WO2019091296A1

WO2019091296A1 - Capsule drink machine

Info

Publication number: WO2019091296A1
Application number: PCT/CN2018/112296
Authority: WO
Inventors: 胡文壁
Original assignee: 广州美咖科技有限公司
Priority date: 2017-11-08
Filing date: 2018-10-29
Publication date: 2019-05-16
Also published as: KR200492581Y1; JP3220515U; KR20190001170U

Abstract

Disclosed is a capsule drink machine in the field of automated vending machines, the capsule drink machine comprising a capsule cartridge placement tube (1), a first rotary vane (2) and a second rotary vane (3), wherein the first rotary vane (2) comprises two symmetrically arranged first blocking pieces (21), the first blocking pieces (21) being fan-shaped, and the second rotary vane (3) comprises two symmetrically arranged second blocking pieces (31), the second blocking pieces being fan-shaped. By means of capsule cartridges (5) with a flange (51) being stacked in the capsule cartridge placement tube (1) of which a side wall has two openings (11, 12), and by means of the two rotary vanes (2, 3) staggered 90° to respectively block and release the flange (51) of the capsule cartridge (5), the function of releasing the capsule cartridge (5) can be achieved. The capsule drink machine is structurally simple, and ideally compact, production costs are low, and operation is fully automated. By using a control system to control the driving of each functional part, the flavour of capsule-type drink powder is automatically selected, and the capsule-type drink powder is automatically brewed. The capsule drink machine and an unmanned vending control system work together to realise an unmanned and unattended vending function.

Description

Capsule drink machine

Technical field

The present invention relates to the field of vending machines, and more particularly to a capsule drink machine.

Background technique

The capsule drink is a new type of drink that stores the drink powder in the capsule box. The benefits of the drink capsule are: vacuum packaging, long shelf life, convenient and quick brewing; under the hot water boiling, through the special needle, the water is made from The needle is fully scattered around the middle of the needle, completely extracting the essence of the drink, and obtaining a concentrated concentrated drink, which can better ensure the fragrance of the drink; there is no capsule drop device yet, because the capsule is not well controlled, or it cannot be Falling down, either falling a few times, there are many inconveniences; and the current capsule drink machine is a manual control method of adding capsule brewing, each time the artificial taste and manual brewing will lead to the change of the original product taste, and after brewing The capsule cup processing method needs to be realized manually, and the function of automatic selling cannot be realized.

Summary of the invention

In view of this, it is necessary to provide a capsule drink machine in response to the above-mentioned problems.

A capsule drink machine comprising a capsule box dropping device, wherein the capsule box dropping device comprises a capsule box placing tube and a rotating device; wherein a side wall of the capsule box placing tube is opened and placed along the capsule box a circumferentially extending first opening and a second opening, the first opening and the second opening penetrating a side wall of the capsule placement tube, the first opening and the second opening being along The length direction of the capsule insertion tube is a step difference, and the height difference between the first opening and the second opening is not less than the height value of the capsule;

Wherein the rotating device comprises a first rotating blade and a second rotating blade;

Wherein the first rotating blade comprises two symmetrically disposed first blocking pieces, the first blocking piece has a fan shape, and two symmetrically disposed first shielding pieces are provided with two symmetrically disposed first notches ;

Wherein the second rotating blade comprises two symmetrically disposed second blocking pieces, the second blocking piece has a fan shape, and two symmetrically disposed second blocking pieces are provided with two symmetrically disposed second notches ;

Wherein the first rotating blades are correspondingly disposed in parallel with the first opening, the two symmetrically disposed first blocking pieces are rotated about an axis of symmetry, and the two first blocking pieces are cyclically circulated through the First opening;

Wherein the second rotating blade is disposed correspondingly in parallel with the second opening, the two symmetrically disposed second blocking pieces rotate around the axis of symmetry, and the two second blocking pieces are cyclically circulated through the Second opening;

Wherein the first rotating blade is disposed in parallel with the second rotating blade, and the first rotating blade is disposed at a 90° offset from the second rotating blade.

In detail, the angle of the central angle of the first flap in the shape of a fan and the first notch in the shape of a fan is 90°;

The angle of the central angle of the second flap in the shape of a fan and the second notch in the shape of a fan is 90°.

