A photovoltaic inspection and cleaning robot

Abstract

This invention discloses a photovoltaic (PV) inspection and cleaning robot, belonging to the field of PV robots. The PV inspection and cleaning robot includes a vehicle body, tracks mounted on the left and right sides of the vehicle body, and two cleaning mechanisms. Each cleaning mechanism includes a movable frame sliding on the vehicle body, a cleaning roller rotatably mounted on the movable frame, and a transfer mechanism mounted on the movable frame. The transfer mechanism includes an upper abutment plate rotatably mounted on the movable frame and a lower abutment plate coaxially disposed below the upper abutment plate. The upper and lower abutment plates clamp the PV panel in the middle. This design, by setting the upper and lower abutment plates, allows the vehicle body to move outwards from the PV panel by more than half the distance of the vehicle body when the upper and lower abutment plates clamp the PV panel in the middle.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic robots, and more specifically, relates to a photovoltaic inspection and cleaning robot. Background Technology

[0002] "Salt-solar complementary" combines salt production with photovoltaic power generation. While ensuring basic salt production performance, photovoltaic modules are installed at a certain height on the salt fields to achieve effective power generation on the water, salt production on the water surface, and aquaculture underwater. This new, three-dimensional, and efficient production method realizes three uses from one piece of land, greatly improving the output value per unit area. When installing evenly spaced photovoltaic panels on the salt fields, there are gaps between adjacent panels to facilitate sunlight reaching the salt fields.

[0003] In existing products, robots clean the surface of photovoltaic panels to prevent dust from hindering their normal operation. However, due to the large gaps between the photovoltaic panels, the robots have difficulty crossing them. The distance the robot can cross is less than half its overall length; when the span exceeds this length, the robot will fall out of the gap and be unable to cross. This fails to meet the requirements. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a photovoltaic detection and cleaning robot that can move freely between two photovoltaic panels, spanning a distance greater than half the overall length of the robot.

[0005] The present invention discloses a photovoltaic inspection and cleaning robot, comprising a vehicle body, tracks installed on the left and right sides of the vehicle body, and two cleaning mechanisms; the cleaning mechanism includes a movable frame sliding on the vehicle body, a cleaning roller rotatably installed on the movable frame, and a transfer mechanism installed on the movable frame; the transfer mechanism includes an upper abutment plate rotatably installed on the movable frame and a lower abutment plate coaxially disposed below the upper abutment plate; the upper abutment plate and the lower abutment plate clamp the photovoltaic panel in the middle.

[0006] As a further improvement of the present invention, the vehicle body is provided with an annular external toothed ring and an internal toothed ring along the circumferential direction; two feed gears are rotatably connected to the moving frame; one feed gear meshes with the external toothed ring, and the other feed gear meshes with the internal toothed ring; a synchronous gear is coaxially provided with the feed gears; the two synchronous gears mesh with each other.

[0007] As a further improvement of the present invention, the transfer mechanism has two upper abutment plates and two lower abutment plates; the two upper abutment plates are connected by an upper synchronous belt drive, and the two upper abutment plates rotate in opposite directions.

[0008] As a further improvement of the present invention, a switching motor is fixedly connected inside the movable frame; a switching column is provided on the output shaft of the switching motor; the output shaft of the switching motor rotates synchronously in the circumferential direction relative to the switching column and slides relative to it in the axial direction; when the switching column is in the first position, the switching column is driven to the upper abutment plate; when the switching column is in the second position, the switching column is driven to the cleaning roller.

[0009] As a further improvement of the present invention, a sliding frame that drives the switching column to move is slidably connected on the moving frame in the left-right direction; a switching abutment plate distributed in the front-back direction is provided at the lower end of the vehicle body; when the sliding frame abuts against the switching abutment plate, the sliding frame drives the switching column to the first position; a spring is provided between the switching column and the switching motor; and arc-shaped guide plates are respectively provided at the front and rear ends of the switching abutment plate.

[0010] As a further improvement of the present invention, the lower abutment plate slides relative to the upper abutment plate; the lower abutment plate is close to the cleaning roller; when the lower abutment plate is at the extreme position far away from the upper abutment plate, the lower abutment plate squeezes the cleaning roller.

