An ultrasonic scanning microscope with real-time autofocus

Abstract

The present invention provides an ultrasonic scanning microscope capable of real-time automatic focusing, and relates to the technical field of ultrasonic scanning microscopes. The present invention includes a shell, a door panel is rotatably connected to the shell, a water tank is fixedly connected to the shell, a fixed plate is fixedly connected to the shell, a slider is slidably connected to the fixed plate, an ultrasonic transducer is fixedly connected to the slider via a cylinder, a clamping structure is provided in the water tank, the clamping structure is mainly composed of a placement plate, the placement plate is provided in the water tank, and slide grooves are respectively provided on both sides of the placement plate. The present invention solves the problem that, during scanning work, the current ultrasonic scanning microscope usually places the object to be measured directly in the water tank. As the transducer continues to move, the coupling medium is prone to large fluctuations. If the object to be measured is not limited, the position of the object to be measured is likely to move, thereby reducing the detection accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic scanning microscopes capable of real-time automatic focusing, and in particular to an ultrasonic scanning microscope capable of real-time automatic focusing. Background Art

[0002] The ultrasonic scanning microscope is a nondestructive testing device that uses ultrasound as a transmission medium to image microscopic objects. By utilizing the properties of ultrasonic pulse echoes, it stimulates a piezoelectric transducer to emit multiple ultrasonic beams, which are transmitted to the sample being tested through a coupling fluid medium. As a nondestructive testing method, it is widely used in various fields. The ultrasonic scanning microscope uses pulse echo technology, with specific acoustic components emitting and receiving short ultrasonic pulses with a high repetition rate. To form an acoustic image, the scanning mechanism needs to perform a scanning motion back and forth above the sample.

[0003] Existing technologies include patent number CN204008565U, which relates to the field of ultrasonic scanning technology. Specifically, it is a device for testing pipes and cylindrical samples using an XY two-dimensional ultrasonic scanning microscope. The device comprises a base, a pedestal, a water tank, a fixing module, a positioning module, and a transducer. The device is characterized in that a water tank is connected to the top of the base, and bases are provided on the base on the left and right sides of the water tank. Racks are provided on the left and right sides of the water tank, and a circular shaft gauge assembly is provided above the racks. A fixing module is connected to the top of the circular shaft gauge assembly, and a positioning module is connected to the front of the fixing module. The transducer is connected to the front of the positioning module via a transducer mounting block. Compared to the existing technology, the Y-axis of the original XY scanning two-dimensional ultrasonic scanning microscope is converted into a rotational motion, and the original XY scanning is converted into an XR scanning motion, where R represents rotational motion.

[0004] When using current ultrasonic scanning microscopes with real-time autofocus, workers often find that during scanning, the object to be measured is usually placed directly in a water tank. As the transducer continues to move, the coupling medium is prone to large fluctuations. If the object to be measured is not limited, the position of the object to be measured is likely to move, resulting in reduced detection accuracy. Summary of the Invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an ultrasonic scanning microscope capable of real-time automatic focusing.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: an ultrasonic scanning microscope with real-time automatic focusing, comprising a shell, a door panel rotatably connected to the shell, a water tank fixedly connected to the shell, a fixed plate fixedly connected to the shell, a slider slidably connected to the fixed plate, an ultrasonic transducer fixedly connected to the slider through a cylinder, a clamping structure is provided in the water tank, the clamping structure is mainly composed of a placement plate, the placement plate is provided in the water tank, and slide grooves are respectively provided on both sides of the placement plate, two clamping blocks are slidably connected to the two slide grooves, and a rubber pad is fixedly connected to the clamping block.

