A pipeline inspection robot capable of surmounting obstacles

Abstract

The present invention discloses a pipeline inspection robot capable of overcoming obstacles, comprising a pipeline member, a carrier slidably arranged inside the pipeline member, a detector provided at one end of the carrier in the feeding direction, and a feeding unit comprising a first feeding assembly provided on the outside of the carrier for driving the carrier forward along the pipeline member, a guide mechanism provided at the upper end of the first feeding assembly close to the detector for switching the angle of the feeding assembly, and a second feeding assembly for supporting the carrier connected to one end located outside the carrier and away from the detector; and an obstacle-crossing unit. The first feeding assembly drives the lifting assembly to move upward along the mounting frame until it contacts the inner wall of the pipeline member. The lifting assembly then rotates relative to the inner wall of the pipeline member, driving the guide mechanism to rotate relative to the obstruction, thereby completing the obstacle avoidance work and achieving the effect of automatically avoiding obstacles when encountering larger obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and in particular to a pipeline detection robot capable of traversing obstacles. Background Art

[0002] After long-term use, the inner wall of the drainage pipe may accumulate some silt or garbage, and some parts may be damaged. Therefore, when the pipe is in use, it is necessary to regularly inspect the inner wall of the pipe to detect damage or accumulation of residues in time. The commonly used pipeline inspection device is the pipeline inspection robot.

[0003] When existing pipeline inspection robots encounter small blockages adhered to the inner wall of the pipeline during the inspection process, in order to be able to continue to advance along the pipeline, they usually directly press over the blockage, then continue to advance and continuously inspect the inner wall of the pipeline. However, when encountering larger blockages, due to the limited radial space of the pipeline, the pipeline robot cannot directly press over the blockage, and thus cannot continuously inspect the pipeline. Large blockages need to be manually cleared before inspection, which is time-consuming and labor-intensive. Therefore, it is necessary to invent a pipeline inspection robot that can overcome obstacles to solve this problem.

[0004] The above content is only used to assist in understanding the technical solution of the present invention and does not mean that the above content is the closest prior art. Summary of the Invention

[0005] The purpose of the present invention is to provide an obstacle-surmounting pipeline inspection robot to solve the problem that the pipeline inspection robot proposed in the above background technology cannot automatically overcome obstacles when encountering large blockages in the pipeline, resulting in the inability to continuously inspect the pipeline.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A pipeline inspection robot capable of overcoming obstacles comprises a pipeline member, a carrier slidably arranged inside the pipeline member, a detector being provided at one end of the carrier in a feeding direction, and further comprising:

[0008] The feeding unit includes a first feeding assembly provided on the outer side of the carrier for driving the carrier forward along the pipeline, a guide mechanism provided on the upper end of the first feeding assembly near the detector for switching the angle of the feeding assembly, and a second feeding assembly for supporting the carrier connected to the upper end of the outer side of the carrier away from the detector;

[0009] The obstacle crossing unit includes a lifting component arranged on the outside of the carrier and a retreat component arranged on one side of the first feeding component for triggering the lifting component to lift up inside the pipeline.

[0010] Furthermore, the feeding unit further includes:

[0011] There are at least three guide rods connected to the outside of the carrier at equal angles, and a guide rail is provided inside the guide rods;

[0012] The pendulum block is slidably sleeved on the upper end of the guide rod and limited by the limit shaft and the guide rail, and is used to adjust the position of the first feeding assembly. The first feeding assembly is provided with at least three groups and each group corresponds to the pendulum block one by one.

[0013] Furthermore, the first feeding assembly includes:

[0014] A support block connected to the upper end of the pendulum block and having a recess therein;

[0015] A lifting rod is slidably inserted into the retreat groove, with its lower end located inside the retreat groove and connected to a preload spring;

[0016] The first driving wheel is rotatably connected to the upper end of the lifting rod and is used for driving the carrier to move forward along the pipeline by contacting the inner wall of the pipeline.

[0017] Furthermore, the guiding mechanism includes:

[0018] a mounting block connected to the upper end of the support block and located on one side of the lifting rod;

[0019] There are multiple groups of guide wheels from top to bottom along the side of the mounting block located in the forward direction of the carrier, which are used to switch the angle of the carrier when encountering larger blockages.

