Automatic feeding and discharging gripper of robot for soft and hard rubber injection molding parts

Abstract

The invention discloses a robot automatic feeding and discharging gripper for soft and hard rubber injection molded parts, and relates to the technical field of medical instruments, the robot automatic feeding and discharging gripper comprises a frame mechanism, a soft rubber clamping mechanism, a stop nail clamping mechanism and a hard rubber clamping mechanism, and the soft rubber clamping mechanism, the stop nail clamping mechanism and the hard rubber clamping mechanism are all arranged on the frame mechanism; the frame mechanism comprises a frame body, and the soft rubber clamping mechanism comprises a first clamping jaw, a first guide shaft, a first air cylinder, a movable rubber plate, a first air injection mechanism and a first driving mechanism. The soft rubber clamping mechanism, the stop nail clamping mechanism and the hard rubber clamping mechanism are integrated on the frame mechanism, operations of hard rubber part feeding, stop nail discharging and soft rubber part finished product discharging can be achieved, the overall structure is simple, the style is compact, the cost is reduced, an air injection mechanism and a mold clamping mechanism facilitate separation of injection molding finished products, and the production efficiency is improved. And meanwhile, the paw stress is ensured when the robot soft rubber part is clamped and separated.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, and in particular to a robot automatic loading and unloading gripper for soft and hard plastic injection molding parts. Background Art

[0002] In the medical device production and processing industry, robots have been widely used. At the same time, the injection molding technology for medical plastic parts, related accessories and related molds and the corresponding robot loading and unloading technology have also become mature. A typical soft and hard plastic injection molding robot automatic loading and unloading production line generally includes a robot, an injection molding machine, a robot loading and unloading gripper, a loading and conveying equipment, a garbage and waste unloading equipment, an unloading and conveying equipment, a safety protection system and an electronic control system. The general process of the robot automatic loading and unloading of soft and hard plastic injection molding parts is that the robot puts the hard plastic parts into the injection molding machine through the robot automatic loading and unloading gripper. After the injection molding machine thermosetting molds the soft plastic workpiece containing the hard plastic parts, the robot grabs the soft plastic workpiece to the unloading and conveying equipment for unloading through the automatic loading and unloading gripper, and grabs the garbage nails to the garbage and waste unloading equipment for unloading. Generally, the robot automatic loading and unloading gripper of soft and hard plastic injection molding parts completes the loading of hard plastic parts and the unloading of garbage nails and soft plastic parts at the same time, which will reduce the number of times the robot enters the injection molding machine, thereby reducing time and improving work rhythm. In order to meet the requirements of simultaneous grasping, automatic loading and unloading grippers generally need to add a hand-changing structure, which requires more cylinders and drive mechanisms, resulting in a complex structure and increased costs. In addition, the pull-off of injection molded parts depends entirely on the force of the robot, which places high requirements on the force and load at the end of the robot. Summary of the invention

[0003] The purpose of the present invention is to provide a robot automatic loading and unloading gripper for soft and hard plastic injection molding parts, which is used to solve the above-mentioned technical problems.

[0004] The technical solution adopted by the present invention is as follows:

[0005] A robot automatic loading and unloading gripper for soft and hard plastic injection molding parts, comprising a frame mechanism, a soft plastic clamping mechanism, a garbage nail clamping mechanism and a hard plastic clamping mechanism, wherein the soft plastic clamping mechanism, the garbage nail clamping mechanism and the hard plastic clamping mechanism are all arranged on the frame mechanism;

[0006] The frame mechanism comprises a frame body;

[0007] The soft rubber clamping mechanism includes a first clamping jaw, a first guide shaft, a first cylinder, a movable rubber plate, a first jet mechanism and a first driving mechanism. The movable rubber plate is arranged at one end of the frame body, the first cylinder is arranged at the other end of the frame body, the output end of the first cylinder is connected to the movable rubber plate, the movable rubber plate is connected to the frame body through a plurality of the first guide shafts, a plurality of the first clamping jaws are arranged on the movable rubber plate, two of the first clamping jaws are arranged opposite to each other, the two first clamping jaws arranged opposite to each other are connected to the movable rubber plate through the first driving mechanism, each of the first clamping jaws is respectively provided with a first notch, the two first notches form a first clamping groove, and the first jet mechanism is arranged on the movable rubber plate at a position opposite to the first notch.