In detail, the first opening and the second opening are opened on the same side of the side wall of the capsule placement tube;

A rotating shaft driven by the motor is disposed through a central symmetry point of the first rotating blade and the second rotating blade, and the first rotating blade and the second rotating blade rotate coaxially.

In detail, further comprising a capsule delivery assembly, a capsule breakdown assembly, a paper cup transport device, and a control unit;

Wherein the capsule delivery assembly includes a capsule cup for receiving a capsule dropped by the capsule drop device, and a first drive motor for moving the capsule cup;

Wherein the capsule breakdown assembly includes a breakdown device for penetrating the upper cover of the capsule, and a second drive motor for moving the breakdown device;

Wherein the paper cup conveying device comprises a paper cup holder, a third driving motor for moving the paper cup holder;

The control unit dispatches a designated capsule by controlling the capsule drop device, the control unit controls the capsule transport assembly to reach a capsule drop point of the capsule drop device to receive a dropped capsule, the capsule The breakdown assembly breaks through the upper cover of the capsule and brews the beverage in the capsule, the paper cup transport device moves the paper cup under the control of the control unit to receive the brewed beverage liquid, and moves the paper cup containing the beverage liquid To the cup.

In detail, the bottom of the capsule cup is provided with a needle for piercing the bottom of the capsule;

The capsule cup is held by a bracket, and the first driving motor is provided with a first screw threadedly coupled to the bracket, and the first driving motor drives the first screw by rotating the first screw The carriage drives the capsule cup to move;

The piercing device is provided with a water injection hole connecting a water pipe through which hot water is injected into the capsule;

The piercer is carried by a boom, and the second drive motor drives the boom to rotate the second screw to drive the trigger to move the upper cover of the capsule.

In detail, the third driving motor is connected with a third screw, the third screw is screwed with the paper cup, and the third driving motor drives the third by rotating the third screw The screw moves.

In detail, the capsule conveying assembly includes a bottom plate on which two bearing seats are sequentially disposed along the length direction of the bottom plate, and the two bearing seats are disposed parallel to each other and spaced apart, and the bottom plate is provided with two aluminum strips in the width direction of the bottom plate. The cylindrical linear guide rail is arranged, and the two linear guide rails with aluminum cylinders are arranged parallel to each other and spaced apart. Two aluminum linear cylindrical guide rails are respectively provided with a slider, and the slider is slidably connected with the cylindrical linear guide rail with aluminum cylinder, the two bearing housings At the same time, a first screw rod is disposed, and two ends of the first screw rod are rotatably connected to the two bearing housings, and the bottom plate is provided with a motor mounting plate, and the first driving motor is mounted on the motor mounting plate, The drive shaft of the first drive motor is connected to the first screw rod through a coupling, the first screw rod is screwed to a screw nut, and the two sliders support a bracket, and the screw nut is fixed. Set below the bracket.

In detail, the capsule drink machine further includes a capsule guiding device disposed above the bracket, the capsule guiding device includes a supporting plate, and the supporting plate is provided with a fourth driving motor, the support The board is provided with two rotating shafts which are spaced apart from each other and are parallel to each other. Both rotating shafts are rotatably connected with the supporting plate, and both rotating shafts can rotate from the axis, and the driving shaft of the fourth driving motor is connected with one of the rotating shafts. Each of the two rotating shafts is provided with a gear, the gear is fixedly connected with the rotating shaft, the two gears are meshed and connected, and the two gears are respectively provided with a clamping plate, and each of the clamping plates is provided with a semi-conical cylinder.

The invention realizes that the capsule box with the flange is stacked in the capsule placing tube with two openings in the side wall, and the flanges of the capsule box are respectively blocked and released by two rotating blades which are offset by 90°, thereby achieving The utility model has the advantages of simple structure, ingenious design, low production cost and full automation of operation, and the automatic selection of the capsule type beverage powder and automatic brewing by controlling the driving of various functional components by using the control system. On the basis of the present invention, it can be combined with the unmanned sales control system to realize the unattended sales function.

DRAWINGS

Figure 1 is a schematic view showing the structure of a capsule dropping device of the present invention;

2 is a schematic perspective view of an embodiment of the present invention;

3 is a schematic structural view of a capsule delivery assembly and a capsule breakdown assembly in accordance with an embodiment of the present invention;

4 is a schematic structural view of a capsule breakdown assembly according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of a capsule conveying assembly according to another embodiment of the present invention; FIG.