[0020] Furthermore, the obstacle crossing unit includes:

[0021] A mounting frame is connected to the upper end of the guide rod near the second feed assembly, a second guide groove is provided inside the mounting frame near the upper end, and a first guide groove is provided inside the mounting frame and at the lower end of the second guide groove;

[0022] A retreat assembly, one end of which is connected to one side of the second feeding assembly and the other end of which passes through the mounting frame and is connected to one side of the pendulum block;

[0023] The lifting assembly is arranged inside the mounting frame and is used to switch the angle of the carrier when a large obstruction is encountered in the pipeline.

[0024] Furthermore, the abdication component includes:

[0025] a guide cylinder connected to one side of the second feeding assembly;

[0026] A collar fixedly inserted into the inner side of the guide cylinder;

[0027] A guide shaft is slidably inserted into the interior of the collar and is limited by the collar;

[0028] A retreat spring, sleeved on the outside of the guide shaft, for resetting the pendulum block;

[0029] The top plate is connected to the guide shaft at one end and to the pendulum block at the other end.

[0030] Furthermore, the lifting assembly includes:

[0031] a telescopic plate, slidably inserted into the second guide groove, with its lower end inclined;

[0032] A retreat spring, sleeved on the outside of the guide shaft, for resetting the pendulum block;

[0033] A limiting block is fixedly sleeved on the outside of the telescopic plate and is used to limit the telescopic plate inside the second guide groove;

[0034] a return spring, sleeved on the outside of the telescopic plate and located inside the second guide groove;

[0035] A carrier block is connected to the upper end of the telescopic plate, and the top of the carrier block is rotatably connected to a second driving wheel;

[0036] a roller rotatably connected to the lower end of the telescopic plate;

[0037] A first contact point is connected to the lower side of the telescopic plate;

[0038] The tightening mechanism is arranged inside the first guide groove and located at the lower end of the telescopic plate.

[0039] Furthermore, the tightening mechanism includes:

[0040] A top block is slidably inserted into the first guide groove, and an upper end of the top block is provided with an inclined surface for contacting the bottom of the roller;

[0041] a second contact connected to the top of the inclined surface and configured to be electrically connected to the first contact;

[0042] A push rod, one end of which is connected to the top block and the other end of which is connected to the swing block, is used to drive the top block to move.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The present invention uses a guide mechanism to push against one side of the obstruction, and the obstruction drives the first feeding assembly to move through the guide mechanism, and the first feeding assembly drives the lifting assembly to move upward along the mounting frame until it contacts the inner wall of the pipe member, and then the lifting assembly rotates relative to the inner wall of the pipe member to drive the guide mechanism to rotate relative to the obstruction, completing the obstacle avoidance work, thereby achieving the effect of automatically avoiding obstacles when encountering larger obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0046] Figure 2 This is a diagram showing the coordination relationship between the feeding unit and the obstacle crossing unit of the present invention;

[0047] Figure 3 Schematic diagram of the internal structure of the feeding unit of the present invention;

[0048] Figure 4 This is a working state diagram of the obstacle crossing unit of the present invention;

[0049] Figure 5 For the present invention Figure 4 Enlarged view of point A in the middle;

[0050] Figure 6 This is a diagram showing the coordination between the retreat assembly and the lift assembly of the present invention.

[0051] Reference numerals: 1, feeding unit; 2, obstacle crossing unit; 100, pipeline member; 101, obstruction; 102, carrier; 103, detector; 11, guide rod; 111, guide rail; 12, swing block; 121, limit shaft; 13, first feeding assembly; 131, support block; 132, retreat groove; 133, lifting rod; 134, preload spring; 135, first driving wheel; 14, guide mechanism; 141, mounting block; 142, guide wheel; 15, second feeding assembly; 21, mounting bracket; 2 11. First guide groove; 212. Second guide groove; 22. Retraction assembly; 221. Guide cylinder; 222. Sleeve ring; 223. Guide shaft; 224. Retraction spring; 225. Top plate; 23. Lifting assembly; 231. Telescopic plate; 232. Return spring; 233. Carrying block; 234. Second driving wheel; 235. Limiting block; 236. Roller; 237. First contact; 238. Tightening mechanism; 2381. Top block; 2382. Inclined surface; 2383. Push rod; 2384. Second contact. DETAILED DESCRIPTION