[0008] Preferably, the frame mechanism also includes a wire tie bracket, an electrical box, a transfer flange and a gasket; the wire tie bracket and the electrical box are provided at the other end of the frame body; a plurality of gaskets are provided between the electrical box and the frame body; and the transfer flange is provided on one side of the frame body.

[0009] Preferably, the first jet mechanism includes a first nozzle, a first air pipe joint and a first mounting plate, the first mounting plate is arranged on the movable rubber plate, the first mounting plate is provided with the first nozzle, the first air pipe joint is connected to the first nozzle, and the first nozzle is provided with a plurality of jet holes.

[0010] Preferably, the first driving mechanism includes a base, a first driving member, a connecting seat, a sliding block and a connecting block, the base is arranged on the movable rubber plate, two first driving members are arranged in the base, the connecting seat is arranged on the base, a slide groove is provided on the connecting seat, two sliding blocks are arranged in the slide groove, each of the sliding blocks is respectively provided with a connecting block, the connecting block is connected to the first clamping jaw, and the output end of the first driving member is connected to the first sliding block.

[0011] Preferably, it further includes a mold clamping mechanism, which includes a clamping bracket, a locking bracket and a clamp cylinder. An opening is provided in the middle of the movable rubber plate, one end of the clamping bracket is provided on the frame body, and the other end of the clamping bracket extends out of the opening. The locking bracket is provided at the other end of the clamping bracket, and the clamp cylinder is provided between the locking bracket and the clamping bracket.

[0012] Preferably, the garbage nail clamping mechanism includes a second driving mechanism, a second clamping jaw and a second jet mechanism. The second driving mechanism is installed at one end of the frame body. The second driving mechanism is provided with two second clamping jaws. The second jet mechanism is provided between the two second clamping jaws. The two second clamping jaws are arranged opposite to each other, and each second clamping jaw has three clamping ends.

[0013] Preferably, the hard rubber clamping mechanism includes a movable plate, a third clamping jaw, a third driving mechanism, a second cylinder and a second guide shaft. The movable plate is movably mounted on one end of the frame body through the second guide shaft. The second cylinder is arranged at the other end of the frame body. The output end of the second cylinder is connected to the movable plate. The third driving mechanism is arranged on the movable plate. Two third clamping jaws are arranged on the third driving mechanism. Two third clamping jaws are arranged on each of the two third clamping jaws. The two second notches facing each other form a second clamping groove.

[0014] As a further preference, it further includes a speed regulating valve, which is disposed at the middle of one end of the frame body and is connected to the first jet mechanism and the second jet mechanism.

[0015] The above technical solution has the following advantages or beneficial effects:

[0016] In the present invention, the soft rubber clamping mechanism, the garbage nail clamping mechanism and the hard rubber clamping mechanism are integrated on the frame mechanism, which can realize the operations of loading hard rubber parts, unloading garbage nails and unloading soft rubber finished products. The hard rubber clamping mechanism and the soft rubber clamping mechanism are respectively fixed on the motion mechanism, and the linear cylinder motion is used to drive the soft rubber clamping mechanism and the hard rubber clamping mechanism to grab respectively. The overall structure is simple, the style is compact, and the cost is reduced. The jet mechanism and the mold clamping mechanism are convenient for separating the injection molded finished parts, and at the same time ensure that the robot's claws are stressed when the soft rubber parts are clamped and disengaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional robot for automatically loading and unloading the soft and hard plastic injection molding parts. Figure 1 ;

[0018] Figure 2 It is a three-dimensional robot for automatically loading and unloading the soft and hard plastic injection molding parts. Figure 2 ;

[0019] Figure 3 yes Figure 2 The enlarged view of point A in the middle;

[0020] Figure 4 yes Figure 2 Enlarged view of point B in the middle.