[0011] As a further improvement of the present invention, an extrusion sleeve is coaxially rotatably connected to the upper abutment plate; the inner wall of the extrusion sleeve is provided with inclined grooves; and a drive column that is slidably connected to the inclined grooves is provided on the lower abutment plate.

[0012] As a further improvement of the present invention, a switching gear is coaxially provided on the outer wall of the switching column; a plate gear capable of meshing with the switching gear is coaxially provided on the upper end of the upper abutment plate; an incomplete gear with a central angle of less than 360° is coaxially provided on the upper end of the extrusion sleeve; when the switching column is in the second position, the incomplete gear is connected to the switching gear in a transmission connection.

[0013] As a further improvement of the present invention, a lower positioning groove is provided at one end of the inclined groove and an upper positioning groove is provided at the other end; the lower positioning groove and the upper positioning groove are arranged along the circumference of the extrusion sleeve; a transmission gear that meshes with the incomplete gear is rotatably connected inside the moving frame; a torsion spring that drives the incomplete gear to mesh with the transmission gear at one end of the positive limit position is provided between the extrusion sleeve and the upper abutment plate.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: by setting two sets of cleaning mechanisms, one cleaning roller is located at the front end of the vehicle body and the other cleaning roller is located at the rear end of the vehicle body during operation, which improves the cleaning efficiency of the cleaning roller for cleaning photovoltaic panels.

[0015] This solution uses an upper and lower support plate to allow the vehicle body to move more than half the distance from the photovoltaic panel when the upper and lower support plates are sandwiched in the middle. The maximum distance can reach almost the length of the vehicle body itself, thus enabling the vehicle body to move between two photovoltaic panels with a large gap.

[0016] This solution uses a feed gear that works in conjunction with an internal gear ring and an external gear ring to allow the cleaning mechanism to move along the outer periphery of the vehicle body. This allows the cleaning mechanism to move until the cleaning roller comes into contact with the photovoltaic panel to clean it. It can also move the cleaning mechanism to the lower end of the vehicle body to facilitate the movement of the vehicle body between two photovoltaic panels.

[0017] In this design, the lower abutment plate can work with the upper abutment plate to clamp the photovoltaic panel and also squeeze the cleaning roller to facilitate the expulsion of dirty water from the cleaning roller.

[0018] In this design, the switching motor can drive the cleaning roller to rotate, as well as the upper and lower abutments, via the switching column. Furthermore, while the switching column drives the cleaning roller, it can also rotate the extrusion sleeve in the forward or reverse direction, controlling the movement of the lower abutment relative to the upper abutment, thereby completing the extrusion of the cleaning roller by the lower abutment.

[0019] After the cleaning mechanism moves to the lower end of the vehicle body, the switching plate and the sliding frame work together to allow the switching column to switch between the first and second positions. No additional power components are needed to control the axial movement of the switching column, thus reducing costs. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the photovoltaic panel during cleaning according to the present invention;

[0021] Figure 2 This is an exploded structural diagram of the cleaning mechanism of the present invention;

[0022] Figure 3 This is a cross-sectional view of the transfer mechanism of the present invention;

[0023] Figure 4 This is a cross-sectional view of the extrusion sleeve of the present invention;

[0024] Figure 5 This is an exploded structural diagram of the transfer mechanism of the present invention;

[0025] Figure 6 This is a schematic diagram of the cleaning mechanism of the present invention when it is located at the lower end of the vehicle body;

[0026] Figure 7 This is a schematic diagram of the structure of the first cleaning mechanism of the present invention when the upper and lower abutment plates clamp the photovoltaic panel in the middle;

[0027] Figure 8 This is a schematic diagram of the structure of the vehicle body of the present invention when it moves between two photovoltaic panels;

[0028] Figure 9 This is a schematic diagram of the structure when the lower abutment plate of the present invention is located at an extreme position far away from the upper abutment plate.

