CN118079346A

CN118079346A - Service robot based on football training

Info

Publication number: CN118079346A
Application number: CN202410415692.XA
Authority: CN
Inventors: 潘洪涛
Original assignee: Haikou Longhua Gelun Digital Product Store
Current assignee: Haikou Longhua Gelun Digital Product Store
Priority date: 2024-04-08
Filing date: 2024-04-08
Publication date: 2024-05-28

Abstract

The invention discloses a ball serving machine based on football training in the technical field of sports equipment, which comprises a base station, wherein a ball serving mechanism is fixedly connected to the surface of the base station and used for transmitting football, the ball serving mechanism comprises a transmitting box arranged above the base station, a transmitting track is arranged in the transmitting box and used for filling the football to be transmitted; according to the scheme, the football can be simulated and launched through the service mechanism, the requirement of daily football training is met, when a trainer is performing football training, the service mechanism lifts the football back and kicks the football into the ball recovery mechanism after the football is launched to one side of the trainer, the football receiving and shooting training of the trainer are realized, the ball recovery mechanism can recover the shot football, the recovered football is reloaded into the service mechanism, the continuous service control of the football is realized, and the training efficiency is improved.

Description

Service robot based on football training

Technical Field

The invention relates to the technical field of sports equipment, in particular to a ball serving machine based on football training.

Background

Football is a global sport, and training football skills is critical to the development of players. In football training, a service is a basic skill and a highly capable service player can create opportunities and scores for teams in a match. To help players improve service skills, a service robot for football training has been developed. The service robot for football training is a special device for training service skills, which can simulate different types of service actions and speeds and help players to practice skills such as ball catching, passing, shooting and the like.

Through retrieval, chinese patent number CN202320431488.8 discloses a football arbitrary ball service machine, which comprises a main body bracket, a service mechanism, a direction control mechanism, an angle adjustment mechanism, a control system and a battery box; the main body support is provided with a ball serving mechanism, the bottom of the ball serving mechanism is connected with a direction control mechanism, the direction control mechanism is a gear type electric rotating table, and the horizontal rotating angle of the ball serving mechanism is driven through the rotation of a rotating platform at the upper part of the gear type electric rotating table.

The beneficial effects of the device are as follows: the ball feeding machine for the football is characterized in that the ball storage mechanism is arranged at the top of the ball feeding mechanism, the spiral ball channel is arranged below the ball storage mechanism, the tail end of the spiral ball channel is provided with the holes, the football enters the ball feeding mechanism from the ball storage mechanism along the spiral ball channel through the tail end holes under the action of gravity, and the ball feeding mechanism feeds the football into the ball feeding mechanism in front of the ball feeding mechanism.

In the use process of the existing football service robot, although a plurality of football can be quickly installed and continuously launched, before football loading, the football is still required to be recovered manually, so that the working efficiency of the device is low. For this purpose, we propose a service robot based on football training.

Disclosure of Invention

The invention aims to provide a service robot based on football training, which aims to solve the problems in the background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a service robot based on football training, includes the base station, the fixed surface of base station is connected with service mechanism, service mechanism is used for launching football, service mechanism is including installing the launch box in the base station top, the inside of launch box is provided with the launching track, the launching track is used for filling the football of treating launching, the fixed surface of base station is connected with spheroid recovery mechanism, spheroid recovery mechanism is located service mechanism's top, spheroid recovery mechanism is including installing two sets of support columns at the base station surface, two sets of the upper end fixed surface of support column is connected with the framework, the fixed surface of framework is connected with the screen panel, the lower extreme fixed surface of framework is connected with the guide plate, the guide plate sets up to "V" form, the lower surface fixedly connected with loading table of guide plate, the lower extreme fixed surface of loading table is connected with flexible hose, the surface of loading box is provided with the hole, the flexible hose is linked together in loading hole and the launching track, loading hole is linked together.