[0021] In the figure: 1. frame mechanism; 101. frame body; 102. wire tie bracket; 103. electrical box; 104. adapter flange; 105. pad; 106. speed regulating valve; 2. soft rubber clamping mechanism; 201. first clamping jaw; 202. first guide shaft; 203. first cylinder; 204. movable rubber plate; 205. first jet mechanism; 206. first driving mechanism; 207. first nozzle; 208. first mounting plate; 209. jet hole; 210 , base; 211, connecting seat; 212, sliding block; 213, connecting block; 3, garbage nail clamping mechanism; 301, second driving mechanism; 302, second clamping jaw; 303, second jet mechanism; 4, hard rubber clamping mechanism; 41, movable plate; 402, third clamping jaw; 403, third driving mechanism; 404, second cylinder; 405, second guide shaft; 5, mold clamping mechanism; 501, clamping bracket; 502, locking bracket; 503, clamp cylinder. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] In the description of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, if the terms "first", "second", "third" appear, they are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" 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 indirectly connected 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.

[0025] Figure 1 It is a three-dimensional robot for automatically loading and unloading the soft and hard plastic injection molding parts. Figure 1 ; Figure 2It is a three-dimensional robot for automatically loading and unloading the soft and hard plastic injection molding parts. Figure 2 ; Figure 3 yes Figure 2 The enlarged view of point A in the middle; Figure 4 yes Figure 2 Enlarged view of point B in the figure. Figures 1 to 4 As shown, a preferred embodiment is shown, which shows a robot automatic loading and unloading gripper for soft and hard rubber injection molding parts, including a frame mechanism 1, a soft rubber clamping mechanism 2, a garbage nail clamping mechanism 3 and a hard rubber clamping mechanism 4, and the soft rubber clamping mechanism 2, the garbage nail clamping mechanism 3 and the hard rubber clamping mechanism 4 are all arranged on the frame mechanism 1; in this embodiment, the soft rubber clamping mechanism 2, the garbage nail clamping mechanism 3 and the hard rubber clamping mechanism 4 are integrated on the frame mechanism 1 to form a loading and unloading gripper, which can realize the operations of loading hard rubber parts, unloading garbage nails and unloading soft rubber finished products. When clamping different parts at the same time, there is no need to repeatedly add a hand-changing structure, thereby reducing costs.

[0026] The frame mechanism 1 comprises a frame body 101;

[0027] The soft rubber clamping mechanism 2 includes a first clamping jaw 201, a first guide shaft 202, a first cylinder 203, a movable rubber plate 204, a first jet mechanism 205, and a first driving mechanism 206. The movable rubber plate 204 is arranged at one end of the frame body 101, and the first cylinder 203 is arranged at the other end of the frame body 101. The output end of the first cylinder 203 is connected to the movable rubber plate 204, and the movable rubber plate 204 is connected to the frame body 101 through a plurality of first guide shafts 202. The movable rubber plate 204 is provided with a plurality of first clamping jaws 201, and two first clamping jaws 201 are arranged opposite to each other. The two first clamping jaws 201 arranged opposite to each other are connected to the movable rubber plate 204 through the first driving mechanism 206. A first notch is respectively opened on each first clamping jaw 201, and the two first notches form a first clamping groove. The first jet mechanism 205 is arranged at a position on the movable rubber plate 204 opposite to the first notch. Figure 2 As shown, the first cylinder 203 is used to drive the movable rubber plate 204 to move, so that the movable rubber plate 204 is away from or close to the frame body 101, so that the first clamping jaw 201 is close to the soft rubber part. The first driving mechanism 206 is used to drive the two first clamping jaws 201 to approach each other, so as to clamp the soft rubber part. The first jet mechanism 205 is used to spray air flow to the surface of the soft rubber part to remove dust or dirt on the surface of the soft rubber part. The first guide shaft 202 is set to penetrate the frame body 101 and can move relative to the frame body 101, so as to guide the movement of the movable rubber plate 204. The soft rubber part is located in the first clamping groove, which is used to clamp the soft rubber part.

[0028] Further, as a preferred embodiment, the frame mechanism 1 further includes a wire tie bracket 102, an electrical box 103, an adapter flange 104 and a cushion block 105. The other end of the frame body 101 is provided with a wire tie bracket 102 and an electrical box 103. A plurality of cushion blocks 105 are provided between the electrical box 103 and the frame body 101. A adapter flange 104 is provided on one side of the frame body 101. Figure 2 As shown, the adapter flange 104 is used to connect with an external robot, so as to facilitate the movement of the loading and unloading grippers driven by the robot, and at least two wire tying brackets 102 are provided for arranging the wire harness. Among them, the electrical box 103 can be connected with the first cylinder 203 and the first driving member to control the operation of the first cylinder 203 and the first driving member, and the first cylinder 203 and the first driving member are both linear cylinders. A pad 105 can be provided between the electrical box 103 and the frame body 101 to prevent the electrical box 103 from contacting the frame body 101, and the thickness of the pad 105 can be adjusted.