[0007] The effects achieved by the above components are as follows: a coupling medium is introduced into the water tank, the object to be tested is placed in the water tank, and the reciprocating slider drives the ultrasonic transducer to detect the object to be tested. The ultrasonic transducer emits high-frequency ultrasonic waves and receives reflected sound waves. These sound waves will produce echoes due to the difference in acoustic impedance of different media inside the object to be tested. These echoes are then captured by the detector and converted into electrical signals. By analyzing these signals, an image of the interior of the object to be tested can be constructed. The device uses autofocus algorithms to analyze the echo signals. These algorithms may be based on peak detection, gradient rise, phase contrast or other signal characteristics to determine the best focusing position. Once the best focusing position is determined, the device will automatically adjust the distance from the surface of the object to be tested by changing the ultrasonic The position of the wave transmitter and receiver relative to the sample is adjusted by starting the cylinder. The autofocus system will continuously monitor the echo signal and adjust the focal length when necessary to ensure that the image clarity is maintained throughout the scanning process. The object to be tested is placed on the placement plate, and the two clamping blocks are slid close to each other to clamp and limit the object to make its position stable. The rubber pad can prevent the rigid contact between the clamping block and the object to be tested from causing damage to it, thereby avoiding the current ultrasonic scanning microscope. During scanning work, the object to be tested is usually placed directly in the water tank. As the transducer continues to move, the coupling medium is prone to large fluctuations. If the object to be tested is not limited, the position of the object to be tested is likely to move, resulting in reduced detection accuracy.

[0008] Preferably, a bidirectional screw is rotatably connected in one of the slide grooves, the two sections of threads on the bidirectional screw are in opposite directions, and the bidirectional screw is threadedly connected to the two clamping blocks.

[0009] The effect achieved by the above components is that since the two clamping blocks slide in limited positions in the slide groove, rotating the bidirectional screw can drive the two clamping blocks to slide in opposite directions, making the clamping more stable.

[0010] Preferably, a first motor is fixedly connected to the water tank, and an output shaft of the first motor is fixedly connected to the bidirectional screw.

[0011] The effect achieved by the above components is: starting the first motor, the output shaft of the first motor drives the bidirectional screw to rotate, making the clamping operation more convenient.

[0012] Preferably, an adjustment structure is provided on the water sink, and the adjustment structure is mainly composed of a gear. The gear is rotatably connected to one side of the water sink, and the placement plate is rotatably connected to the water sink through a rotating shaft, and the gear is fixedly connected to the rotating shaft.

[0013] The effect achieved by the above components is that the placement plate can be rotated by rotating the gear, thereby changing the detection angle of the object to be tested, making the detection more comprehensive.

[0014] Preferably, a sliding groove is provided on the water trough, a rack is slidably connected to the sliding groove, and the rack is meshed with the gear.

[0015] The effects achieved by the above components are: the gear can be driven to rotate by the sliding rack, and the gear can be limited.

[0016] Preferably, a fixed block is fixedly connected to the rack, a device block is fixedly connected to the water tank, a second motor is fixedly connected to the device block, a first threaded rod is fixedly connected to the output shaft of the second motor, and the first threaded rod is threadedly connected to the fixed block.

[0017] The effect achieved by the above components is: starting the second motor, the output shaft of the second motor drives the first threaded rod to rotate, which can drive the fixed block to move, and then the rack to move, making the operation more convenient and the position more stable.

[0018] Preferably, a reciprocating structure is provided on the slider, and the reciprocating structure is mainly composed of a connecting block, the connecting block is fixedly connected to the slider, a round rod is fixedly connected to the connecting block, a rotating rod is rotatably connected to the water tank, a give way groove is provided on the rotating rod, and the give way groove is slidably connected to the round rod.

[0019] The effect achieved by the above components is that rotating the rotating rod back and forth can cause the clearance groove to drive the round rod to slide back and forth, thereby driving the slider to slide back and forth.

[0020] Preferably, a third motor is fixedly connected to the shell, a turntable is fixedly connected to the output shaft of the third motor, a limiting rod is provided on the turntable, a limiting slot is provided on the rotating rod, and the limiting slot is slidably connected to the limiting rod.

[0021] The effect achieved by the above components is: starting the third motor, the output shaft of the third motor drives the turntable to rotate, and then drives the limit rod to make a circular motion. Since the limit rod slides in the limit groove, the rotating rod can swing back and forth, making the operation more convenient.