6 is a schematic structural view of a capsule guiding device installed in a bracket and in an open state according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of the capsule guiding device installed in the bracket and in a closed state according to an embodiment of the present invention.

Marked in the figure: 1-capsule box placement tube, 11-first opening, 12-second opening, 2-first rotating blade, 3-second rotating blade, 21-first flap, 22-first notch, 31-second flap, 32-second notch, 4-motor, 5-capsule box, 51-cap flange, 6-capsule transport assembly, 61-first drive motor, 611-first screw, 62 - capsule cup, 621 - beverage outlet, 63-bracket, 7-capsule breakdown assembly, 71-arm, 72-second drive motor, 721-second screw, 73- gland, 74-fill hole, 75-piercing device, 8-paper cup conveying device, 81-paper cup holder; 9, bottom plate; 10, bearing seat; 111, aluminum linear cylindrical guide rail; 121, slider; 14, motor mounting plate; Bar nut; 16, capsule guiding device; 17, support plate; 18, fourth drive motor; 19, rotating shaft; 20, gear; 211, splint; 221, semi-conical cylinder; 23, conical funnel.

Detailed ways

Referring to FIG. 1 , a capsule drink machine includes a capsule box dropping device, wherein the capsule box dropping device comprises a capsule box placing tube 1 and a rotating device; wherein a side wall of the capsule box placing tube 1 is opened a first opening 11 and a second opening 12 extending circumferentially of the tube 1 along the capsule, the first opening 11 and the second opening 12 penetrating the side wall of the capsule placement tube 1, The first opening 11 and the second opening 12 are provided with a step along the length direction of the capsule placement tube 1. The height difference between the first opening 11 and the second opening 12 is not less than the capsule case 5. Height value

Wherein the rotating device comprises a first rotating blade 2, a second rotating blade 3;

The first rotating blade 2 includes two symmetrically disposed first blocking pieces 21, the first blocking piece 21 has a fan shape, and two symmetrically disposed first shielding pieces 21 are provided with two symmetrical settings. First gap 22;

The second rotating blade 3 includes two symmetrically disposed second blocking pieces 31. The second blocking piece 31 has a fan shape, and two symmetrically disposed two second symmetric pieces 31 are provided with two symmetric settings. Second gap 32;

The first rotating blade 2 is correspondingly disposed in parallel with the first opening 11 , and the two symmetrically disposed first blocking pieces 21 are rotated about an axis of symmetry, and the two first blocking pieces 21 are cyclically spaced. Passing through the first opening 11;

The second rotating blade 3 is correspondingly disposed in parallel with the second opening 12, and the two symmetrically disposed second blocking pieces 31 rotate around the axis of symmetry, and the two second blocking pieces 31 are cyclically spaced. Passing through the second opening 12;

The first rotating blade 2 is disposed in parallel with the second rotating blade 3, and the first rotating blade 2 and the second rotating blade 3 are disposed at a 90° offset.

In detail, the angle of the central angle of the first flap 21 in the shape of a fan and the first notch 22 in the shape of a fan is 90°;

The angle between the second flap 31 in the shape of a fan and the second notch 32 in the shape of a fan is 90°.

In detail, the first opening 11 and the second opening 12 are opened on the same side of the side wall of the capsule placement tube 1;

a rotating shaft driven by the motor 4 is disposed through a central symmetry point of the first rotating blade 2 and the second rotating blade 3, and the first rotating blade 2 and the second rotating blade 3 rotate coaxially;

Referring to Figures 2, 3, and 4, in detail, further includes a capsule delivery assembly 6, a capsule breakdown assembly 7, a paper cup transport device 8, and a control unit;

Wherein the capsule delivery assembly 6 includes a capsule cup 62 for receiving a capsule dropped by the capsule drop device, and a first drive motor 61 for moving the capsule cup 62;

Wherein the capsule breakdown assembly 7 includes a breakdownr 75 for penetrating the upper cover of the capsule, and a second drive motor 72 for moving the breakdownr 75;

The paper cup conveying device 8 includes a paper cup holder 81 and a third driving motor for moving the paper cup holder 81;

The control unit dispatches a designated capsule by controlling the capsule drop device, the control unit controls the capsule transport assembly 6 to reach a capsule drop point of the capsule drop device to receive a dropped capsule, The capsule breakdown assembly 7 breaks through the upper cover of the capsule and brews the beverage in the capsule, and the paper cup transport device 8 moves the paper cup under the control of the control unit to receive the brewed beverage liquid, and will be filled with the beverage liquid. The paper cup moves to the cup.