Preferably, the both sides surface of transmission case is two sets of curb plates of equal fixedly connected with, two sets of the curb plate is located the both ends of transmission case, two sets of insert between the curb plate be equipped with the lead screw, a set of the fixed surface of curb plate is connected with motor C, motor C's output shaft and lead screw transmission are connected, two sets of the slider of looks adaptation is all installed to the surface of lead screw, two sets of the upper end fixed surface of slider is connected with the roof, the fixed surface of roof is connected with electric telescopic handle, fixedly connected with inserted block on electric telescopic handle's the piston rod, the upper end surface of transmission case is provided with the upper chute, upper chute and the transmission intra-orbital intercommunication, the upper end surface of push pedal is provided with the jack, jack and inserted block looks adaptation, the inside of transmission orbit is inserted and is equipped with the push pedal, the equal fixedly connected with fixed plate of both sides surface of push pedal, the fixed plate is last to be equipped with the fixed axle of two sets of upper and lower distribution, two sets of fixed surface all articulates there are the pulley, the fixed block of being connected with on the inner wall of transmission orbit, two sets of fixed blocks are close to the opening of transmission orbit and two sets of rubber band are connected with the two sets of rubber band between the fixed block and the fixed connection respectively on two sides.

Preferably, the both sides surface of transmission case all is provided with the side spout, the fixed surface of slider is connected with the measuring staff, the front end surface of measuring staff inserts and is equipped with the articulated shaft, the surface hinge of articulated shaft has limit baffle, the inside of articulated shaft is provided with torsion spring, the fixed surface of measuring staff is connected with the stopper.

Preferably, the service mechanism comprises two groups of hydraulic cylinders arranged on the surface of a base, the upper end surfaces of piston rods of the two groups of hydraulic cylinders are fixedly connected with push ring sleeves, the surfaces of two ends of the lifting table are fixedly connected with annular frames, the two groups of annular frames are distributed in concentric circles, and the push ring sleeves are sleeved on the surfaces of the annular frames.

Preferably, the rear end surface fixedly connected with of elevating platform is two sets of articulated platform, two sets of articulated platform is articulated to be installed between the transmission case, the surface fixedly connected with motor B of articulated platform, motor B's output shaft and transmission case transmission are connected.

Preferably, the surface fixedly connected with motor A of base station, fixedly connected with cross axle on motor A's the output shaft, the lower extreme surface fixedly connected with sleeve pipe of elevating platform, the inside of sleeve pipe is provided with the cross jack, the insertion of cross axle looks adaptation is established in the cross jack.

Preferably, the lower extreme surface fixedly connected with spacing blend stop of roof, spacing blend stop is located the top of loading port, the surface of spacing blend stop is provided with the annular hole.

Preferably, the limit stop bars are arranged in a U-shaped structure, and the distance between the limit stop bars is smaller than the diameter of the loading hole.

Preferably, the lower extreme surface fixedly connected with solid fixed ring of flexible hose, the fixed surface of transmission case is connected with two sets of bracing pieces, gu fixed ring connects on two sets of bracing pieces, gu fixed ring and loading port are concentric circle and distribute.

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

1. According to the scheme, through the structural arrangement of the base station, the service mechanism and the ball recovery mechanism, football can be simulated and launched through the service mechanism, the requirement of daily football training is met, when a trainer is performing football training, after the service mechanism launches the football to one side of the trainer, the trainer lifts the football back and kicks the football into the ball recovery mechanism, so that the football receiving and shooting training of the trainer is realized, the ball recovery mechanism can recover the shot football, the recovered football is reloaded into the service mechanism, the continuous service control of the football is realized, and the training efficiency is improved;

2. when the football is launched by the pitching mechanism, different pitching angles, horizontal angles or launching heights can be simulated, so that the pitching simulation diversity of the device is further met, and the practicability of the device is improved;

3. This scheme is through service mechanism, spheroid retrieve the mechanism when reloading the football of retrieving, can realize the quick loading of football one at a time to can load the second football fast after football transmission, improve the efficiency that football loaded, launched, and avoid the card between the football to stop up.

Drawings

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

FIG. 2 is a schematic diagram of the ball serving mechanism according to the present invention;

FIG. 3 is an exploded view of a portion of the ball serving mechanism of the present invention;

FIG. 4 is a schematic view of a portion of the ball serving mechanism according to the present invention;

FIG. 5 is a schematic view showing a sectional structure of a service mechanism according to the present invention;

FIG. 6 is a schematic diagram of a ball serving mechanism according to the present invention;

FIG. 7 is a schematic view of a sphere recycling mechanism according to the present invention;

FIG. 8 is a schematic structural view of a sphere recovery mechanism according to the present invention.