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0053] Example 1

[0054] See also Figure 1-6 , the present invention provides a technical solution:

[0055] A pipeline inspection robot capable of overcoming obstacles includes a pipeline member 100, a carrier 102 slidably disposed inside the pipeline member 100, a detector 103 disposed at one end of the carrier 102 in the feeding direction, and further includes:

[0056] The feeding unit 1 includes a first feeding assembly 13 disposed outside the carrier 102 for driving the carrier 102 forward along the pipe 100, a guide mechanism 14 disposed at an upper end of the first feeding assembly 13 near the detector 103 for switching the angle of the feeding assembly, and a second feeding assembly 15 connected to an end located outside the carrier 102 and away from the detector 103 for supporting the carrier 102;

[0057] The obstacle crossing unit 2 includes a lifting component 23 provided on the outside of the carrier 102 and a retreat component 22 provided on one side of the first feeding component 13 for triggering the lifting component 23 to lift up inside the pipe member 100 .

[0058] It should be supplemented that the second feeding assembly 15 has the same internal structure as the first feeding assembly 13 .

[0059] It should be noted that during the inspection process of the pipe fitting 100, the first feeding assembly 13 and the second feeding assembly 15 cooperate to drive the carrier 102 to move along the inside of the pipe fitting 100, and the carrier 102 drives the detector 103 to move along the inside of the pipe fitting 100 and perform inspection work. When encountering a larger blockage 101, the guide mechanism 14 is pressed against one side of the blockage 101, and the blockage 101 drives the first feeding assembly 13 to move through the guide mechanism 14. The first feeding assembly 13 drives the lifting assembly 23 to move upward along the mounting frame 21 until it contacts the inner wall of the pipe fitting 100, and then the lifting assembly 23 rotates relative to the inner wall of the pipe fitting 100, driving the guide mechanism 14 to rotate relative to the blockage 101, completing the obstacle avoidance work, thereby achieving the effect of automatically avoiding obstacles when encountering larger obstacles.

[0060] As an improvement, Figure 2 As shown, the feeding unit 1 also includes:

[0061] The guide rods 11 are provided in at least three groups and are connected to the outside of the carrier 102 at equal angles, and a guide rail 111 is provided inside the guide rods 11;

[0062] The pendulum block 12 is slidably sleeved on the upper end of the guide rod 11 and limited by the limit shaft 121 and the guide rail 111, and is used to adjust the position of the first feeding assembly 13. The first feeding assembly 13 is provided with at least three groups and each group corresponds to the pendulum block 12 one by one.

[0063] Further, such as Figure 3-4 As shown, the first feeding assembly 13 includes:

[0064] The support block 131 is connected to the upper end of the pendulum block 12 and has a recess 132 therein;

[0065] The lifting rod 133 is slidably inserted into the retreat groove 132, and the lower end of the lifting rod 133 is located inside the retreat groove 132 and is connected to the pre-tightening spring 134;

[0066] A first driving wheel 135 is rotatably connected to the upper end of the lifting rod 133 and is used to drive the carrier 102 to move forward along the pipeline by contacting the inner wall of the pipeline member 100;

[0067] A driving motor for driving the first driving wheel 135 to rotate is provided on one side of the first driving wheel 135 and inside the lifting rod 133 .

[0068] Furthermore, if Figure 4 As shown, the guide mechanism 14 includes:

[0069] A mounting block 141 connected to the upper end of the support block 131 and located on one side of the lifting rod 133;

[0070] The guide wheels 142 are provided in multiple groups from top to bottom along one side of the mounting block 141 in the forward direction of the carrier 102 , and are used to switch the angle of the carrier 102 when encountering a larger blockage 101 .