In detail, the bottom of the capsule cup 62 is provided with a needle for piercing the bottom of the capsule;

The capsule cup 62 is held by a bracket 63. The first driving motor 61 is provided with a first screw 611 screwed to the bracket 63, and the first driving motor 61 rotates the first a threaded rod 611 to drive the bracket 63 to drive the capsule cup 62 to move;

In another embodiment, as shown in Figure 5, the capsule delivery assembly 6 includes a bottom plate 9;

Two bearing blocks 10 are sequentially disposed on the bottom plate 9 along the longitudinal direction of the bottom plate 9, and the two bearing blocks 10 are parallel and spaced apart from each other;

On the bottom plate 9, two aluminum-plated cylindrical linear guides 111 are arranged in the width direction of the bottom plate 9, and two aluminum-cylinder cylindrical linear guides 111 are arranged in parallel and spaced apart from each other, and two aluminum-cylinder cylindrical linear guides 111 are disposed respectively. a slider 121, the slider 121 is slidably connected with the aluminum column cylindrical linear guide 111;

The two bearing blocks 10 are simultaneously provided with a first screw rod 611, and two ends of the first screw rod 611 are in one-to-one correspondence with the two bearing housings 10 and are rotatably connected;

The bottom plate 9 is provided with a motor mounting plate 14 , and the first driving motor 61 is mounted on the motor mounting plate 14 ;

The drive shaft of the first drive motor 61 and the first lead screw 611 are connected by a coupling;

The first screw rod 611 is screwed to a screw nut 15;

The two sliders 121 support a bracket 63;

The lead screw nut 15 is fixed below the bracket 63;

The driving shaft of the first driving motor 61 drives the first screw 611 to rotate, thereby driving the screw nut 15 to move along the length of the first screw 611, and the bracket 63 on the screw nut 15 is in two aluminum brackets. The guide of the cylindrical linear guide 111 is moved downward, thereby realizing the movement of the capsule cup 62 in the bracket 63, and the delivery of the capsule 5 is completed.

The piercing device 75 is provided with a water injection hole 74 connecting a water pipe through which the hot water is injected into the capsule;

The piercer 75 is carried by the boom 71, and the second drive motor 72 drives the boom 71 by rotating the second screw 721 to drive the striker 75 to move the upper cover of the capsule.

In detail, the third driving motor is connected with a third screw, the third screw is screwed with the paper cup 81, and the third driving motor drives the third by rotating the third screw Three screw rods move.

Further explained in connection with the working process, a plurality of capsule cases 5 with capping flanges 51 are stacked in the capsule placing tube 1 , initially, the first on the first rotating blade 2 a blocking piece 21 is located in the first opening 11, the first blocking piece 21 blocks the capsule case 5 by blocking the cover flange 51 of the capsule case 5, and then the motor 4 drives the rotating shaft to drive the The first rotating blade 2 is rotated by 90°, during which the first flap 21 is screwed out of the first opening 11 from the inside out, and since the covering of the cover flange 51 disappears, the capsule The box 5 will fall from the first notch 22, while the second rotating blade 3 is screwed into the second opening 12 from the outside to the inside, and the second flap 31 will convex the cover The edge 51 is blocked, which means that the capsule 5 that is falling is blocked by the second flap 31;

Then, the motor 4 drives the rotating shaft to drive the first rotating blade 2 and the first rotating blade 2 to rotate by 90°; the second rotating blade 3 rotates the second opening 12 from the inside out, the first The second blocking piece 31 will release the shielding of the cover flange 51; the capsule case 5 will fall from the second notch 32 to complete the dropping action;

At the same time, the first rotating blade 2 completes the obscuration of the second capsule box 5, and since the action process is repeated, the column is not repeated;