In the figure: 1. a base station; 2. a service mechanism; 201. a motor A; 202. a cross shaft; 203. a sleeve; 204. a cross jack; 205. a lifting table; 206. a hydraulic cylinder; 207. pushing the ring sleeve; 208. an annular frame; 209. a hinge table; 210. a motor B; 211. a launch box; 212. a launch rail; 213. a loading hole; 214. a side plate; 215. a screw rod; 216. a motor C; 217. a slide block; 218. a top plate; 219. an electric telescopic rod; 220. inserting blocks; 221. a push plate; 222. a jack; 223. a fixing plate; 224. a fixed shaft; 225. a pulley; 226. a fixed block; 227. a rubber band; 228. a measuring rod; 229. a hinge shaft; 230. a limit baffle; 231. a limiting block; 232. a side chute; 233. an upper chute; 234. a limit stop bar; 235. an annular hole; 236. a support rod; 3. a sphere recovery mechanism; 301. a support column; 302. a frame; 303. a mesh enclosure; 304. a deflector; 305. a loading table; 306. a flexible hose; 307. and a fixing ring.

Detailed Description

Examples

Referring to fig. 1-8, the present invention provides a technical solution:

Based on football training is with service robot, the fixed surface of base 1 is connected with service mechanism 2, and service mechanism 2 is used for carrying out continuous loading and automatic continuous emission to the football, realizes the automatic service of football to service mechanism 2 can control football's launch angle, transmission dynamics and emission direction, further realizes the simulation of different service modes, satisfies daily football training's needs. The surface of the base 1 is fixedly connected with a ball recovery mechanism 3, and the ball recovery mechanism 3 is positioned above the ball serving mechanism 2. When the trainer is performing football training, after the service mechanism 2 launches football to one side of the trainer, the trainer lifts football back and kicks the football into the ball body recovery mechanism 3, so that football receiving and shooting training of the trainer is realized. And the ball recovery mechanism 3 can recover the shot football, reload the recovered football into the service mechanism 2, realize the continuous service control of the football, and improve the training efficiency.

The service mechanism 2 comprises two groups of hydraulic cylinders 206 arranged on the surface of the base 1, lifting tables 205 are arranged at the upper ends of the two groups of hydraulic cylinders 206, two groups of hinge tables 209 are fixedly connected with the rear end surface of each lifting table 205, a transmitting box 211 is hinged between the two groups of hinge tables 209, a transmitting track 212 is arranged in the transmitting box 211, a loading hole 213 is formed in the upper end surface of the transmitting box 211, and the loading hole 213 is communicated with the transmitting track 212. When the football needs to be loaded, the football is placed in the launching track 212 through the loading holes 213, so that the football is quickly loaded. The push plate 221 is inserted in the launching track 212, the fixed plates 223 are fixedly connected to the surfaces of the two sides of the push plate 221, two groups of fixing shafts 224 which are distributed up and down are inserted on the fixed plates 223, and pulleys 225 are hinged to the surfaces of the two groups of fixing shafts 224. Two groups of fixing blocks 226 are fixedly connected to the inner wall of the transmitting track 212, the two groups of fixing blocks 226 are close to the opening of the transmitting track 212, rubber bands 227 are connected between the two groups of fixing blocks 226 connected to the inner wall of the same side of the transmitting track 212, and two ends of the rubber bands 227 bypass the surfaces of the two groups of pulleys 225 on the same side of the push plate 221 respectively and are connected to the two groups of fixing blocks 226. Further make push pedal 221 when the inside of launching track 212 slides, can lengthen rubber band 227, further hold the power to push pedal 221 through the elasticity of rubber band 227, make push pedal 221 to the rubber band 227 stretch to the suitable dynamics back and loosen, push pedal 221 can reset rapidly under the elasticity effect of rubber band 227 to pop out the football in the launching track 212 fast, realize the automatic service control of football.

