Comb-tooth-shaped sealing structure of negative-pressure adsorption crawling robot

Abstract

The invention relates to the technical field of crawling robots, and discloses a negative pressure adsorption crawling robot comb tooth-shaped sealing structure which comprises a suction cup support and a comb tooth sealing structure for auxiliary sealing, and the bottom face of the comb tooth sealing structure is connected with an auxiliary pressing strip for matched sealing. Adjusting assemblies for adjusting and matching the positions of the comb tooth sealing structures are arranged in the square grooves, and air injection pipes are arranged at the positions, corresponding to the middle ends of the square grooves, of the top face of the extension ring. According to the comb-tooth-shaped sealing structure of the negative-pressure adsorption crawling robot, when downward concave points appear in the external walking environment, under the action of an elastic shifting piece, the comb-tooth-shaped sealing structure in the corresponding area is triggered, meanwhile, an electromagnet is started, the magnetism of the electromagnet is set to be the same as that of a movable column, the movable column is promoted to drive the comb-tooth-shaped sealing structure to rotate downwards, and therefore the negative-pressure adsorption crawling robot is sealed. And then the auxiliary pressing strip is driven to move downwards, and then the sealing bins in all the comb tooth sealing structures are unfolded in a matched mode, so that sealing is completed, and sealing of the downward concave points through the auxiliary pressing strip is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of crawling robots, and in particular to a comb-tooth-shaped sealing structure of a negative pressure adsorption crawling robot. Background Art

[0002] In the inspection of transportation infrastructure structures, concrete and steel structures are the most widely used and consumed building materials. They are widely used in the construction of roads, bridges and other infrastructure, and are also the focus of inspection work. Negative pressure wall climbing robots usually use vacuum suction cups to absorb walls.

[0003] For example, patent number CN 201849551 U discloses a negative pressure adsorption device for a robot. The negative pressure adsorption device for the robot includes a fan motor and a negative pressure generating cavity; the fan motor is installed on the bottom plate of the fan motor and fixed to the negative pressure generating cavity with a motor pressure plate. The negative pressure generating cavity is configured as an upper part of the negative pressure generating cavity and a lower part of the negative pressure generating cavity; the upper part of the negative pressure generating cavity and the lower part of the negative pressure generating cavity are installed in a nested manner, and a limiting hole is provided at the nesting position. The fan of the negative pressure adsorption device for the robot is driven by a high-speed motor to extract the gas in the sealed cavity between the robot and the wall, so that a continuous negative pressure is generated in the sealed cavity. At the same time, the sealing effect of the elastic sealing gasket can make the adsorption device suitable for complex environments, can give full play to the maximum function of the wall-climbing robot, and enable the wall-climbing robot to walk freely;

[0004] For another example, patent No. CN 207888677 U discloses a negative pressure adsorption device for a robot, which relates to the technical field of robot tools; mounting frames are installed at both ends of the base plate, a shock-absorbing leaf spring is installed at the upper end of the base plate, and an upper mounting frame is installed at the upper end of the shock-absorbing leaf spring, both ends of the shock-absorbing leaf spring are connected to the upper mounting frame through the shock-absorbing spring, a vacuum pump is installed on the upper mounting frame, and the air suction port of the vacuum pump is connected to the air lock valve through a pipeline, and a connecting nozzle is installed at the other end of the air lock valve, a cooling fan is installed at the upper end of the upper mounting frame, and a heat sink is installed at the lower end of the cooling fan; the utility model facilitates rapid shock absorption and negative pressure adsorption, is easy to use, simple to operate, and can extend the service life.

[0005] However, when existing negative pressure wall-climbing robots deal with defective points on the climbing surface, air leakage of the vacuum suction cup will occur, which will lead to a decrease in adsorption, and thus cause the risk of the wall-climbing robot falling during the climbing process. Summary of the invention

[0006] 1. Technical issues to be solved

[0007] In view of the shortcomings of the prior art, the present invention provides a comb-tooth sealing structure for a negative pressure adsorption crawling robot, which has the advantages of being able to walk stably when uneven spots appear on the walking route and thus avoiding falling, thereby solving the above-mentioned technical problems.