[0071] As an improvement, Figure 4-6 As shown, the obstacle crossing unit 2 includes:

[0072] A mounting frame 21 is connected to the upper end of the guide rod 11 near the second feed assembly 15. A second guide groove 212 is provided inside the mounting frame 21 and at the lower end of the second guide groove 212. A first guide groove 211 is provided inside the mounting frame 21;

[0073] A retreat assembly 22, one end of which is connected to one side of the second feeding assembly 15 and the other end of which passes through the mounting frame 21 and is connected to one side of the pendulum block 12;

[0074] The lifting assembly 23 is disposed inside the mounting frame 21 and is used to switch the angle of the carrier 102 when a larger obstruction 101 is encountered in the pipe member 100 .

[0075] Furthermore, the retreat component 22 includes:

[0076] A guide cylinder 221 is connected to one side of the second feeding assembly 15;

[0077] The collar 222 is fixedly inserted into the inner side of the guide tube 221;

[0078] The guide shaft 223 is slidably inserted into the collar 222 and is limited by the collar 222;

[0079] One end of the top plate 225 is connected to the guide shaft 223 , and the other end is connected to the pendulum block 12 .

[0080] Furthermore, if Figure 5 As shown, the lifting assembly 23 includes:

[0081] The telescopic plate 231 is slidably inserted into the second guide groove 212, and its lower end is inclined;

[0082] A limiting block 235 is fixedly sleeved on the outside of the telescopic plate 231 and is used to limit the telescopic plate 231 in the second guide groove 212;

[0083] A return spring 232 is sleeved on the outside of the telescopic plate 231 and located inside the second guide groove 212;

[0084] The carrier block 233 is connected to the upper end of the telescopic plate 231, and the top thereof is rotatably connected to the second driving wheel 234;

[0085] A roller 236 rotatably connected to the lower end of the telescopic plate 231 ;

[0086] The first contact 237 is connected to the lower side of the telescopic plate 231;

[0087] The tightening mechanism 238 is disposed inside the first guide groove 211 and located at the lower end of the telescopic plate 231 .

[0088] It should be supplemented that a driving motor is provided on one side of the second driving wheel 234 and inside the carrier block 233 . When the first contact 237 contacts the second contact 2384 , the driving motor drives the second driving wheel 234 to rotate.

[0089] Among them, such as Figure 5 As shown, the tightening mechanism 238 includes:

[0090] A top block 2381 is slidably inserted into the first guide groove 211, and an upper end of the top block 2381 is provided with an inclined surface 2382 for contacting the bottom of the roller 236;

[0091] a second contact 2384 connected to the top of the inclined surface 2382 for electrically connecting to the first contact 237;

[0092] The push rod 2383 has one end connected to the top block 2381 and the other end connected to the pendulum block 12, and is used to drive the top block 2381 to move.

[0093] It should be added that, in the present invention, the friction force when the second driving wheel 234 presses against the inner wall of the pipe member 100 is greater than the friction force when the first driving wheel 135 presses against the inner wall of the pipe member 100 .

[0094] It should be noted that, in the specific implementation process of the present invention, Figure 1-3 As shown, the pipeline robot is placed as a whole inside the pipeline member 100. Initially, the second driving wheel 234 does not contact the inner wall of the pipeline member 100, and only the top of the second feeding assembly 15 and the top of the first driving wheel 135 are in contact with the inner wall of the pipeline member 100. Under the action of the preload spring 134, the first driving wheel 135 is in a tight state against the inner wall of the pipeline member 100. The motor on one side of the first driving wheel 135 is started, and the motor drives the lifting rod 133 to move through the first driving wheel 135. The lifting rod 133 is moved by the support block 131 on the swing block 12. The guide rod 11 is driven downward to move, and the guide rod 11 drives the detector 103 to move along the inside of the pipe member 100 through the carrier 102. When encountering a small obstruction 101, the first driving wheel 135 directly presses over the obstruction 101. When pressing over the small obstruction 101, the first driving wheel 135 drives the lifting rod 133 to compress the preload spring 134 downward. The compressed length of the preload spring 134 is used to offset the height of the first driving wheel 135 lifted by the small obstruction 101, thereby achieving the effect of automatically passing over the small obstruction 101.