Two groups of side plates 214 are fixedly connected to the surfaces of two sides of the transmitting box 211, the two groups of side plates 214 are located at two ends of the transmitting box 211, a screw rod 215 is inserted between the two groups of side plates 214, a motor C216 is fixedly connected to the surface of one group of side plates 214, and an output shaft of the motor C216 is in transmission connection with the screw rod 215. The surfaces of the two groups of screw rods 215 are respectively provided with a slide block 217 which is matched with each other, the upper end surfaces of the two groups of slide blocks 217 are fixedly connected with a top plate 218, the surface of the top plate 218 is fixedly connected with an electric telescopic rod 219, and a piston rod of the electric telescopic rod 219 is fixedly connected with an inserting block 220. The upper end surface of the launch box 211 is provided with an upper chute 233, and the upper chute 233 communicates with the launch rail 212. The upper end surface of the push plate 221 is provided with a jack 222, and the jack 222 is matched with the plug 220. After the football is loaded into the launching track 212 through the loading hole 213, the insert block 220 is driven to slide downwards through the electric telescopic rod 219, the insert block 220 is further controlled to be inserted into the insertion hole 222, after the motor C216 is started, the screw rod 215 is driven to rotate in the sliding block 217, the sliding block 217 is further controlled to linearly slide on the surface of the screw rod 215, the push plate 221 is pushed by the insert block 220 to slide in the launching track 212, and the rubber band 227 is lengthened and accumulated. And the sliding distance of the sliding block 217 on the screw rod 215 is controlled through the motor C216, so that the push plate 221 can be controlled to pull the rubber band 227 with different forces, and the ball serving with different forces is further realized, so that the functional diversity of the device during ball serving is improved.

The two side surfaces of the launch box 211 are provided with side sliding grooves 232, the surface of the sliding block 217 is fixedly connected with a measuring rod 228, the front end surface of the measuring rod 228 is inserted with a hinge shaft 229, the surface of the hinge shaft 229 is hinged with a limit baffle 230, the inside of the hinge shaft 229 is provided with a torsion spring, and the limit baffle 230 always rotates towards the inner side of the launch rail 212 under the action of the torsion spring in the hinge shaft 229. Meanwhile, a limiting block 231 is fixedly connected to the surface of the measuring rod 228, and the limiting baffle 230 always rotates to be perpendicular to the measuring rod 228 under the limiting effect of the limiting block 231. When the pusher plate 221 is at the initial position, the loading hole 213 is located between the pusher plate 221 and the limit stop 230, and after the soccer ball is further loaded into the launching track 212 through the loading hole 213, the soccer ball is located between the pusher plate 221 and the limit stop 230. And when the push plate 221 slides to the launching track 212 to elongate the rubber band 227 for storing force, the limit baffle 230 always abuts against the surface of the football under the action of the torsion spring in the hinge shaft 229, and pushes the football and the push plate 221 to synchronously slide inwards, so that after the insert 220 slides out of the jack 222, the push plate 221 resets under the action of the elasticity of the rubber band 227 and pushes the football to slide in the launching track 212, the football is quickly ejected under the action of the elasticity of the push plate 221, and the limit baffle 230 is pushed to slide reversely in the ejection process, and automatic ball serving of the football is realized. And after the football finishes serving, limit baffle 230 resets rapidly under the torsion spring effect inside articulated shaft 229, makes things convenient for the continuity loading and the launching of next football.

The surface of a group of articulated tables 209 is fixedly connected with a motor B210, and the output shaft of the motor B210 is in transmission connection with a transmitting box 211. The motor B210 is used for starting to drive the transmitting box 211 to rotate, so that the pitching angle of the transmitting box 211 is further adjusted, the pitching angle of the football is further adjusted, the football pitching simulation diversity of the device is improved, and the applicability of the device is improved.

The surface of the base station 1 is fixedly connected with a motor A201, and an output shaft of the motor A201 is in transmission connection with a lifting table 205. Through motor A201 opening, can drive elevating platform 205 and rotate, further adjust the horizontal angle of transmission case 211, realize the horizontal angle adjustment of service of football, improve the football service simulation diversity of this device to improve this device's suitability.

