A cooperative work path planning and control method for automotive industry robots

Abstract

This invention discloses a collaborative operation path planning and control method for automotive industrial robots, relating to the field of path planning technology. It includes an elastic telescopic block and a slanted panel. The fixed end of the elastic telescopic block is fixedly installed inside the vehicle body, and the slanted panel is fixedly installed at the free end of the elastic telescopic block. The free end of the elastic telescopic block is fixedly connected to a connecting rod, ensuring that the wheel block's support of the vehicle body is maintained stably for a period of time, further reducing the risk of equipment damage and improving overall operational safety. The moving sponge panel directly wipes the camera in front of the vision sensor, quickly removing surface contamination after a collision, allowing the vision sensor to quickly restore its path detection and planning capabilities, avoiding prolonged robot stagnation due to visual failure, and ensuring the continuity of the work process.

Description

Technical Field

[0001] This invention relates to the field of path planning technology, specifically to a collaborative operation path planning and control method for automotive industrial robots. Background Technology

[0002] The robot collaborative operation path planning and control method is a hierarchical architecture based on multi-robot collaborative path planning (CPP) and model predictive control (MPC).

[0003] Patent publication number CN217195316U relates to a path planner. The path planner has a heat dissipation groove at its bottom side, a detachable movable door on its front, a door handle fixedly mounted on one side of the movable door, a route planning display fixedly mounted on one side of the path planner, and a detachable rotating column at the top of the path planner. A camera mounting column is detachably mounted on the top of the rotating column. The path planner, heat dissipation groove, movable door, door handle, and route planning display work together to facilitate timely opening and maintenance in case of device malfunction. The route planning display provides a clear view of the planned route, improving the device's intuitiveness and practicality.

[0004] In the aforementioned patent, the planned route can be seen intuitively through the route display, which improves the intuitiveness of the device and thus enhances its practicality. However, there are still problems. During operation after the route planning is completed, it is difficult to ensure that the camera is clean and tidy, which can easily cause movement and collisions, resulting in a great waste of time. At the same time, it is also difficult to guarantee that the camera will not be damaged when the machine is hit by a collision. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a collaborative operation path planning and control method for automotive industrial robots, solving the problems mentioned in the background section.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution: a collaborative operation path planning and control method for automotive industrial robots, the device used includes a vehicle body, a protective device for when the machine's camera is contaminated and causes an impact, the protective device further includes; A vision sensor, wherein the vision sensor is disposed on the front of the vehicle body; A connecting rod is slidably mounted on the front of the vehicle body. A slider is fixedly mounted on the front of the connecting rod. A rotating plate is rotatably mounted on the side of the slider near the connecting rod. A sliding rod is rotatably mounted on the other end of the rotating plate. An inclined plate is fixedly mounted on the top of the other end of the sliding rod. A sponge plate is fixedly mounted on the other end of the inclined plate. The sponge plate is used to clean the front of the vision sensor. The elastic telescopic column has its fixed end fixedly installed at the bottom of the vehicle body, and its free end fixedly installed with a wheel block. The wheel block is used to lift the vehicle body upward and allow it to move backward. When the vehicle body hits an obstacle on the path, it will squeeze the slider in front of the vehicle body. When the slider is squeezed, it will drive the connecting rod to move. When the slider moves, it will drive the rotating plate to slide inside the vehicle body.

[0007] According to the above technical solution, the protective device includes an elastic telescopic block and an inclined plate. The fixed end of the elastic telescopic block is fixedly installed inside the vehicle body, and the inclined plate is fixedly installed at the free end of the elastic telescopic block. The free end of the elastic telescopic block is fixedly connected to a connecting rod. When the rotating plate slides, it will drive the sliding rod to move. When the sliding rod moves, it will drive the inclined plate to move. When the inclined plate moves, it will drive the sponge plate to move.

[0008] According to the above technical solution, a friction plate is provided between the free end of the elastic telescopic block and the vehicle body, the free end of the elastic telescopic column is in contact with the inclined panel, and the slide rod is slidably installed on the front of the vehicle body. The vehicle body is equipped with a separation device inside to quickly separate the machine from the collision object in the event of a collision, and an anti-rollover device on the front of the vehicle body to prevent rollover. When the free end of the elastic telescopic block moves, it will drive the inclined panel to move. When the free end of the inclined panel moves, it will squeeze the free end of the elastic telescopic column downward.