[0008] (II) Technical solution

[0009] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a comb-tooth sealing structure of a negative pressure adsorption crawling robot, comprising a suction cup bracket, a plurality of vacuum sources penetrating the suction cup bracket are connected to the middle end of the top surface of the suction cup bracket, a plurality of suction cup outer frames are equidistantly connected to the outer end of the suction cup bracket, a suction cup cover is connected to the inward end surface of the suction cup outer frame, the top surface of the suction cup cover is connected to the bottom edge of the suction cup bracket, a suction cup contact ring for contacting the external environment is provided on the bottom edge of the suction cup cover, an extension ring is connected to the outer end of the suction cup outer frame, a plurality of square grooves are provided at the bottom of the extension ring, and a cover plate is connected to an end edge of the square groove close to the suction cup bracket, a comb-tooth sealing structure that can rotate up and down and perform auxiliary sealing is provided in the area above the cover plate inside the square groove, an auxiliary pressure strip for matching sealing is connected to the bottom surface of the comb-tooth sealing structure, an adjustment component for adjusting and matching the position of the comb-tooth sealing structure is provided inside the square groove, and an injection pipe is provided at the middle end of each square groove corresponding to the top surface of the extension ring.

[0010] As a preferred technical solution of the present invention, the suction cup contact ring is made of an elastic material with a low friction coefficient, the bottom surface of the suction cup contact ring is lower than the extension ring, the auxiliary pressure strip is made of annular elastic material, and can be flush with the bottom surface of the suction cup contact ring with the cooperation of the comb tooth sealing structure.

[0011] As a preferred technical solution of the present invention, the cover plate is fixedly installed on the edge of the square groove on the bottom surface of the extension ring, and the end of the cover plate must ensure that it does not affect the movement of the comb tooth sealing structure. The cover plate is made of metal and is used to protect the components inside the square groove.

[0012] As a preferred technical solution of the present invention, the comb teeth sealing structure includes a rotating block, a bending block, a sealing chamber and a sensor.

[0013] As a preferred technical solution of the present invention, the rotating block is rotatably connected to the inside of the square groove and is located in the upper area of ​​the cover plate, the bending block is fixedly installed at the end of the rotating block, the sealing chamber is embedded and fixedly installed on both side end surfaces of the rotating block, and the sensor is embedded in the middle area of ​​the inner wall of the bending end of the bending block.

[0014] As a preferred technical solution of the present invention, the auxiliary pressure strip is fixedly installed at the junction of the rotating block and the bending block, and the lowest surface of the auxiliary pressure strip is lower than the bottom surface of the rotating block, the end surface of the bending block fits the outer surface of the extension ring, and the sensor inside the bending block is provided with multiple receiving targets at corresponding positions on the surface of the extension ring. The sealing chamber is connected to the gas injection pipe, and there is a cavity inside the sealing chamber, which is itself ductile and can fully fit with the adjacent sealing chamber after being fully expanded. The auxiliary pressure strip has the same physical properties as the suction cup contact ring.

[0015] As a preferred technical solution of the present invention, the adjustment component includes a movable column, a accommodating frame, an elastic paddle, and an electromagnet. When a concave point appears in the external walking environment, the comb tooth sealing structure of the corresponding area is triggered under the action of the elastic paddle, and the electromagnet is started at the same time, and its magnetism is set to the same as that of the movable column, so that the movable column drives the comb tooth sealing structure to rotate downward, thereby driving the auxiliary pressure strip to move downward, and then cooperates to unfold the sealing chamber inside all the comb tooth sealing structures, thereby completing the sealing, and realizing the closure of the concave point by the auxiliary pressure strip. When an upper convex point appears in the ring, it is also triggered by the electromagnet to push the movable column to cooperate with the pressure of the elastic paddle, thereby completing the sealing of the convex point part.