[0095] like Figure 4-6As shown, when encountering a larger obstruction 101, when the first driving wheel 135 is about to roll before the obstruction 101, due to the larger protrusion of the obstruction 101, the obstruction 101 will first hit the guide wheel 142, and in the subsequent process that the first driving wheel 135 continues to rotate along the inner wall of the pipe member 100, the obstruction 101 drives the mounting block 141 to move through the guide wheel 142, and the mounting block 141 drives the pendulum block 12 to move along the guide rod 11 through the support block 131, and the pendulum block 12 drives the top block 2381 along one side of the first guide groove 211 through the push rod 2383. At the same time, the pendulum block 12 also compresses the retreat spring 224 through the top plate 225, and the top block 2381 cooperates with the roller 236 through the inclined surface 2382 to drive the telescopic plate 231 to move upward along the second guide groove 212 and gradually compress the reset spring 232. When the first driving wheel 135 continues to rotate along the inner wall of the pipe member 100, the obstruction 101 drives the mounting block 141 to move through the guide wheel 142, and the mounting block 141 drives the pendulum block 12 to move along the guide rod 11 through the support block 131. The pendulum block 12 drives the top block 2381 along the one side of the first guide groove 211 through the push rod 2383. At the same time, the pendulum block 12 also compresses the retreat spring 224 through the top plate 225, and the top block 2381 cooperates with the roller 236 through the inclined surface 2382 to drive the telescopic plate 231 to move upward along the second guide groove 212 and When the second contact point 2384 moves to contact the first contact point 237, the telescopic plate 231 drives the second driving wheel 234 to the inner wall of the pipe member 100 through the carrier block 233, so that when the second contact point 2384 contacts the first contact point 237, the motor on one side of the second driving wheel 234 is turned on, so that the second driving wheel 234 starts to rotate along the inner wall of the pipe member 100, and the second driving wheel 234 drives the mounting frame 21 to rotate under the action of the carrier block 233. The mounting frame 21 drives the pendulum block 12 to rotate through the guide rod 11, and the pendulum block 12 drives the guide wheel 142 to rotate through the first feeding assembly 13, so that the angle of the mounting block 141 is switched. When the guide wheel 142 completely rolls over the obstruction 101, the obstacle overcoming work is completed, thereby achieving the effect of enabling the pipeline robot to automatically overcome obstacles when encountering a large obstruction 101;

[0096] After the obstacle crossing work is completed, the resistance of the blockage 101 on one side of the guide wheel 142 disappears, and the retreat spring 224 drives the pendulum block 12 to move to the reset position along the upper end of the guide rod 11 through the top plate 225. The pendulum block 12 drives the top block 2381 to move to the initial position through the push rod 2383, and the second contact 2384 is disengaged from the first contact 237. The telescopic plate 231 moves downward along the second guide groove 212 to the reset position under the action of the reset spring 232, and the second drive wheel 234 is separated from the inner wall of the pipe member 100.