After the customer selects the type of the beverage, the control unit receives a work instruction, and the control unit issues an instruction to the capsule delivery assembly 6, the first drive motor 61 drives the capsule cup 62 to arrive at the customer loaded with the customer. At the selected capsule box dropping device, the capsule dropping device receives the blanking instruction to make a blanking action, the capsule box falls into the capsule cup 62, and the first driving motor 61 drives the loaded capsule The capsule cup 62 of the cartridge reaches the beverage brewing station, and the second driving motor 72 drives the boom 71 to drive the gland 73 to press the upper lid of the capsule box, and causes the puncher 75 to pierce the capsule box. The upper cover enters the capsule case, and the arm frame 71 drives the pressure cover 73 to press the capsule case. The needle provided at the bottom of the capsule cup 62 pierces the bottom of the capsule case; then the water injection of the connection water pipe The hole 74 injects hot water into the capsule case for brewing the beverage, and the hot water dissolves the powder of the beverage in the capsule into a liquid beverage, and the liquid beverage flows along the beverage outlet 621 into the paper cup on the pre-waiting paper cup holder 81. , The third drive motor 81 to transport a cup filled with the cup reaches the client to take a glass window for drinking.

As shown in FIG. 6-7, in the embodiment, the capsule drink machine further includes a capsule guiding device 16, which is disposed above the bracket 63 and moves together with the bracket 63;

The capsule guiding device 16 includes a support plate 17;

The support plate 17 is provided with a fourth drive motor 18;

The supporting plate 17 is provided with two rotating shafts 19 which are spaced apart from each other and are parallel to each other. Both rotating shafts 19 are rotatably connected with the supporting plate 17, and both rotating shafts 19 can rotate from the axis;

The driving shaft of the fourth driving motor 18 is connected to one of the rotating shafts 19;

Each of the two rotating shafts 19 is provided with a gear 20, and the gear 20 is fixedly connected with the rotating shaft 19;

Two of the gears 20 are meshed with each other;

The two gears 20 are respectively provided with a clamping plate 211. The two clamping plates 211 are respectively provided with a semi-conical cylinder 221, and the two semi-conical cylinders 221 are combined to form a conical funnel 23. In other embodiments, for practical purposes. The splint 211 and the gear 20 can be integrally formed;

The driving shaft of the fourth driving motor 18 drives the rotating shaft 19 connected thereto to rotate, the gear 20 on the rotating shaft 19 rotates simultaneously with the other gear 20, and the two clamping plates 211 and the semi-conical cylinders 221 on the two clamping plates 211 Closely, until the two semi-conical cylinders 221 are combined into a conical funnel 23, the capsule 5 is passed through the conical funnel 23 from the capsule placement tube 1 into the capsule cup 62, and the conical funnel 23 is paired. The capsule case 5 is guided downwardly to ensure that the capsule case 5 does not fall outside the cup of the capsule cup 62. When the capsule case 5 falls into the cup of the capsule cup 62, the drive shaft of the fourth drive motor 18 is connected thereto. The rotating shaft 19 rotates, thereby driving the two clamping plates 211 and the semi-conical cylinders 221 on the two clamping plates 211 away from each other, and a conical funnel 23 is again separated into two semi-conical cylinders 221.

The above-mentioned embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

The scope of protection of the present invention relates to the field of beverages including coffee, tea, milk tea, fruit juice, milk powder and the like.

Claims

A capsule drink machine, comprising: a capsule box dropping device, wherein the capsule box dropping device comprises a capsule box placing tube and a rotating device; wherein a side wall of the capsule box placing tube is opened along the side a circumferentially extending first opening and a second opening of the capsule placement tube, the first opening and the second opening penetrating a side wall of the capsule placement tube, the first opening and the second opening Providing a step difference along the length direction of the capsule placement tube, and a height difference between the first opening and the second opening is not less than a height value of the capsule case;

Wherein the rotating device comprises a first rotating blade and a second rotating blade;

Wherein the first rotating blade comprises two symmetrically disposed first blocking pieces, the first blocking piece has a fan shape, and two symmetrically disposed first shielding pieces are provided with two symmetrically disposed first notches ;

Wherein the second rotating blade comprises two symmetrically disposed second blocking pieces, the second blocking piece has a fan shape, and two symmetrically disposed second blocking pieces are provided with two symmetrically disposed second notches ;

Wherein the first rotating blades are correspondingly disposed in parallel with the first opening, the two symmetrically disposed first blocking pieces are rotated about an axis of symmetry, and the two first blocking pieces are cyclically circulated through the First opening;