The upper end surfaces of piston rods of the two groups of hydraulic cylinders 206 are fixedly connected with push ring sleeves 207, the two end surfaces of the lifting table 205 are fixedly connected with annular frames 208, the two groups of annular frames 208 are distributed in concentric circles, and the push ring sleeves 207 are sleeved on the surfaces of the annular frames 208. After the hydraulic cylinder 206 is further opened, the pushing ring sleeve 207 is driven to push the annular frame 208 to slide, the lifting table 205 is controlled to lift, the ball serving height of the football is adjusted, the ball serving simulation diversity of the device is improved, and the applicability of the device is improved. And the output shaft of the motor A201 is fixedly connected with a cross shaft 202, and meanwhile, the lower end surface of the lifting platform 205 is fixedly connected with a sleeve 203, a cross jack 204 is arranged in the sleeve 203, and the cross shaft 202 is inserted in the cross jack 204 in a matched mode. So that the lifting platform 205 can control the sleeve 203 to slide on the surface of the cross 202 in the lifting process, and the motor A201 can realize the rotation driving of the lifting platform 205 no matter the sleeve 203 slides to the easy height on the surface of the cross 202 when driving the cross 202 to rotate, thereby further meeting the service simulation diversity of the device and improving the practicability of the device.

The sphere recovery mechanism 3 comprises two groups of support columns 301 arranged on the surface of the base 1, wherein the upper end surfaces of the two groups of support columns 301 are fixedly connected with a frame body 302, and the surface of the frame body 302 is fixedly connected with a net cover 303. After the service mechanism 2 launches the football to one side of the trainer, the trainer kicks the football back, and the football is blocked by the net cover 303, so that the football is recovered. The lower extreme surface fixedly connected with guide plate 304 of framework 302, guide plate 304 set up to "V" form, after screen panel 303 stops the football, the football drops to the surface of guide plate 304. The lowest surface of the deflector 304 is fixedly connected with a loading table 305, and the lower end surface of the loading table 305 is fixedly connected with a telescopic hose 306. When the soccer ball falls onto the surface of the deflector 304, the soccer ball is guided to the inside of the loading table 305, and further conveyed to the telescopic hose 306 through the loading table 305. The fixed ring 307 is fixedly connected to the surface of the lower end of the telescopic hose 306, the two groups of support rods 236 are fixedly connected to the surface of the launching box 211, the fixed ring 307 is connected to the two groups of support rods 236, and the fixed ring 307 and the loading holes 213 are concentrically distributed, so that the football recovered by the ball recovery mechanism 3 can be rapidly loaded in the launching track 212 through the loading holes 213, automatic recovery and automatic loading of the football are realized, and subsequent football launching operation is facilitated. And through the structure setting of flexible hose 306 for service mechanism 2 is when pitch angle, horizontal angle or firing height are adjusted, and ball recovery mechanism 3 can carry the football to realize filling in service mechanism 2 all the time.

The lower extreme surface fixedly connected with spacing blend stop 234 of roof 218, spacing blend stop 234 is located the top of loading hole 213, and the surface of spacing blend stop 234 is provided with annular hole 235 after push pedal 221 is in the initial position, fixed ring 307, annular hole 235, loading hole 213 is concentric circle distribution, further make the inside football of flexible hose 306 load to the inside of launching track 212, and when push pedal 221 slides in launching track 212 holds the power, can control spacing blend stop 234 and slide between fixed ring 307 and loading hole 213, spacing blend stop 234 sets up to "U" type structure and the interval is less than the diameter of loading hole 213, can block the football after spacing blend stop 234 is located the surface of loading hole 213, further block between fixed ring 307 and the loading hole 213, make only load a football in the launching track 212, further realize the single launch of football in the service mechanism 2. And after completing the transmission of football in service mechanism 2, in the in-process that push pedal 221 slides and resets, spacing blend stop 234 synchronous slip resets until annular hole 235 and solid fixed ring 307 are concentric circle and distribute, can make things convenient for the automatic loading of next football to improve the work efficiency of this device.

Claims

1. Service robot for football training, including base station (1), its characterized in that: the utility model provides a football loading device, including base station (1), surface fixedly connected with service mechanism (2) of base station (1), service mechanism (2) are used for launching football, service mechanism (2) are including installing launch box (211) in base station (1) top, the inside of launch box (211) is provided with launching track (212), launching track (212) are used for loading the football that treats the launch, the surface fixedly connected with spheroid recovery mechanism (3) of base station (1), spheroid recovery mechanism (3) are located the top of service mechanism (2), spheroid recovery mechanism (3) are including installing two sets of support columns (301) at base station (1) surface, the upper end surface fixedly connected with framework (302) of two sets of support columns (301), the surface fixedly connected with screen panel (303) of framework (302), the lower extreme surface fixedly connected with guide plate (304) of framework (302), guide plate (304) set up to "V" form, the surface fixedly connected with in the lower extreme surface of guide plate (304) is connected with spheroid recovery mechanism (305), loading hole (213) in the surface fixedly connected with loading hose (213) of launching platform (211), the telescopic hose (306) is communicated with the loading hole (213).