[0022] Preferably, a rectangular block is fixedly connected to the turntable, a slide is provided on the rectangular block, and the slide is slidably connected to the limit rod.

[0023] The effect achieved by the above components is that the limiting rod can be slid to change the swing amplitude of the rotating rod, thereby changing the reciprocating path length of the slider, and further can be used for objects to be tested of different lengths.

[0024] Preferably, a second threaded rod is rotatably connected in the slideway, the second threaded rod is threadedly connected to the limit rod, a fourth motor is fixedly connected to the rectangular block, and the output shaft of the fourth motor is fixedly connected to the second threaded rod.

[0025] The effect achieved by the above components is: starting the fourth motor, the output shaft of the fourth motor drives the second threaded rod to rotate, and since the limit rod slides in the slideway, it can drive the limit rod to slide, making the adjustment operation more convenient.

[0026] Compared with the prior art, the advantages and positive effects of the present invention are that, in the present invention, by setting a clamping structure, the object to be tested is placed on the placement plate, and the two clamping blocks are slid close to each other to clamp and limit the object to be tested, so that its position is stable, and the rubber pad can prevent the clamping blocks from being damaged by the rigid contact with the object to be tested. Since the two clamping blocks slide in the limited position in the slide groove, rotating the bidirectional screw can drive the two clamping blocks to slide in opposite directions, making the clamping more stable. Starting the first motor, the output shaft of the first motor drives the bidirectional screw to rotate, making the clamping operation more convenient, thereby avoiding the current ultrasonic scanning microscope. During scanning work, the object to be tested is usually placed directly in the water tank. As the transducer continues to move, the coupling medium is prone to large fluctuations. If the object to be tested is not limited, the position of the object to be tested is likely to move, resulting in reduced detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of the three-dimensional structure of an ultrasonic scanning microscope capable of real-time auto-focusing is provided for the present invention;

[0028] Figure 2 A schematic diagram of the three-dimensional structure of an ultrasonic scanning microscope capable of real-time auto-focusing from another perspective is provided in the present invention;

[0029] Figure 3 A partial schematic diagram of a clamping structure of an ultrasonic scanning microscope capable of real-time auto-focusing proposed by the present invention;

[0030] Figure 4 A partial schematic diagram of an adjustment structure of an ultrasonic scanning microscope capable of real-time auto-focusing proposed by the present invention;

[0031] Figure 5 A partial schematic diagram of a reciprocating structure of an ultrasonic scanning microscope capable of real-time auto-focusing proposed by the present invention;

[0032] Figure 6 Another partial schematic diagram of the reciprocating structure of an ultrasonic scanning microscope capable of real-time auto-focusing is provided by the present invention.

[0033] Legend: 1. Shell; 2. Door panel; 3. Water tank; 4. Fixed plate; 5. Slider; 6. Ultrasonic transducer; 7. Clamping structure; 71. Placement plate; 72. Slide groove; 73. Clamping block; 74. Bidirectional screw; 75. First motor; 76. Rubber pad; 8. Adjustment structure; 81. Gear; 82. Rack; 83. Slide groove; 84. Fixed block; 85. Equipment block; 86. First threaded rod; 87. Second motor; 9. Reciprocating structure; 91. Connecting block; 92. Rotating rod; 93. Give way groove; 94. Round rod; 95. Turntable; 96. Limiting groove; 97. Limiting rod; 98. Third motor; 99. Rectangular block; 910. Slide; 911. Second threaded rod; 912. Fourth motor. DETAILED DESCRIPTION

[0034] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner, and thus only show components related to the present invention.

[0035] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0036] Example 1, as Figure 1 and Figure 2 As shown, an ultrasonic scanning microscope with real-time autofocus includes a shell 1, a door panel 2 is rotatably connected to the shell 1, a water tank 3 is fixedly connected to the shell 1, a fixed plate 4 is fixedly connected to the shell 1, a slider 5 is slidably connected to the fixed plate 4, and an ultrasonic transducer 6 is fixedly connected to the slider 5 via a cylinder.