[0016] As a preferred technical solution of the present invention, the movable column is fixedly installed on the middle end of the top surface of the rotating block, the accommodating frame is fixedly installed on the inner wall of the square groove, and the movable column and the accommodating frame are slidingly connected, and the electromagnet is fixedly installed on the inner wall of the accommodating frame.

[0017] As a preferred technical solution of the present invention, a magnetic metal is embedded in the end of the movable column, the movable column is an arc-shaped quadrangular prism corresponding to the rotating block, and the electromagnet is a curved electromagnet.

[0018] As a preferred technical solution of the present invention, there are two elastic paddles in each square groove, and both are fixedly installed on the top of the inner wall of the square groove. The end of the elastic paddle is fixedly installed on the top surface of the rotating block. In the initial state of the elastic paddle, the auxiliary pressure strip should be ensured to be lower than the suction cup contact circle.

[0019] Compared with the prior art, the present invention provides a comb-tooth sealing structure for a negative pressure adsorption crawling robot, which has the following beneficial effects:

[0020] 1. When a concave point appears in the external walking environment, the comb-tooth sealing structure of the corresponding area is triggered under the action of the elastic pick, and the electromagnet is started at the same time, and its magnetism is set to be the same as that of the movable column, so that the movable column drives the comb-tooth sealing structure to rotate downward, thereby driving the auxiliary pressure strip to move downward, and then cooperates to unfold the sealing chambers inside all the comb-tooth sealing structures to complete the sealing, thereby realizing the closure of the concave point by the auxiliary pressure strip, and when an upper convex point appears in the ring, the electromagnet is also triggered to push the movable column to cooperate with the pressure of the elastic pick, thereby completing the sealing of the convex point part.

[0021] 2. When the comb-teeth sealing structure of the present invention is triggered, the corresponding bending block will drive the rotating block to move downward under the action of the elastic paddle, so that the sensor and the receiving target generate signals, thereby transmitting electrical signals to the electromagnet, and inflating the interior of all the sealing chambers through an external air pump. Since the sealing chamber is connected to the air injection pipe, there is a cavity inside the sealing chamber, and the sealing chamber itself has ductility. After being fully unfolded, it can fully fit with the adjacent sealing chamber, thereby ensuring the sealing between the multiple rotating blocks, and the bottom is sealed under the elastic action of the auxiliary pressure strip to ensure the sealing of the entire suction cup assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a top perspective schematic diagram of the structure of the present invention;

[0023] Figure 2 It is a bottom-up stereoscopic schematic diagram of the structure of the present invention;

[0024] Figure 3 It is a three-dimensional cross-sectional schematic diagram of the structure of the present invention;

[0025] Figure 4 The structure of the present invention Figure 3 A partial enlarged schematic diagram in the middle;

[0026] Figure 5 It is a three-dimensional schematic diagram of the comb teeth sealing structure of the present invention.

[0027] Among them: 1. Suction cup bracket; 2. Vacuum source; 3. Suction cup cover; 4. Suction cup outer frame; 5. Suction cup contact ring; 6. Extension ring; 7. Air injection pipe; 8. Comb tooth sealing structure; 801. Rotating block; 802. Bending block; 803. Sealing chamber; 804. Sensor; 9. Auxiliary pressure strip; 10. Movable column; 11. Receiving frame; 12. Cover plate; 13. Elastic pick; 14. Electromagnet. DETAILED DESCRIPTION

