on the inner wall of second spout (51), and other end fixed connection is on the lateral wall of second slide bar (52).