[0097] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0098] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline inspection robot capable of overcoming obstacles, comprising a pipeline member (100), a carrier (102) slidably arranged inside the pipeline member (100), a detector (103) being provided at one end of the carrier (102) in the feeding direction, and characterized in that: Also includes: A feeding unit (1) comprises a first feeding assembly (13) provided on the outside of the carrier (102) for driving the carrier (102) forward along the pipe member (100), a guide mechanism (14) provided on the upper end of the first feeding assembly (13) near the detector (103) for switching the angle of the feeding assembly, and a second feeding assembly (15) for supporting the carrier (102) connected to an end located on the outside of the carrier (102) and away from the detector (103); An obstacle crossing unit (2) comprises a lifting assembly (23) provided on the outside of the carrier (102), and a retreat assembly (22) provided on one side of the first feeding assembly (13) for triggering the lifting assembly (23) to lift up inside the pipe member (100); The feeding unit (1) further comprises: Guide rods (11), provided with at least three groups and connected at equal angles to the outside of the carrier (102), with guide rails (111) running through the inside thereof; A pendulum block (12) is slidably sleeved on the upper end of the guide rod (11) and is limited by a limiting shaft (121) and the guide rail (111), and is used to adjust the position of the first feeding assembly (13). The first feeding assembly (13) is provided with at least three groups, and each group corresponds to the pendulum block (12) one by one. The obstacle crossing unit (2) comprises: A mounting frame (21) is connected to the upper end of the guide rod (11) near the second feeding assembly (15); a second guide groove (212) is provided inside the mounting frame (21) and at the upper end thereof; and a first guide groove (211) is provided inside the mounting frame (21) and at the lower end of the second guide groove (212); A retreat assembly (22), one end of which is connected to one side of the second feeding assembly (15) and the other end of which passes through the mounting frame (21) and is connected to one side of the pendulum block (12); A lifting assembly (23) is provided inside the mounting frame (21) and is used to switch the angle of the carrier (102) when a large obstruction (101) is encountered in the pipe member (100); The lifting assembly (23) comprises: A telescopic plate (231) is slidably inserted into the second guide groove (212), and its lower end is inclined; A retreat spring (224) is sleeved on the outside of the guide shaft (223) and is used to reset the pendulum block (12); a limiting block (235) fixedly sleeved on the outside of the telescopic plate (231) and used for limiting the telescopic plate (231) within the second guide groove (212); a return spring (232), sleeved on the outside of the telescopic plate (231) and located inside the second guide groove (212); A carrier block (233) is connected to the upper end of the telescopic plate (231), and a top portion thereof is rotatably connected to a second driving wheel (234); a roller (236) rotatably connected to the lower end of the telescopic plate (231); A first contact (237) is connected to the lower side of the telescopic plate (231); A tightening mechanism (238) is provided inside the first guide groove (211) and is located at the lower end of the telescopic plate (231); The guide mechanism (14) is pressed against one side of the obstruction (101), and the obstruction (101) drives the first feeding assembly (13) to move through the guide mechanism (14), and the first feeding assembly (13) drives the lifting assembly (23) to move upward along the mounting frame (21) until it contacts the inner wall of the pipe member (100), and then the lifting assembly (23) rotates relative to the inner wall of the pipe member (100) to drive the guide mechanism (14) to rotate relative to the obstruction (101), thereby completing the obstacle avoidance work.

2. The obstacle-surmountable pipeline inspection robot according to claim 1, characterized in that: The first feeding assembly (13) comprises: A support block (131) is connected to the upper end of the pendulum block (12) and has a retreat groove (132) therein; A lifting rod (133) is slidably inserted into the retreat groove (132), with its lower end located inside the retreat groove (132) and connected to a preload spring (134); The first driving wheel (135) is rotatably connected to the upper end of the lifting rod (133) and is used to drive the carrier (102) to move forward along the pipeline by contacting the inner wall of the pipeline member (100).

3. The obstacle-surmountable pipeline inspection robot according to claim 2, characterized in that: The guide mechanism (14) comprises: A mounting block (141) connected to the upper end of the support block (131) and located on one side of the lifting rod (133); The guide wheels (142) are provided in multiple groups from top to bottom along one side of the mounting block (141) in the forward direction of the carrier (102), and are used to switch the angle of the carrier (102) when encountering a larger blockage (101).

4. The obstacle-surmountable pipeline inspection robot according to claim 1, characterized in that: The retreat component (22) comprises: A guide cylinder (221) connected to one side of the second feeding assembly (15); A collar (222) is fixedly inserted into the inner side of the guide tube (221); The guide shaft (223) is slidably inserted into the interior of the collar (222) and is limited by the collar (222); The top plate (225) has one end connected to the guide shaft (223) and the other end connected to the pendulum block (12).

5. The obstacle-surmountable pipeline inspection robot according to claim 1, characterized in that: The tightening mechanism (238) comprises: A top block (2381) is slidably inserted into the first guide groove (211), and an upper end thereof is provided with an inclined surface (2382) for contacting the bottom of the roller (236); a second contact (2384), connected to the top of the inclined surface (2382), for electrically connecting to the first contact (237); A push rod (2383) is connected to the top block (2381) at one end and to the pendulum block (12) at the other end, and is used to drive the top block (2381) to move.

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