[0009] According to the above technical solution, the separation device includes a limiting block, an elastic telescopic spring, a placement block, a gear, and a toothed plate. The limiting block is fixedly installed on the side of the sponge plate away from the connecting rod. The fixed end of the elastic telescopic spring is fixedly installed inside the vehicle body. The toothed plate is fixedly installed on the free end of the elastic telescopic spring. The placement block is fixedly installed on the front of the vehicle body. The gear is rotatably installed inside the placement block. When the free end of the elastic telescopic spring pops outward, the front wheel block will push the vehicle body upward, thus causing the vehicle body to detach from the collision object. When the elastic telescopic spring moves, it will drive the toothed plate to move.

[0010] According to the above technical solution, the separation device further includes an elastic telescopic plate, a support plate, a trapezoidal block, a reciprocating screw, and an arc-shaped block. The fixed end of the elastic telescopic plate is fixedly installed on the front of the vehicle body. The reciprocating screw rotates through the right side of the fixed end of the elastic telescopic plate and is fixedly connected to a gear. The arc-shaped block is threaded onto the circumferential surface of the reciprocating screw. The support plate is fixedly installed on the free end of the elastic telescopic plate, and the trapezoidal block is fixedly installed on the top of the support plate. When the gear rotates, it drives the reciprocating screw on the fixed end of the elastic telescopic plate to rotate. When the reciprocating screw rotates, it drives the arc-shaped block to move.

[0011] According to the above technical solution, the toothed plate meshes with the gear, and the arc-shaped block contacts the trapezoidal block. When the trapezoidal block is squeezed, it will drive the support plate at the free end of the elastic telescopic plate to move. When the support plate moves, it will squeeze the support plate towards the ground.

[0012] According to the above technical solution, the anti-rollover device includes a square rod, a movable rod, a triangular block, an arc-shaped rod, a circular box, a limiting plate, and a long rod. One end of the square rod is fixedly installed on the free end of the elastic telescopic plate, the movable rod is fixedly installed on the other end of the square rod, the triangular block is fixedly installed on the side of the movable rod away from the square rod, the circular box is rotatably installed inside the vehicle body, the long rod is fixedly installed on the circumferential surface of the circular box, the limiting plate is fixedly installed on the circumferential surface of the circular box, and the arc-shaped rod is slidably installed on the front of the vehicle body. Since the long rod is on the circular box, it will rotate to a certain extent when impacted, preventing hardware damage when the vehicle body moves backward. At the same time, the long rod will come into contact with the arc-shaped rod when it moves.

[0013] According to the above technical solution, the triangular block contacts the arc-shaped rod, the limiting plate contacts the moving rod, and the inside of the circular box is equipped with a spring. When the moving rod moves downward, it will cause the limiting plate to descend faster, thus preventing the support plate from failing to provide effective support when the friction plate between the elastic telescopic block and the vehicle body has a problem.

[0014] This invention provides a collaborative operation path planning and control method for robots in the automotive industry. It offers the following advantages: (1) This invention ensures that the wheel block supports the vehicle body stably for a period of time, further reducing the risk of equipment damage and improving overall operational safety. The moving sponge plate directly wipes the camera in front of the vision sensor, which can quickly remove the contamination on the camera surface after a collision, allowing the vision sensor to quickly restore its ability to detect and plan the path, avoiding long-term robot stagnation due to vision failure, and ensuring the continuity of the operation process.

[0015] (2) In this invention, the pop-out elastic telescopic column can use its own elastic force to push the vehicle body and quickly separate from the collision object. This can effectively reduce the continuous damage such as squeezing deformation and component wear at the collision site. The height of the support plate is greater than the height of the vehicle body wheel under the action of the wheel block, which "fixes" the vehicle body in the current position and prevents it from continuing to move due to inertia or misoperation after the collision. This eliminates the situation where the vehicle body hits other obstacles again or moves after the collision, causing further damage to the already damaged parts (such as breakage, short circuit, etc.), thus maximizing the protection of equipment safety.