[0037] Reference Figure 3, a clamping structure 7 is provided in the water tank 3, and the clamping structure 7 is mainly composed of a placement plate 71, which is provided in the water tank 3. A slide groove 72 is provided on both sides of the placement plate 71. Two clamping blocks 73 are slidably connected to the two slide grooves 72. A rubber pad 76 is fixedly connected to the clamping block 73. A coupling medium is introduced into the water tank 3, and the object to be tested is placed in the water tank 3. The reciprocating sliding slider 5 drives the ultrasonic transducer 6 to detect the object to be tested. The ultrasonic transducer 6 emits high-frequency ultrasonic waves and receives the reflected sound waves. These sound waves will be detected due to the difference in acoustic impedance of different media inside the object to be tested. Echoes are generated, which are then captured by the detector and converted into electrical signals. By analyzing these signals, an image of the interior of the object to be tested can be constructed. The device uses an autofocus algorithm to analyze the echo signals. These algorithms may be based on peak detection, gradient rise, phase contrast, or other signal characteristics to determine the optimal focus position. Once the optimal focus position is determined, the device automatically adjusts the distance from the surface of the object to be tested by changing the position of the ultrasonic transmitter and receiver relative to the sample, that is, activating the cylinder for adjustment. The autofocus system continuously monitors the echo signals and adjusts the focus when necessary to ensure that the image clarity is maintained throughout the scanning process. The object to be tested is placed on the placement plate 71, and the two clamping blocks 73 are slid close to each other to clamp and limit the object to be tested, so that its position is stable. The rubber pad 76 prevents the clamping blocks 73 from rigidly contacting the object to be tested and causing damage to it, thereby avoiding the problem that the object to be tested is usually placed directly in the water tank 3 during scanning by the current ultrasonic scanning microscope. As the transducer continues to move, the coupling medium is prone to large fluctuations. If the object to be tested is not limited, the position of the object to be tested is likely to move, resulting in reduced accuracy. To detect the accuracy of the detection, a bidirectional screw 74 is rotatably connected in a slide groove 72, and the two sections of thread on the bidirectional screw 74 are in opposite directions. The bidirectional screw 74 is threadedly connected to the two clamping blocks 73. Since the two clamping blocks 73 slide in the slide groove 72, rotating the bidirectional screw 74 can drive the two clamping blocks 73 to slide in opposite directions, making the clamping more stable. A first motor 75 is fixedly connected to the water tank 3, and the output shaft of the first motor 75 is fixedly connected to the bidirectional screw 74. Start the first motor 75, and the output shaft of the first motor 75 drives the bidirectional screw 74 to rotate, making the clamping operation more convenient.

[0038] Reference Figure 4The water tank 3 is provided with an adjustment structure 8, which is mainly composed of a gear 81. The gear 81 is rotatably connected to one side of the water tank 3. The placement plate 71 is rotatably connected to the water tank 3 through a rotating shaft. The gear 81 is fixedly connected to the rotating shaft. The placement plate 71 can be rotated by rotating the gear 81, thereby changing the detection angle of the object to be tested, making the detection more comprehensive. A sliding groove 83 is provided on the water tank 3. A rack 82 is slidably connected to the sliding groove 83. The rack 82 is meshed with the gear 81, and the gear 8 can be driven by the sliding rack 82. 1 is rotated to limit the gear 81, a fixing block 84 is fixedly connected to the rack 82, a device block 85 is fixedly connected to the water tank 3, a second motor 87 is fixedly connected to the device block 85, a first threaded rod 86 is fixedly connected to the output shaft of the second motor 87, the first threaded rod 86 is threadedly connected to the fixing block 84, and the second motor 87 is started. The output shaft of the second motor 87 drives the first threaded rod 86 to rotate, which can drive the fixing block 84 to move, thereby moving the rack 82, making the operation more convenient and the position more stable.