[0028] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0029] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" 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 an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] See also Figure 1-5 A negative pressure adsorption crawling robot comb-tooth sealing structure comprises a suction cup bracket 1, a plurality of vacuum sources 2 penetrating the suction cup bracket 1 are connected to the middle end of the top surface of the suction cup bracket 1, a plurality of suction cup outer frames 4 are equidistantly connected to the outer end of the suction cup bracket 1, a suction cup cover 3 is connected to the inner end surface of the suction cup outer frame 4, the top surface of the suction cup cover 3 is connected to the bottom edge of the suction cup bracket 1, a suction cup contact ring 5 for contacting with the external environment is arranged on the bottom edge of the suction cup cover 3, an extension ring 6 is connected to the outer end of the suction cup outer frame 4, a plurality of square grooves are arranged at the bottom of the extension ring 6, and the square grooves are close to one end edge of the suction cup bracket 1. A cover plate 12 is connected to the edge of the square groove, and a comb-tooth sealing structure 8 that can rotate up and down and perform auxiliary sealing is arranged in the area above the cover plate 12 inside the square groove. An auxiliary pressure strip 9 for cooperating in sealing is connected to the bottom surface of the comb-tooth sealing structure 8, and an adjusting component for adjusting the position of the comb-tooth sealing structure 8 is arranged inside the square groove. An air injection pipe 7 is arranged on the top surface of the extension ring 6 corresponding to the middle end of each square groove. All air injection pipes 7 are connected to an external air pump. After the comb-tooth sealing structure 8 is triggered, air will be inflated into all the sealing chambers 803 to ensure the stability of the entire wall-climbing robot.

[0032] Furthermore, the adjustment component includes a movable column 10, a receiving frame 11, an elastic paddle 13, and an electromagnet 14. The movable column 10 is fixedly installed at the middle end of the top surface of the rotating block 801, the receiving frame 11 is fixedly installed on the inner wall of the square groove, and the movable column 10 and the receiving frame 11 are slidably connected. The electromagnet 14 is fixedly installed on the inner wall of the receiving frame 11. The end of the movable column 10 is embedded with magnetic metal. The movable column 10 is an arc-shaped quadrangular prism corresponding to the rotating block 801, and the electromagnet 14 is a curved electromagnet. When a concave point appears in the external walking environment, under the action of the elastic paddle 13, the corresponding area The comb-tooth sealing structure 8 is triggered, and the electromagnet 14 is started at the same time, and its magnetism is set to be the same as that of the movable column 10, so that the movable column drives the comb-tooth sealing structure 8 to rotate downward, thereby driving the auxiliary pressure strip 9 to move downward, and then cooperates with all the sealing chambers 803 inside the comb-tooth sealing structure 8 to unfold, thereby completing the sealing, and realizing the closure of the lower concave point through the auxiliary pressure strip 9. When the upper convex point appears in the ring, the electromagnet 14 is also triggered to push the movable column 10 to cooperate with the pressure of the elastic pick 13, thereby completing the sealing of the convex point part.

[0033] Furthermore, there are two elastic paddles 13 inside each square groove, and they are all fixedly installed on the top of the inner wall of the square groove. The end of the elastic paddle 13 is fixedly installed on the top surface of the rotating block 801. In the initial state of the elastic paddle 13, the auxiliary pressure strip 9 should be ensured to be lower than the suction cup contact circle 5. In the initial state, the auxiliary pressure strip 9 can be lifted by generating an opposite force to the movable column 10 by the electromagnet 14, thereby avoiding excessive contact between the auxiliary pressure strip 9 and the walking plane, thereby reducing the friction of the wall-climbing robot under normal conditions.

[0034] Furthermore, the suction cup contact ring 5 is made of an elastic material with a low friction coefficient, the bottom surface of the suction cup contact ring 5 is lower than the extension ring 6, the auxiliary pressure strip 9 is made of annular elastic material, and can be flush with the bottom surface of the suction cup contact ring 5 with the cooperation of the comb tooth sealing structure 8, the cover plate 12 is fixedly installed on the edge of the square groove on the bottom surface of the extension ring 6, and the end of the cover plate 12 must ensure that it does not affect the movement of the comb tooth sealing structure 8. The cover plate 12 is made of metal and is used to protect the components inside the square groove. When the wall-climbing robot is climbing the wall, the area of ​​dust entering the square groove can be reduced, thereby completing the internal protection.