[0016] (3) In this invention, when the long rod accidentally comes into contact with surrounding objects or obstacles, it can buffer the impact force through its own rotation rather than a rigid collision, thus ensuring the integrity of the equipment hardware, assisting the support plate to press more stably against the ground, ensuring that the support plate always maintains sufficient support height (greater than the wheel height), avoiding support plate failure due to friction plate failure, thereby preventing secondary damage caused by accidental movement of the vehicle body, and improving the fault tolerance and reliability of the overall support structure. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the vision sensor and wheel block structure of the present invention; Figure 3 This is a schematic diagram of the connecting rod and inclined plate structure of the present invention; Figure 4 For the present invention Figure 3 Enlarged schematic diagram of section A in the middle; Figure 5 This is a schematic diagram of the sponge board and limiting block structure of the present invention; Figure 6 This is a schematic diagram of the elastic telescopic plate and long rod structure of the present invention; Figure 7 This is a schematic diagram of the moving rod and circular box structure of the present invention.

[0018] In the diagram: 1. Vehicle body; 2. Vision sensor; 301. Connecting rod; 302. Sliding head; 303. Turning plate; 304. Sliding rod; 305. Inclined plate; 306. Sponge board; 307. Elastic telescopic block; 308. Inclined panel; 309. Elastic telescopic column; 310. Wheel block; 401. Limiting block; 402. Elastic telescopic spring column; 403. Placement block; 404. Gear; 405. Elastic telescopic plate; 406. Support plate; 407. Trapezoidal block; 408. Reciprocating lead screw; 409. Arc block; 410. Toothed plate; 501. Square rod; 502. Moving rod; 503. Triangular block; 504. Arc-shaped rod; 505. Round box; 506. Limiting plate; 507. Long rod. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1-7 One embodiment of the present invention is: a collaborative operation path planning and control method for automotive industrial robots, the device used includes a vehicle body 1, a protection device for when the machine's camera is contaminated and causes an impact, the protection device includes a protection device, the protection device further includes; Visual sensor 2 is located on the front of vehicle body 1; A connecting rod 301 is slidably mounted on the front of the vehicle body 1. A slider 302 is fixedly mounted on the front of the connecting rod 301. A rotating plate 303 is rotatably mounted on the side of the slider 302 near the connecting rod 301. A sliding rod 304 is rotatably mounted on the other end of the rotating plate 303. An inclined plate 305 is fixedly mounted on the top of the other end of the sliding rod 304. A sponge plate 306 is fixedly mounted on the other end of the inclined plate 305. The sponge plate 306 is used to clean the front of the vision sensor 2. The elastic telescopic column 309 has its fixed end fixedly installed at the bottom of the vehicle body 1, and its free end is fixedly installed with a wheel block 310. The wheel block 310 is used to lift the vehicle body 1 upward and allow it to move backward. It can quickly remove contamination from the camera surface after a collision, allowing the vision sensor 2 to quickly restore its ability to detect and plan the path, avoiding long-term robot stagnation due to vision failure, and ensuring the continuity of the operation process.

[0021] The protective device includes an elastic telescopic block 307 and an inclined plate 308. The fixed end of the elastic telescopic block 307 is fixedly installed inside the vehicle body 1, and the inclined plate 308 is fixedly installed on the free end of the elastic telescopic block 307. The free end of the elastic telescopic block 307 is fixedly connected to the connecting rod 301. When the rotating plate 303 slides, it will drive the sliding rod 304 to move. When the sliding rod 304 moves, it will drive the inclined plate 305 to move. When the inclined plate 305 moves, it will drive the sponge plate 306 to move.

[0022] A friction plate is provided between the free end of the elastic telescopic block 307 and the vehicle body 1. The free end of the elastic telescopic column 309 contacts the inclined panel 308. The slide rod 304 is slidably installed on the front of the vehicle body 1. When the free end of the elastic telescopic block 307 moves, it will drive the inclined panel 308 to move. When the free end of the inclined panel 308 moves, it will squeeze the free end of the elastic telescopic column 309 downward.