[0029] Description of the numbers in the figure:

[0030] 1. Vehicle body; 11. External gear ring; 12. Internal gear ring; 13. Switching stop plate; 14. Guide plate; 2. Track; 3. Cleaning mechanism; 301. First cleaning mechanism; 302. Second cleaning mechanism; 31. Moving frame; 32. Cleaning roller; 33. Connecting column; 34. Cleaning roller synchronous belt; 35. Feed gear; 351. Synchronous gear; 36. Feed motor; 4. Transfer mechanism; 41. Upper stop plate; 411. Stop plate gear; 42. Upper synchronous belt; 43. Lower stop plate; 431. Sliding column; 432. Drive column; 44. Extrusion sleeve; 441. Incomplete gear; 442. Inclined groove; 443. Lower positioning groove; 444. Upper positioning groove; 45. Lower synchronous belt; 51. Switching motor; 52. Switching column; 53. Switching gear; 54. Transmission gear; 55. Sliding frame; 56. Spring. Detailed Implementation

[0031] Specific Implementation Example 1: Please refer to Figures 1-9 A photovoltaic inspection and cleaning robot includes a vehicle body 1, tracks 2 installed on the left and right sides of the vehicle body 1, and two cleaning mechanisms 3. The cleaning mechanism 3 includes a movable frame 31 that slides on the vehicle body 1, a cleaning roller 32 that is rotatably installed on the movable frame 31, and a transfer mechanism 4 installed on the movable frame 31. The transfer mechanism 4 includes an upper abutment plate 41 that rotates on the movable frame 31 and a lower abutment plate 43 that is coaxially arranged below the upper abutment plate 41. The upper abutment plate 41 and the lower abutment plate 43 clamp the photovoltaic panel in the middle.

[0032] The shaft of the cleaning roller 32 is arranged in the left-right direction; the shaft of the upper abutment plate 41 is perpendicular to the surface of the vehicle body 1.

[0033] The vehicle body 1 is provided with an annular outer toothed ring 11 and an inner toothed ring 12 along the circumferential direction; two feed gears 35 are rotatably connected to the moving frame 31; one feed gear 35 meshes with the outer toothed ring 11, and the other feed gear 35 meshes with the inner toothed ring 12; a synchronous gear 351 is coaxially provided on the feed gear 35; the two synchronous gears 351 mesh with each other.

[0034] The number of teeth on the external gear ring 11 and the internal gear ring 12 is the same; when one feed gear 35 rotates, the other feed gear 35 rotates synchronously, so that the moving frame 31 moves along the external gear ring 11 and the internal gear ring 12, and then the moving frame 31 moves around the outer periphery of the vehicle body 1.

[0035] A feed motor 36 that drives a feed gear 35 to rotate is fixedly connected to the moving frame 31.

[0036] Two feed gears 35, an external gear ring 11, and an internal gear ring 12 form a drive mechanism for moving the moving frame 31. The vehicle body 1 has two sets of drive mechanisms, which are symmetrically arranged along the vehicle body 1, making the moving frame 31 move more smoothly and without shaking. The feed gears 35 in the two sets of drive mechanisms are connected by a fixed shaft, so that each feed gear 35 can be driven to rotate by only one feed motor 36.

[0037] The transfer mechanism 4 has two upper abutment plates 41 and two lower abutment plates 43; the two upper abutment plates 41 are connected by an upper synchronous belt 42 and rotate in opposite directions.

[0038] A switching motor 51 is fixedly connected inside the movable frame 31; a switching column 52 is provided on the output shaft of the switching motor 51; the output shaft of the switching motor 51 rotates synchronously in the circumference relative to the switching column 52 and slides relative to it in the axial direction; when the switching column 52 is in the first position, the switching column 52 is connected to the upper abutment plate 41 in a transmission connection; when the switching column 52 is in the second position, the switching column 52 is connected to the cleaning roller 32 in a transmission connection.

[0039] The movable frame 31 is slidably connected to a sliding frame 55 that drives the switching column 52 to move in the left-right direction; the lower end of the vehicle body 1 is provided with a switching abutment plate 13 distributed in the front-back direction; when the sliding frame 55 abuts against the switching abutment plate 13, the sliding frame 55 drives the switching column 52 to the first position; a spring 56 is provided between the switching column 52 and the switching motor 51; the front and rear ends of the switching abutment plate 13 are respectively provided with arc-shaped guide plates 14.

[0040] The spring 56 causes the sliding frame 55 and the switching column 52 to move to the second position; when the sliding frame 55 abuts against the guide plate 14, the guide plate 14 will drive the sliding frame 55 to move from the second position to the first position.

[0041] The lower abutment plate 43 slides relative to the upper abutment plate 41; the lower abutment plate 43 is close to the cleaning roller 32; when the lower abutment plate 43 is at the extreme position far away from the upper abutment plate 41, the lower abutment plate 43 squeezes the cleaning roller 32.