[0039] Reference Figure 5 and Figure 6 , a reciprocating structure 9 is provided on the slider 5, and the reciprocating structure 9 is mainly composed of a connecting block 91, which is fixedly connected to the slider 5, and a round rod 94 is fixedly connected to the connecting block 91, and a rotating rod 92 is rotatably connected to the water tank 3, and a give groove 93 is provided on the rotating rod 92, and the give groove 93 is slidably connected to the round rod 94. Rotating the rotating rod 92 back and forth can make the give groove 93 drive the round rod 94 to slide back and forth, thereby driving the slider 5 to slide back and forth, and a third motor 98 is fixedly connected to the housing 1, and a turntable 95 is fixedly connected to the output shaft of the third motor 98. A limit rod 97 is provided on the turntable 95, and a limit groove 96 is provided on the rotating rod 92, and the limit groove 96 is slidably connected to the limit rod 97. Start the third motor 98, and the output shaft of the third motor 98 drives the turntable 95 to rotate, thereby driving the limit rod 97 to do a circular motion. The rotary disk 95 is fixedly connected with a rectangular block 99, and a slide 910 is provided on the rectangular block 99. The slide 910 is slidably connected to the limit rod 97. The limit rod 97 can be slid to change the swing amplitude of the rotary rod 92, thereby changing the reciprocating path length of the slider 5. Further, for objects to be measured of different lengths, a second threaded rod 911 is rotatably connected in the slide 910, and the second threaded rod 911 is threadedly connected to the limit rod 97. A fourth motor 912 is fixedly connected to the rectangular block 99, and the output shaft of the fourth motor 912 is fixedly connected to the second threaded rod 911. When the fourth motor 912 is started, the output shaft of the fourth motor 912 drives the second threaded rod 911 to rotate. Since the limit rod 97 slides in the slide 910, the limit rod 97 can be driven to slide, making the adjustment operation more convenient.

[0040] Working principle: a coupling medium is introduced into the water tank 3, the object to be tested is placed in the water tank 3, and the reciprocating slider 5 drives the ultrasonic transducer 6 to detect the object to be tested. The ultrasonic transducer 6 emits high-frequency ultrasonic waves and receives the reflected sound waves. These sound waves will generate echoes due to the difference in acoustic impedance of different media inside the object to be tested. These echoes are then captured by the detector and converted into electrical signals. By analyzing these signals, an image of the interior of the object to be tested can be constructed. The device uses autofocus algorithms to analyze the echo signals. These algorithms may be based on peak detection, gradient rise, phase contrast or other signal characteristics to determine the best focusing position. Once the best focusing position is determined, the device will automatically adjust the distance from the surface of the object to be tested by changing the ultrasonic emission. The position of the transmitter and receiver relative to the sample is adjusted by starting the cylinder. The autofocus system will continuously monitor the echo signal and adjust the focal length when necessary to ensure that the image clarity is maintained throughout the scanning process. The object to be tested is placed on the placement plate 71, and the two clamping blocks 73 are slid close to each other to clamp and limit the object to be tested to stabilize its position. The rubber pad 76 can prevent the clamping block 73 from causing damage to the object to be tested due to rigid contact with the object to be tested, thereby avoiding the current ultrasonic scanning microscope. During scanning work, the object to be tested is usually placed directly in the water tank 3. As the transducer continues to move, the coupling medium is prone to large fluctuations. If the object to be tested is not limited, the position of the object to be tested is likely to move, resulting in reduced detection efficiency. The accuracy is improved. Since the two clamping blocks 73 slide in the limited position in the slide groove 72, rotating the bidirectional screw 74 can drive the two clamping blocks 73 to slide in the opposite directions, making the clamping more stable. Start the first motor 75, and the output shaft of the first motor 75 drives the bidirectional screw 74 to rotate, making the clamping operation more convenient. The placement plate 71 can be driven to rotate by rotating the gear 81, thereby changing the detection angle of the object to be measured, making the detection more comprehensive. The gear 81 can be driven to rotate by the sliding rack 82, and the gear 81 can be limited. Start the second motor 87, and the output shaft of the second motor 87 drives the first threaded rod 86 to rotate, which can drive the fixed block 84 to move, thereby moving the rack 82, making the operation more convenient and the position more stable. Rotating the rotating rod back and forth 92 can make the yield groove 93 drive the round rod 94 to slide back and forth, and then drive the slider 5 to slide back and forth, start the third motor 98, and the output shaft of the third motor 98 drives the turntable 95 to rotate, and then drives the limit rod 97 to do circular motion. Since the limit rod 97 slides in the limit groove 96, the rotating rod 92 can be swung back and forth, making the operation more convenient. The limit rod 97 can be slid to change the swing amplitude of the rotating rod 92, and then change the reciprocating path length of the slider 5. Further, for objects to be tested of different lengths, the fourth motor 912 can be started, and the output shaft of the fourth motor 912 drives the second threaded rod 911 to rotate. Since the limit rod 97 slides in the slide 910, it can drive the limit rod 97 to slide, making the adjustment operation more convenient.