[0023] In this embodiment, the following steps are taken during operation: Visual sensor 2 is activated, detects the path to be moved, and plans the path. After the path planning is completed, visual sensor 2 controls vehicle 1 to move along the route planned by visual sensor 2. Vehicle 1 is front-wheel drive. When the camera of visual sensor 2 is contaminated, visual sensor 2 will be unable to effectively process path information. When vehicle 1 collides with an obstacle on the path, it will squeeze the slider 302 at the front of vehicle 1. When slider 302 is squeezed, it will drive connecting rod 301 to move. When slider 302 moves, it will drive rotating plate 303 to slide inside vehicle 1. When rotating plate 303 slides, it will drive sliding rod 304 to move. When sliding rod 304 moves, it will drive inclined plate 305 to move. When inclined plate 305 moves, it will drive sponge plate 306 to move. When sponge plate 306 moves, it will wipe the camera in front of visual sensor 2. Simultaneously, when the connecting rod 301 moves, it will drive the free end of the elastic telescopic block 307 to move. When the free end of the elastic telescopic block 307 moves, it will drive the inclined plate 308 to move. When the free end of the inclined plate 308 moves, it will press the free end of the elastic telescopic column 309 downward. When the free end of the elastic telescopic column 309 moves downward, it will press the wheel block 310 downward. When the wheel block 310 moves downward, it will lift the vehicle body 1 upward, so that the wheels of the vehicle body 1 do not contact the ground, preventing it from continuing to move forward and causing secondary damage during a collision. However, when the force of the connecting rod 301 disappears, the elastic telescopic block 307 will slowly pull the inclined plate 308 towards the fixed end of the elastic telescopic block 307. Since there is a friction plate between the free end of the elastic telescopic block 307 and the vehicle body 1, the retraction of the free end of the elastic telescopic block 307 will be relatively slow.

[0024] Please see Figures 1-7Based on the above embodiments, in another embodiment of the present invention, the interior of the vehicle body 1 is provided with a separation device for quickly separating the machine from the collision object in the event of a collision, and the front of the vehicle body 1 is provided with an anti-rollover device for preventing rollover. The separation device includes a limiting block 401, an elastic telescopic spring 402, a placement block 403, a gear 404, and a toothed plate 410. The limiting block 401 is fixedly installed on the side of the sponge plate 306 away from the connecting rod 301. The fixed end of the elastic telescopic spring 402 is fixedly installed inside the vehicle body 1. The toothed plate 410 is fixedly installed on the free end of the elastic telescopic spring 402. The placement block 403 is fixedly installed on the front of the vehicle body 1. The gear 404 is rotatably installed inside the placement block 403 to prevent it from continuing to move due to inertia or misoperation after a collision. This prevents the vehicle body 1 from hitting other obstacles again or from moving after a collision, which could cause further damage to already damaged parts, such as breakage or short circuits, thus maximizing equipment safety.

[0025] The separation device also includes an elastic telescopic plate 405, a support plate 406, a trapezoidal block 407, a reciprocating screw 408, and an arc-shaped block 409. The fixed end of the elastic telescopic plate 405 is fixedly installed on the front of the vehicle body 1. The reciprocating screw 408 rotates through the right side of the fixed end of the elastic telescopic plate 405 and is fixedly connected to the gear 404. The arc-shaped block 409 is threaded onto the circumferential surface of the reciprocating screw 408. The support plate 406 is fixedly installed on the free end of the elastic telescopic plate 405. The trapezoidal block 407 is fixedly installed on the top of the support plate 406. When the gear 404 rotates, it will drive the reciprocating screw 408 on the fixed end of the elastic telescopic plate 405 to rotate. When the reciprocating screw 408 rotates, it will drive the arc-shaped block 409 to move.

[0026] The toothed plate 410 meshes with the gear 404, and the arc-shaped block 409 contacts the trapezoidal block 407. When the trapezoidal block 407 is squeezed, it will drive the support plate 406 at the free end of the elastic telescopic plate 405 to move. When the support plate 406 moves, it will squeeze the support plate 406 towards the ground.