[0042] An extrusion sleeve 44 is coaxially rotatably connected to the upper abutment plate 41; the inner wall of the extrusion sleeve 44 is provided with inclined grooves 442; and a drive column 432 is provided on the lower abutment plate 43 and slidably connected to the inclined grooves 442.

[0043] A switching gear 53 is coaxially arranged on the outer wall of the switching column 52; a plate gear 411 that can mesh with the switching gear 53 is coaxially arranged on the upper end of the upper abutment plate 41; an incomplete gear 441 with a central angle of less than 360° is coaxially arranged on the upper end of the extrusion sleeve 44; when the switching column 52 is in the second position, the incomplete gear 441 is connected to the switching gear 53 in a transmission connection.

[0044] The cross-section of the switching column 52 is non-circular; a connecting column 33 that can be inserted into the switching column 52 and rotate synchronously is rotatably connected to the moving frame 31; the connecting column 33 and the cleaning roller 32 are connected by a cleaning roller synchronous belt 34.

[0045] When the switching post 52 is in the first position, the switching gear 53 meshes with the abutment gear 411, and the switching post 52 separates from the connecting post 33.

[0046] The lower abutment plate 43 is provided with a sliding column 431 that is slidably connected to the upper abutment plate 41.

[0047] One end of the inclined groove 422 is provided with a lower positioning groove 443 and the other end is provided with an upper positioning groove 444; the lower positioning groove 443 and the upper positioning groove 444 are arranged circumferentially along the extrusion sleeve 44; a transmission gear 54 that meshes with the incomplete gear 441 is rotatably connected inside the moving frame 31; when the switching column 52 is in the second position, the switching gear 53 meshes with the transmission gear 54, and the switching column 52 is inserted into the connecting column 33; a torsion spring that drives the incomplete gear 441 to mesh with the transmission gear 54 at one end of the positive limit position is provided between the extrusion sleeve 44 and the upper abutment plate 41.

[0048] The two extrusion sleeves 44 are connected by a lower timing belt 45, and the two extrusion sleeves 44 rotate in opposite directions.

[0049] When the torsion spring drives the extrusion sleeve 44 to rotate to the positive limit position, the sliding column 431 is located in the upper positioning groove 444, and the transmission gear 54 meshes with one end of the incomplete gear 441 at the positive limit position. If the transmission gear 54 rotates in the positive direction at this time, the transmission gear 54 will slide with the incomplete gear 441, and the extrusion sleeve 44 will not rotate. If the transmission gear 54 rotates in the reverse direction at this time, the transmission gear 54 meshes with the incomplete gear 441, and the extrusion sleeve 44 will rotate in the reverse direction, and the sliding column 431 will enter the inclined groove 442 from the upper positioning groove 444. Finally, the extrusion sleeve 44 rotates in the reverse direction until the sliding column 431 enters the lower positioning groove 443. At this time, the transmission gear 43 meshes with one end of the inverse limit position of the incomplete gear 441. After that, the transmission gear 43 continues to rotate in the reverse direction, and the incomplete gear 441 will only contact the transmission gear 43 but will not rotate, and the extrusion sleeve 44 will not rotate.

[0050] The vehicle body 1 is equipped with a water storage tank and a water pump. The water pump can spray water from the water storage tank onto the photovoltaic panel and the cleaning roller 32, thereby wetting them, making it easier to clean the photovoltaic panel and improving the cleaning ability of the cleaning roller 32.

[0051] Of the two cleaning units 3, one is the first cleaning unit 301 and the other is the second cleaning unit 302.

[0052] When cleaning the photovoltaic panels, the feed motor 36 operates, driving the feed gear 35 to rotate. The moving frame 31 moves, causing one cleaning mechanism 3 to move to the front end of the vehicle body 1 and the other cleaning mechanism 3 to move to the rear end of the vehicle body 1, with each cleaning roller 32 pressed against the surface of the photovoltaic panel. At this time, the sliding frame 55 is not in contact with the guide plate 14, and the sliding frame 55 drives the switching column 52 to the second position. The switching gear 53 meshes with the transmission gear 54, and the switching column 52 is inserted into the connecting column 33.