[0029] Further, as a preferred embodiment, the first jet mechanism 205 includes a first nozzle 207, a first air pipe joint and a first mounting plate 208. The first mounting plate 208 is arranged on the movable rubber plate 204. The first mounting plate 208 is provided with the first nozzle 207. The first air pipe joint is connected to the first nozzle 207. The first nozzle 207 is provided with a plurality of jet holes 209. A speed regulating valve 106 is arranged in the middle of one end of the frame body 101. The speed regulating valve 106 is connected to the first jet mechanism 205 and the second jet mechanism 303. The first air pipe joint can be connected to the speed regulating valve 106 to control the size of the airflow. The speed regulating valve 106 can be connected to an external air pump to provide airflow. The airflow can be sprayed on the surface of the soft rubber part through the jet holes 209 on the first nozzle 207.

[0030] Further, as a preferred embodiment, the first driving mechanism 206 includes a base 210, a first driving member, a connecting seat 211, a sliding block 212 and a connecting block 213. The base 210 is arranged on the movable rubber plate 204. Two first driving members are arranged in the base 210. The base 210 is provided with a connecting seat 211. The connecting seat 211 is provided with a slide groove. Two sliding blocks are arranged in the slide groove. Each sliding block is provided with a connecting block 213. The connecting block 213 is connected to the first clamping jaw 201. The output end of the first driving member is connected to the first sliding block. The first driving member is a linear cylinder, which is used to connect with the first sliding block. The lower end of the first sliding block extends into the base 210 and is connected to the first driving member. The two first driving members can drive the two first sliding blocks to move away from or closer to each other, thereby driving the two first clamping jaws 201 to move away from or closer to each other.

[0031] Further, as a preferred embodiment, it also includes a mold clamping mechanism 5, which includes a clamping bracket 501, a locking bracket 502 and a clamp cylinder 503. An opening is provided in the middle of the movable rubber plate 204. One end of the clamping bracket 501 is provided on the frame body 101, and the other end of the clamping bracket 501 extends out of the opening. The other end of the clamping bracket 501 is provided with a locking bracket 502, and a clamp cylinder 503 is provided between the locking bracket 502 and the clamping bracket 501. The clamp cylinder 503 can be fixed to the clamping bracket 501 through the locking bracket 502, and the end of the piston rod of the clamp cylinder 503 is provided with a clamping block for clamping with an external injection molding machine. When the piston rod of the clamp cylinder 503 extends into the injection molding machine, the clamping block can cooperate with the clamping slot in the injection molding machine to achieve clamping and fixing, thereby ensuring that the gripper of the robot is stressed when the soft rubber part is clamped and disengaged.

[0032] Further, as a preferred embodiment, the garbage nail clamping mechanism 3 includes a second driving mechanism 301, a second clamping jaw 302 and a second jet mechanism 303. The second driving mechanism 301 is installed at one end of the frame body 101. Two second clamping jaws 302 are arranged on the second driving mechanism 301. A second jet mechanism 303 is arranged between the two second clamping jaws 302. The two second clamping jaws 302 are arranged opposite to each other, and each second clamping jaw 302 has three clamping ends. The second driving mechanism 301 in this embodiment has the same structure as the first driving mechanism 206, and the second jet mechanism 303 has the same structure as the first jet mechanism 205, so they will not be repeatedly defined here. The second driving mechanism is used to drive the two second clamping jaws 302 to move closer to or away from each other, and the second jet mechanism 303 is used to spray gas to the surface of the garbage nail to remove dust or dirt on the surface of the garbage nail.