[0027] The anti-rollover device includes a square rod 501, a movable rod 502, a triangular block 503, an arc-shaped rod 504, a circular box 505, a limiting plate 506, and a long rod 507. One end of the square rod 501 is fixedly installed on the free end of the elastic telescopic plate 405. The movable rod 502 is fixedly installed on the other end of the square rod 501. The triangular block 503 is fixedly installed on the side of the movable rod 502 away from the square rod 501. The circular box 505 is rotatably installed inside the vehicle body 1. The long rod 507 is fixedly installed on the circumferential surface of the circular box 505. The limiting plate 506 is fixedly installed on the circumferential surface of the circular box 505. The arc-shaped rod 504 is slidably installed on the front of the vehicle body 1 to prevent the support plate 406 from failing due to friction plate failure, thereby preventing secondary damage caused by accidental movement of the vehicle body 1 and improving the fault tolerance and reliability of the overall support structure.

[0028] The triangular block 503 contacts the arc-shaped rod 504, the limiting plate 506 contacts the moving rod 502, and the round box 505 is equipped with a spring. When the moving rod 502 moves downward, it will make the limiting plate 506 descend faster, so as to prevent the support plate 406 from being unable to provide effective support when there is a problem with the friction plate between the elastic telescopic block 307 and the vehicle body 1.

[0029] In this embodiment, when the sponge plate 306 moves, it will drive the limiting block 401 to move. When the limiting block 401 moves, it will release the limitation on the free end of the elastic telescopic column 402. When the limitation on the free end of the elastic telescopic column 402 is released, the free end of the elastic telescopic column 402 will pop outward. When the free end of the elastic telescopic column 402 pops outward, the front wheel block 310 will push the vehicle body 1 upward, so the vehicle body 1 will be disengaged from the collision object. When the elastic telescopic spring 402 moves, it will drive the toothed plate 410 to move. When the toothed plate 410 moves, it will drive the gear 404 on the placement block 403 to rotate. When the gear 404 rotates, it will drive the reciprocating screw 408 on the fixed end of the elastic telescopic plate 405 to rotate. When the reciprocating screw 408 rotates, it will drive the arc block 409 to move. When the arc block 409 moves, it will squeeze the trapezoidal block 407. When the trapezoidal block 407 is squeezed, it will cause the support plate 406 at the free end of the elastic telescopic plate 405 to move. When the support plate 406 moves, it will squeeze the support plate 406 towards the ground. At the same time, under the action of the wheel block 310, the height of the extension is greater than the height of the wheel, so that the vehicle body 1 cannot move and prevents damage from continued movement. When the free end of the elastic telescopic plate 405 moves, it will drive the square rod 501 to move. When the square rod 501 moves, it will drive the moving rod 502 to move. When the moving rod 502 moves, it will disengage from the limiting plate 506. When the moving rod 502 disengages from the limiting plate 506, the limiting of the round box 505 will be released. When the limiting of the round box 505 is released, the long rod 507 on the round box 505 will rotate rapidly. Since the long rod 507 is on the round box 505, the long rod 507 will rotate to a certain extent when it is impacted, so as to prevent the vehicle body 1 from being damaged during the reversing movement. At the same time, when the long rod 507 moves, it will come into contact with the arc-shaped rod 504. When the long rod 507 comes into contact with the arc-shaped rod 504, it will cause the arc-shaped rod 504 to move. When the arc-shaped rod 504 moves, it will come into contact with the triangular block 503. When the arc-shaped rod 504 comes into contact with the triangular block 503, it will cause the triangular block 503 to move downward. When the triangular block 503 moves downward, it will cause the moving rod 502 to move downward. When the moving rod 502 moves downward, it will cause the limiting plate 506 to descend faster, so as to prevent the support plate 406 from being unable to provide effective support when there is a problem with the friction plate between the elastic telescopic block 307 and the vehicle body 1.