[0053] Afterwards, the switching motor 51 operates, driving the switching column 52 to rotate in the forward direction. The switching gear 53 drives the transmission gear 43 to rotate in the forward direction. However, since the extrusion sleeve 44 is at the forward limit position, the sliding column 431 is located in the upper positioning groove 444, and the lower abutment plate 43 is at the limit position close to the upper abutment plate 41, the rotation of the transmission gear 54 will not drive the incomplete gear 441 to rotate in the forward direction. At the same time, the switching column 52 drives the connecting column 33 to rotate, and thus the cleaning roller 32 rotates.

[0054] Next, the water pump sprays water onto the photovoltaic panel and the cleaning roller to wet them. The vehicle body 1 moves on the photovoltaic panel under the drive of the track 2, so that the cleaning roller 32 cleans various parts of the photovoltaic panel surface.

[0055] After the cleaning roller 32 has been used for a certain period of time, dirty water will be absorbed inside the cleaning roller 32. At this time, the switching motor 51 works, driving the switching column 52 to rotate in the opposite direction, and the switching gear 53 drives the transmission gear 43 to rotate in the opposite direction. The transmission gear 43 meshes with the incomplete discharge wheel 441 and drives the extrusion sleeve 44 to rotate to the reverse limit position. The sliding column 431 passes through the inclined groove 442 and enters the lower positioning groove 443, and then the lower abutment plate 43 moves to the limit position away from the upper abutment plate 41, and the lower abutment plate 43 extrudes the cleaning roller 32. After that, the transmission gear 43 continues to rotate in the opposite direction, the transmission gear 43 separates from the incomplete discharge wheel 441, and the extrusion sleeve 44 remains in the reverse limit position.

[0056] Simultaneously, the switching column 52 drives the cleaning roller 32 to rotate via the connecting column 33, which in turn causes the lower abutment plate 43 to squeeze various positions on the cleaning roller 32, squeezing out the dirty water inside the cleaning roller 32, thereby cleaning the cleaning roller 32. After the cleaning roller 32 is cleaned, the switching motor 51 drives the switching column 52 to rotate in the forward direction to continue cleaning the photovoltaic panel.

[0057] After cleaning the current photovoltaic panel, when it is necessary to move to another photovoltaic panel, the vehicle body 1 moves to the boundary of the photovoltaic panel and the front end of the vehicle body 1 moves to the outside of the photovoltaic panel. Then, the feed motor 36 in the first cleaning mechanism 301 works, and the feed gear 35 drives the moving frame 31 to move to the lower end of the vehicle body 1.

[0058] During the above process, as the moving frame 31 moves, the sliding frame 55 comes into contact with the guide plate 14, causing the sliding frame 55 to slide. Finally, the sliding frame 55 moves to abut against the switching abutment plate 13, and the sliding frame 55 drives the switching column 52 to move to the first position, where the switching gear 54 meshes with the abutment plate gear 411. At this time, the upper abutment plate 41 is directly opposite the upper end of the photovoltaic panel, and the lower abutment plate 43 is directly opposite the lower end of the photovoltaic panel.

[0059] Next, the switching motor 51 operates, driving the upper abutment 41 to rotate 90° via the switching gear 53 and the abutment gear 411. Simultaneously, the lower abutment 43 rotates 90°. The upper abutment 41 moves to abut against the upper end of the photovoltaic panel, and the lower abutment 43 moves to abut against the lower end of the photovoltaic panel, thus fixing the vehicle body 1 to the current photovoltaic panel (e.g., ...). Figure 7 (As shown).

[0060] Then, the motor 51 and track 2 are switched to work in coordination, so that the vehicle body 1 moves towards another photovoltaic panel. At the same time, the moving frame 31 moves relative to the vehicle body 1, so that the upper abutment plate 41 and the lower abutment plate 43 are always clamped on the current photovoltaic panel.

[0061] Simultaneously, the feed motor 36 within the second cleaning mechanism 302 operates, causing the second cleaning mechanism 302 to move to the lower end of the vehicle body 1, thereby moving the switching column 52 within the second cleaning mechanism 302 to the first position. Then, the switching motor 51 within the second cleaning mechanism 302 operates, causing the upper abutment plate 41 and the lower abutment plate 42 to rotate 90°.

[0062] Finally, the vehicle body 1 moves to the second cleaning mechanism 302, where the upper abutment plate 41 and lower abutment plate 43 are inserted into another photovoltaic panel, thereby fixing the vehicle body 1 to the other photovoltaic panel (e.g., Figure 8 (As shown).