2. A service robot for football training according to claim 1, characterized in that: two groups of side plates (214) are fixedly connected to the surfaces of two sides of the transmitting box (211), two groups of side plates (214) are positioned at two ends of the transmitting box (211), a screw rod (215) is inserted between the two groups of side plates (214), one group of side plates (214) are fixedly connected with a motor C (216), an output shaft of the motor C (216) is connected with the screw rod (215) in a transmission manner, two groups of sliding blocks (217) are mounted on the surfaces of the screw rod (215), a top plate (218) is fixedly connected to the upper end surfaces of the two groups of sliding blocks (217), an electric telescopic rod (219) is fixedly connected to a piston rod of the top plate (218), an upper sliding groove (233) is formed in the upper end surface of the transmitting box (211), the upper sliding groove (233) is communicated with a transmitting track (212), insertion holes (222) are formed in the upper end surface of the push plate (221), the insertion holes (222) are matched with the insertion track (220), two fixed shafts (221) are fixedly connected to the inner side of the push plate (221), two sets of fixed axle (224) all articulate on the surface has pulley (225), fixedly connected with two sets of fixed blocks (226) on the inner wall of transmission track (212), two sets of fixed block (226) are close to the opening part of transmission track (212), be connected with rubber band (227) between two sets of fixed blocks (226) that are connected on transmission track (212) homonymy inner wall, two sets of pulley (225) surfaces of push pedal (221) homonymy are walked around respectively at the both ends of rubber band (227) and are connected on two sets of fixed blocks (226).

3. A service robot for football training according to claim 2, characterized in that: both sides surface of transmission case (211) all is provided with side spout (232), the fixed surface of slider (217) is connected with measuring staff (228), the front end surface of measuring staff (228) is inserted and is equipped with articulated shaft (229), the surface of articulated shaft (229) articulates there is limit baffle (230), the inside of articulated shaft (229) is provided with torsion spring, the fixed surface of measuring staff (228) is connected with stopper (231).

4. A service robot for football training according to claim 2, characterized in that: the ball serving mechanism (2) comprises two groups of hydraulic cylinders (206) arranged on the surface of the base station (1), two groups of hydraulic cylinders (206) are fixedly connected with pushing ring sleeves (207) on the upper end surfaces of piston rods of the hydraulic cylinders (206), annular frames (208) are fixedly connected to the two end surfaces of the lifting table (205), the two groups of annular frames (208) are distributed in concentric circles, and the pushing ring sleeves (207) are sleeved on the surfaces of the annular frames (208).

5. A football training based service robot according to claim 4, wherein: the rear end surface fixedly connected with two sets of articulated platform (209) of elevating platform (205), two sets of articulated platform (209) are articulated install transmission case (211) between, the surface fixedly connected with motor B (210) of articulated platform (209), the output shaft and the transmission case (211) transmission of motor B (210) are connected.

6. A football training based service robot according to claim 4, wherein: the novel lifting device is characterized in that a motor A (201) is fixedly connected to the surface of the base station (1), a cross shaft (202) is fixedly connected to an output shaft of the motor A (201), a sleeve (203) is fixedly connected to the lower end surface of the lifting table (205), a cross jack (204) is arranged in the sleeve (203), and the cross shaft (202) is inserted into the cross jack (204) in a matched mode.

7. A service robot for football training according to claim 2, characterized in that: the lower extreme surface fixedly connected with spacing blend stop (234) of roof (218), spacing blend stop (234) are located the top of loading hole (213), the surface of spacing blend stop (234) is provided with annular hole (235).

8. A football training based service robot according to claim 7, wherein: the limiting stop strips (234) are of a U-shaped structure, and the distance between the limiting stop strips is smaller than the diameter of the loading hole (213).

9. A service robot for football training according to claim 1, characterized in that: the lower extreme surface fixedly connected with solid fixed ring (307) of flexible hose (306), the surface fixedly connected with of transmission case (211) is two sets of bracing piece (236), gu fixed ring (307) connect on two sets of bracing pieces (236), gu fixed ring (307) and loading hole (213) are concentric circle and distribute.