[0035] Furthermore, the comb-tooth sealing structure 8 includes a rotating block 801, a bending block 802, a sealing chamber 803 and a sensor 804. The rotating block 801 is rotatably connected to the inside of the square groove and is located in the upper area of ​​the cover plate 12. The bending block 802 is fixedly installed at the end of the rotating block 801. The sealing chamber 803 is embedded and fixedly installed on the end faces of both sides of the rotating block 801. The sensor 804 is embedded and installed in the middle area of ​​the inner wall of the bending end of the bending block 802. When the comb-tooth sealing structure 8 is working, when a concave point appears, the corresponding bending block 802 will drive the rotating block 801 to move downward under the action of the elastic paddle 13, so that the sensor 804 generates a signal with the receiving target, thereby transmitting an electrical signal to the electromagnet 14, and all the seals are energized by an external air pump. The sealing chamber 803 is inflated. Since the sealing chamber 803 is connected to the gas injection pipe 7, there is a cavity inside the sealing chamber 803, and the sealing chamber itself is ductile. After being fully unfolded, it can fully fit with the adjacent sealing chamber 803, thereby ensuring the sealing between the multiple rotating blocks 801. The bottom is sealed under the elastic action of the auxiliary pressure strip 9, thereby ensuring the sealing of the entire suction cup assembly. The auxiliary pressure strip 9 is fixedly installed at the junction of the rotating block 801 and the bending block 802, and the lowest surface of the auxiliary pressure strip 9 is lower than the bottom surface of the rotating block 801. The end surface of the bending block 802 fits the outer surface of the extension ring 6. The sensor 804 inside the bending block 802 is provided with multiple receiving targets at corresponding positions on the surface of the extension ring 6. The auxiliary pressure strip 9 has the same physical properties as the suction cup contact ring 5.

[0036] During use, when a concave point appears in the external walking environment, under the action of the elastic paddle 13, the comb-tooth sealing structure 8 in the corresponding area is triggered, and at the same time, the electromagnet 14 is started, and its magnetism is set to be the same as that of the movable column 10, so that the movable column drives the comb-tooth sealing structure 8 to rotate downward, thereby driving the auxiliary pressure strip 9 to move downward, and then cooperates to unfold the sealing chamber 803 inside all the comb-tooth sealing structures 8, so as to complete the sealing and realize the closure of the concave point by the auxiliary pressure strip 9. When the comb-tooth sealing structure 8 is triggered, the corresponding bending block 802 will drive the rotating block 801 to move downward under the action of the elastic paddle 13, so as to prevent the comb-tooth sealing structure 8 from being damaged. The sensor 804 generates a signal with the receiving target, thereby transmitting an electrical signal to the electromagnet 14, and inflating the interior of all the sealed chambers 803 through an external air pump. Since the sealed chamber 803 is connected to the air injection pipe 7, there is a cavity inside the sealed chamber 803, and the sealed chamber itself has ductility. After being fully unfolded, it can fully fit with the adjacent sealed chamber 803, thereby ensuring the sealing between the multiple rotating blocks 801. The bottom is sealed under the elastic action of the auxiliary pressure strip 9 to ensure the sealing of the entire suction cup assembly. When the upper convex point appears, it is also triggered by the electromagnet 14 to push the movable column 10 to cooperate with the pressure of the elastic paddle 13, thereby completing the sealing of the convex point part.

[0037] Although 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 the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A comb-tooth sealing structure of a negative pressure adsorption crawling robot, comprising a suction cup bracket (1), a plurality of vacuum sources (2) penetrating the suction cup bracket (1) are connected to the middle end of the top surface of the suction cup bracket (1), a plurality of suction cup outer frames (4) are equidistantly connected to the outer end of the suction cup bracket (1), a suction cup cover (3) is connected to the inward end surface of the suction cup outer frame (4), and the top surface of the suction cup cover (3) is connected to the bottom edge of the suction cup bracket (1), characterized in that: The bottom edge of the suction cup cover (3) is provided with a suction cup contact ring (5) for contacting the external environment, the outer end of the suction cup outer frame (4) is connected to an extension ring (6), a plurality of square grooves are provided at the bottom of the extension ring (6), and a cover plate (12) is connected to an edge of an end surface of the square groove close to the suction cup bracket (1), a comb tooth sealing structure (8) that can rotate up and down and perform auxiliary sealing is provided in the area above the cover plate (12) inside the square groove, an auxiliary pressure strip (9) for matching sealing is connected to the bottom surface of the comb tooth sealing structure (8), an adjustment component for adjusting the position of the comb tooth sealing structure (8) is provided inside the square groove, and an air injection pipe (7) is provided at the middle end of each square groove corresponding to the top surface of the extension ring (6).