[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for collaborative operation path planning and control of automotive industrial robots, wherein the device used includes a vehicle body (1), characterized in that: A protective device for use in the event of an impact caused by contamination of the machine's camera, comprising a protective device including; A vision sensor (2) is disposed on the front of the vehicle body (1); A connecting rod (301) is slidably mounted on the front of the vehicle body (1). A slider (302) is fixedly mounted on the front of the connecting rod (301). A rotating plate (303) is rotatably mounted on the side of the slider (302) near the connecting rod (301). A sliding rod (304) is rotatably mounted on the other end of the rotating plate (303). An inclined plate (305) is fixedly mounted on the top of the other end of the sliding rod (304). A sponge plate (306) is fixedly mounted on the other end of the inclined plate (305). The sponge plate (306) is used to clean the front of the vision sensor (2). An elastic telescopic column (309) is fixedly installed at the bottom of the vehicle body (1) at its fixed end, and a wheel block (310) is fixedly installed at the free end of the elastic telescopic column (309). The wheel block (310) is used to lift the vehicle body (1) upward and allow it to move backward.

2. The collaborative operation path planning and control method for automotive industrial robots according to claim 1, characterized in that: The protective device includes an elastic telescopic block (307) and an inclined plate (308). The fixed end of the elastic telescopic block (307) is fixedly installed inside the vehicle body (1), and the inclined plate (308) is fixedly installed at the free end of the elastic telescopic block (307). The free end of the elastic telescopic block (307) is fixedly connected to the connecting rod (301).

3. The collaborative operation path planning and control method for automotive industrial robots according to claim 2, characterized in that: A friction plate is provided between the free end of the elastic telescopic block (307) and the vehicle body (1), the free end of the elastic telescopic column (309) is in contact with the inclined panel (308), and the slide rod (304) is slidably installed on the front of the vehicle body (1). The vehicle body (1) is equipped with a separation device inside to quickly separate the machine from the collision object in the event of a collision, and an anti-rollover device is provided on the front of the vehicle body (1) to prevent rollover.

4. The collaborative operation path planning and control method for automotive industrial robots according to claim 3, characterized in that: The separation device includes a limiting block (401), an elastic telescopic spring (402), a placement block (403), a gear (404), and a toothed plate (410). The limiting block (401) is fixedly installed on the side of the sponge plate (306) away from the connecting rod (301). The fixed end of the elastic telescopic spring (402) is fixedly installed inside the vehicle body (1). The toothed plate (410) is fixedly installed at the free end of the elastic telescopic spring (402). The placement block (403) is fixedly installed on the front of the vehicle body (1). The gear (404) is rotatably installed inside the placement block (403).

5. A collaborative operation path planning and control method for automotive industrial robots according to claim 4, characterized in that: The separation device further includes an elastic telescopic plate (405), a support plate (406), a trapezoidal block (407), a reciprocating screw (408), and an arc-shaped block (409). The fixed end of the elastic telescopic plate (405) is fixedly installed on the front of the vehicle body (1). The reciprocating screw (408) rotates through the right side of the fixed end of the elastic telescopic plate (405). The reciprocating screw (408) is fixedly connected to the gear (404). The arc-shaped block (409) is threaded onto the circumferential surface of the reciprocating screw (408). The support plate (406) is fixedly installed on the free end of the elastic telescopic plate (405). The trapezoidal block (407) is fixedly installed on the top of the support plate (406).

6. The collaborative operation path planning and control method for automotive industrial robots according to claim 5, characterized in that: The toothed plate (410) meshes with the gear (404), and the arc-shaped block (409) contacts the trapezoidal block (407).

7. A collaborative operation path planning and control method for automotive industrial robots according to claim 6, characterized in that: The anti-rollover device includes a square rod (501), a movable rod (502), a triangular block (503), an arc-shaped rod (504), a round box (505), a limiting plate (506), and a long rod (507). One end of the square rod (501) is fixedly installed on the free end of the elastic telescopic plate (405). The movable rod (502) is fixedly installed on the other end of the square rod (501). The triangular block (503) is fixedly installed on the side of the movable rod (502) away from the square rod (501). The round box (505) is rotatably installed inside the vehicle body (1). The long rod (507) is fixedly installed on the circumferential surface of the round box (505). The limiting plate (506) is fixedly installed on the circumferential surface of the round box (505). The arc-shaped rod (504) is slidably installed on the front of the vehicle body (1).

8. A collaborative operation path planning and control method for automotive industrial robots according to claim 7, characterized in that: The triangular block (503) contacts the arc-shaped rod (504), the limiting plate (506) contacts the moving rod (502), and the round box (505) is equipped with a spring.

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