[0063] Next, the track 2 and the feed motors 36 in the two cleaning mechanisms 3 work in coordination, causing the main body 1 to move to the upper part of another photovoltaic panel. The first cleaning mechanism 301 separates from the photovoltaic panel, and the switching motor 51 in the first cleaning mechanism 301 works, driving the upper abutment plate 41 and the lower abutment plate 43 to rotate 90° in opposite directions and return to the moving frame 31. Then the feed motor 36 works, driving the first cleaning mechanism 301 to move to the upper part of the vehicle body 1.

[0064] Once the vehicle body 1 has completely moved onto another photovoltaic panel, the switching motor 51 and the feed motor 36 in the second cleaning mechanism 302 will operate, the upper abutment plate 41 and the lower abutment plate 43 will rotate 90° in opposite directions and return to the moving frame 31, and the second cleaning mechanism 302 will move to the upper end of the vehicle body 1.

[0065] At this point, vehicle 1 has completed the entire process of moving from one photovoltaic panel to another. Then, cleaning roller 32 can be controlled to clean the current photovoltaic panel.

[0066] Repeat the above process to move vehicle 1 between the photovoltaic panels and clean them.

Claims

1. A photovoltaic inspection and cleaning robot, characterized in that: The system includes a vehicle body, tracks installed on the left and right sides of the vehicle body, and two cleaning mechanisms. Each cleaning mechanism includes a movable frame that slides on the vehicle body, a cleaning roller that rotates on the movable frame, and a transfer mechanism installed on the movable frame. The transfer mechanism includes an upper abutment plate that rotates on the movable frame and a lower abutment plate that is coaxially arranged below the upper abutment plate. The upper and lower abutment plates clamp the photovoltaic panel in the middle. The vehicle body is provided with an annular external gear ring and an internal gear ring along the circumferential direction; two feed gears are rotatably connected to the moving frame; one feed gear meshes with the external gear ring, and the other feed gear meshes with the internal gear ring; a synchronous gear is coaxially provided with the feed gears; the two synchronous gears mesh with each other; The transfer mechanism has two upper abutment plates and two lower abutment plates; the two upper abutment plates are connected by an upper synchronous belt drive, and the two upper abutment plates rotate in opposite directions. A switching motor is fixedly connected inside the movable frame; a switching column is provided on the output shaft of the switching motor; the output shaft of the switching motor rotates synchronously in the circumferential direction relative to the switching column and slides relative to it in the axial direction; when the switching column is in the first position, the switching column is driven to the upper abutment plate; when the switching column is in the second position, the switching column is driven to the cleaning roller. The movable frame is slidably connected to a sliding frame that drives the switching column to move in the left-right direction; the lower end of the vehicle body is provided with a switching abutment plate distributed in the front-back direction; when the sliding frame abuts against the switching abutment plate, the sliding frame drives the switching column to the first position; a spring is provided between the switching column and the switching motor; arc-shaped guide plates are provided at the front and rear ends of the switching abutment plate respectively. The lower abutment plate slides relative to the upper abutment plate; the lower abutment plate is close to the cleaning roller; when the lower abutment plate is at its extreme position far away from the upper abutment plate, the lower abutment plate squeezes the cleaning roller; An extrusion sleeve is rotatably connected to the upper abutment plate; the inner wall of the extrusion sleeve is provided with inclined grooves; a drive column is provided on the lower abutment plate and is slidably connected to the inclined grooves. A switching gear is coaxially arranged on the outer wall of the switching column; a plate gear capable of meshing with the switching gear is coaxially arranged on the upper end of the upper abutment plate; an incomplete gear with a central angle of less than 360° is coaxially arranged on the upper end of the extrusion sleeve; when the switching column is in the second position, the incomplete gear is connected to the switching gear in a transmission connection. One end of the inclined groove is provided with a lower positioning groove and the other end is provided with an upper positioning groove; the lower positioning groove and the upper positioning groove are arranged along the circumference of the extrusion sleeve; a transmission gear that meshes with the incomplete gear is rotatably connected inside the moving frame; a torsion spring that drives the incomplete gear to mesh with the transmission gear at one end of the positive limit position is provided between the extrusion sleeve and the upper abutment plate.

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