2. The comb-tooth sealing structure of a negative pressure adsorption crawling robot according to claim 1, characterized in that: The suction cup contact ring (5) is made of an elastic material with a low friction coefficient, the bottom surface of the suction cup contact ring (5) is lower than the extension ring (6), and the auxiliary pressure strip (9) is made of an annular elastic material and can be flush with the bottom surface of the suction cup contact ring (5) with the cooperation of the comb tooth sealing structure (8).

3. The comb-tooth sealing structure of a negative pressure adsorption crawling robot according to claim 1, characterized in that: The cover plate (12) is fixedly mounted on the edge of the square groove on the bottom surface of the extension ring (6), and the end of the cover plate (12) must ensure that it does not affect the movement of the comb tooth sealing structure (8). The cover plate (12) is made of metal and is used to protect the components inside the square groove.

4. The comb-tooth sealing structure of a negative pressure adsorption crawling robot according to claim 1, characterized in that: The comb teeth sealing structure (8) comprises a rotating block (801), a bending block (802), a sealing chamber (803) and a sensor (804).

5. The comb-tooth sealing structure of a negative pressure adsorption crawling robot according to claim 4, characterized in that: The rotating block (801) is rotatably connected to the inside of the square groove and is located in the upper area of ​​the cover plate (12); the bending block (802) is fixedly installed at the end of the rotating block (801); the sealing chamber (803) is embedded and fixedly installed on the two side end surfaces of the rotating block (801); and the sensor (804) is embedded and installed in the middle area of ​​the inner wall of the bending end of the bending block (802).

6. The comb-tooth sealing structure of a negative pressure adsorption crawling robot according to claim 5, characterized in that: The auxiliary pressure strip (9) is fixedly installed at the junction of the rotating block (801) and the bending block (802), and the lowest surface of the auxiliary pressure strip (9) is lower than the bottom surface of the rotating block (801). The end surface of the bending block (802) fits the outer surface of the extension ring (6). The sensor (804) inside the bending block (802) is provided with a plurality of receiving targets at corresponding positions on the surface of the extension ring (6). The sealing chamber (803) is connected to the gas injection pipe (7). There is a cavity inside the sealing chamber (803) and the sealing chamber itself has ductility. After being fully unfolded, it can fully fit with the adjacent sealing chamber (803). The auxiliary pressure strip (9) has the same physical properties as the suction cup contact ring (5).

7. The comb-tooth sealing structure of a negative pressure adsorption crawling robot according to claim 4, characterized in that: The adjustment component comprises a movable column (10), a receiving frame (11), an elastic paddle (13), and an electromagnet (14).

8. The comb-tooth sealing structure of a negative pressure adsorption crawling robot according to claim 7, characterized in that: The movable column (10) is fixedly mounted on the middle end of the top surface of the rotating block (801), the receiving frame (11) is fixedly mounted on the inner wall of the square groove, and the movable column (10) and the receiving frame (11) are slidably connected, and the electromagnet (14) is fixedly mounted on the inner wall of the receiving frame (11).

9. The comb-tooth sealing structure of a negative pressure adsorption crawling robot according to claim 8, characterized in that: The end of the movable column (10) is embedded with magnetic metal. The movable column (10) is an arc-shaped quadrangular prism corresponding to the rotating block (801). The electromagnet (14) is a curved electromagnet.

10. The comb-tooth sealing structure of a negative pressure adsorption crawling robot according to claim 7, characterized in that: There are two elastic paddles (13) inside each square groove, and both are fixedly mounted on the top of the inner wall of the square groove. The ends of the elastic paddles (13) are fixedly mounted on the top surface of the rotating block (801). In the initial state of the elastic paddles (13), the auxiliary pressure strip (9) should be ensured to be lower than the suction cup contact circle (5).

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