[0041] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification of the above embodiment based on the technical essence of the present invention that does not deviate from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. An ultrasonic scanning microscope capable of real-time autofocus, comprising a housing (1), characterized in that: The housing (1) is rotatably connected to a door panel (2), the housing (1) is fixedly connected to a water tank (3), the housing (1) is fixedly connected to a fixed plate (4), the fixed plate (4) is slidably connected to a slider (5), the slider (5) is fixedly connected to an ultrasonic transducer (6) via a cylinder, a clamping structure (7) is provided in the water tank (3), the clamping structure (7) mainly consists of a placement plate (71), the placement plate (71) is provided in the water tank (3), and slide grooves (72) are respectively provided on both sides of the placement plate (71), two clamping blocks (73) are slidably connected to the two slide grooves (72), and a rubber pad (76) is fixedly connected to the clamping block (73); A bidirectional screw (74) is rotatably connected in one of the slide grooves (72), two sections of threads on the bidirectional screw (74) are in opposite directions, and the bidirectional screw (74) is threadedly connected to the two clamping blocks (73); A first motor (75) is fixedly connected to the water tank (3), and an output shaft of the first motor (75) is fixedly connected to the bidirectional screw (74); The water tank (3) is provided with an adjustment structure (8), the adjustment structure (8) mainly consisting of a gear (81), the gear (81) being rotatably connected to one side of the water tank (3), the placement plate (71) being rotatably connected to the water tank (3) via a rotating shaft, and the gear (81) being fixedly connected to the rotating shaft; The water tank (3) is provided with a sliding groove (83), the sliding groove (83) is slidably connected to a rack (82), and the rack (82) is meshedly connected to the gear (81); A fixing block (84) is fixedly connected to the rack (82), a device block (85) is fixedly connected to the water tank (3), a second motor (87) is fixedly connected to the device block (85), a first threaded rod (86) is fixedly connected to the output shaft of the second motor (87), and the first threaded rod (86) is threadedly connected to the fixing block (84); The slider (5) is provided with a reciprocating structure (9), the reciprocating structure (9) mainly consisting of a connecting block (91), the connecting block (91) is fixedly connected to the slider (5), a round rod (94) is fixedly connected to the connecting block (91), a rotating rod (92) is rotatably connected to the water tank (3), a yielding groove (93) is provided on the rotating rod (92), and the yielding groove (93) is slidably connected to the round rod (94); A third motor (98) is fixedly connected to the housing (1), a turntable (95) is fixedly connected to the output shaft of the third motor (98), a limiting rod (97) is provided on the turntable (95), a limiting slot (96) is provided on the rotating rod (92), and the limiting slot (96) is slidably connected to the limiting rod (97).

2. The ultrasonic scanning microscope capable of real-time autofocus according to claim 1, characterized in that: A rectangular block (99) is fixedly connected to the rotating disk (95), a slideway (910) is provided on the rectangular block (99), and the slideway (910) is slidably connected to the limiting rod (97).

3. The ultrasonic scanning microscope capable of real-time autofocus according to claim 2, characterized in that: A second threaded rod (911) is rotatably connected to the slideway (910), the second threaded rod (911) is threadably connected to the limiting rod (97), a fourth motor (912) is fixedly connected to the rectangular block (99), and an output shaft of the fourth motor (912) is fixedly connected to the second threaded rod (911).

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