Wherein the second rotating blade is disposed correspondingly in parallel with the second opening, the two symmetrically disposed second blocking pieces rotate around the axis of symmetry, and the two second blocking pieces are cyclically circulated through the Second opening;

Wherein the first rotating blade is disposed in parallel with the second rotating blade, and the first rotating blade is disposed at a 90° offset from the second rotating blade.
The capsule drink machine according to claim 1, wherein the angle between the first flap of the fan shape and the first notch of the fan shape is 90°;

The angle of the central angle of the second flap in the shape of a fan and the second notch in the shape of a fan is 90°.
The capsule drink machine according to any one of claims 1 to 2, wherein the first opening and the second opening are formed on the same side of the side wall of the capsule placing tube;

A rotating shaft driven by the motor is disposed through a central symmetry point of the first rotating blade and the second rotating blade, and the first rotating blade and the second rotating blade rotate coaxially.
The capsule drink machine according to any one of claims 1 to 2, further comprising: a capsule conveying assembly, a capsule breakdown unit, a paper cup conveying device, and a control unit;

Wherein the capsule delivery assembly includes a capsule cup for receiving a capsule dropped from the capsule drop device, and a first drive motor for moving the capsule cup;

Wherein the capsule breakdown assembly includes a breakdown device for penetrating the upper cover of the capsule, and a second drive motor for moving the breakdown device;

Wherein the paper cup conveying device comprises a paper cup holder, a third driving motor for moving the paper cup holder;

The control unit dispatches a designated capsule by controlling the capsule drop device, the control unit controls the capsule transport assembly to reach a capsule drop point of the capsule drop device to receive a dropped capsule, the capsule The breakdown assembly breaks through the upper cover of the capsule and brews the beverage in the capsule, the paper cup transport device moves the paper cup under the control of the control unit to receive the brewed beverage liquid, and moves the paper cup containing the beverage liquid To the cup.
The capsule drink machine according to claim 4, wherein the bottom of the capsule cup is provided with a needle for piercing the bottom of the capsule;

The capsule cup is held by a bracket, and the first driving motor is provided with a first screw threadedly coupled to the bracket, and the first driving motor drives the first screw by rotating the first screw The carriage drives the capsule cup to move;

The piercing device is provided with a water injection hole connecting a water pipe through which hot water is injected into the capsule;

The piercer is carried by a boom, and the second drive motor drives the boom to rotate the second screw to drive the trigger to move the upper cover of the capsule.
The capsule drink machine according to claim 4, wherein the third driving motor is connected with a third screw, the third screw is screwed with the paper cup, and the third driving motor passes Rotating the third screw rod drives the third screw rod to move.
The capsule beverage machine according to claim 4, wherein the capsule conveying assembly comprises a bottom plate, wherein the bottom plate is provided with two bearing seats in the longitudinal direction of the bottom plate, and the two bearing seats are arranged parallel to each other and spaced apart from each other on the bottom plate. Two linear guide rails with aluminum cylinders are arranged in the width direction of the bottom plate, two aluminum linear guide rails are arranged parallel to each other and spaced apart, and two aluminum linear cylindrical guide rails are respectively provided with a slider, a slider and an aluminum strip. The cylindrical guide rails are slidably connected, and the two bearing seats are simultaneously provided with a first screw rod. The two ends of the first screw rod are in one-to-one correspondence with the two bearing housings, and the motor is mounted on the bottom plate. a driving motor is mounted on the motor mounting plate, the driving shaft of the first driving motor is connected to the first screw rod through a coupling, and the first screw rod is screwed to a screw nut, and the two sliding parts are The block supports a bracket, and the lead screw nut is fixed under the bracket.
The capsule drink machine according to claim 7, wherein the capsule drink machine further comprises a capsule guiding device, the capsule guiding device is disposed above the bracket, the capsule guiding device comprises a supporting plate, the support a fourth driving motor is disposed on the board, and the supporting plate is provided with two rotating shafts which are spaced apart from each other and are parallel to each other. Both rotating shafts are rotatably connected with the supporting plate, and the two rotating shafts are rotatable from the axis, and the fourth rotating shaft The driving shaft of the driving motor is connected to one of the rotating shafts, and each of the rotating shafts is provided with a gear, the gear is fixedly connected with the rotating shaft, the two gears are meshed and connected, and the two gears are respectively provided with a clamping plate, two Each of the splints is provided with a half conical cylinder.