[0033] Further, as a preferred embodiment, the hard plastic clamping mechanism 4 includes a movable plate 41, a third clamping jaw 402, a third driving mechanism 403, a second cylinder 404 and a second guide shaft 405. The movable plate 41 is movably mounted on one end of the frame body 101 through the second guide shaft 405. The second cylinder 404 is arranged at the other end of the frame body 101. The output end of the second cylinder 404 is connected to the movable plate 41. The movable plate 41 is provided with a third driving mechanism 403. The third driving mechanism 403 is provided with two third clamping jaws 402. Both of the two third clamping jaws 402 are provided with second notches, and the two second notches facing each other form a second clamping groove. The third driving mechanism 403 has the same structure as the first driving mechanism 206, and is not limited here. The two third clamping jaws 402 can be driven to approach each other by the third driving mechanism 403, so as to clamp the hard plastic part. In this embodiment, an air jet mechanism can also be provided between the two third clamping jaws 402.

[0034] When in use, when there is a demand for loading and unloading of soft and hard plastic injection molding robots, the second cylinder 404 in the automatic loading and unloading gripper drives the movable plate 41 to drive the third clamping jaw 402 to extend, and then the third drives the two third clamping jaws 402 to approach each other and clamp the hard plastic parts, and then the second cylinder 404 drives the movable plate 41 to drive the third clamping jaw 402 to retract;

[0035] Then the injection molding machine is turned on, and the automatic loading and unloading grippers enter the injection molding machine. The first gripper in the soft rubber clamping mechanism 2 moves to a position facing the soft rubber workpiece of the injection molded product under the action of the first cylinder 203, and then the clamp cylinder 503 is locked with the injection molding machine.

[0036] When the soft rubber workpiece of the injection molding machine is ejected for the second time, the first gripper extends and clamps the soft rubber workpiece under the drive of the first driving mechanism 206, and then the first jet mechanism 205 blows gas onto the soft rubber workpiece (soft rubber part) to remove dust, while the first cylinder 203 retracts, and the clamp cylinder 503 retracts to achieve unlocking;

[0037] When the automatic loading and unloading gripper moves toward the movable mold of the injection molding machine, the soft rubber workpiece is taken out of the injection molding machine, and the automatic loading and unloading gripper retracts a fixed distance from the injection molding machine, so that the second clamping jaw 302 moves to a position facing the injection molding garbage nail; then the automatic loading and unloading gripper moves toward the fixed mold of the injection molding machine, clamps the injection molded garbage nail through the second clamping jaw 302, and moves toward the movable mold of the injection molding machine after clamping;

[0038] Then the automatic loading and unloading gripper retracts a fixed distance from the injection molding machine, so that the third clamping jaw 402 is facing the injection molding hard rubber position, and the third clamping jaw 402 extends to place the hard rubber workpiece on the fixed mold of the injection molding machine; then the automatic loading and unloading gripper withdraws from the injection molding machine, unloads the finished soft rubber workpiece in turn, puts the garbage nails into the waste box, and then goes to the fixed position to clamp the hard rubber part, and the cycle is repeated.

[0039] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot gripper for automatic loading and unloading of soft and hard plastic injection molding parts, characterized in that: It includes a frame mechanism, a soft rubber clamping mechanism, a garbage nail clamping mechanism and a hard rubber clamping mechanism, wherein the soft rubber clamping mechanism, the garbage nail clamping mechanism and the hard rubber clamping mechanism are all arranged on the frame mechanism; The frame mechanism comprises a frame body; The soft rubber clamping mechanism includes a first clamping jaw, a first guide shaft, a first cylinder, a movable rubber plate, a first jet mechanism and a first driving mechanism. The movable rubber plate is arranged at one end of the frame body, the first cylinder is arranged at the other end of the frame body, the output end of the first cylinder is connected to the movable rubber plate, the movable rubber plate is connected to the frame body through a plurality of the first guide shafts, a plurality of the first clamping jaws are arranged on the movable rubber plate, two of the first clamping jaws are arranged opposite to each other, the two first clamping jaws arranged opposite to each other are connected to the movable rubber plate through the first driving mechanism, each of the first clamping jaws is respectively provided with a first notch, the two first notches form a first clamping groove, and the first jet mechanism is arranged on the movable rubber plate at a position opposite to the first notch.

2. The robot automatic loading and unloading gripper for soft and hard plastic injection molding according to claim 1, characterized in that: The frame mechanism also includes a wire tie bracket, an electrical box, a transfer flange and a pad. The wire tie bracket and the electrical box are arranged at the other end of the frame body, a plurality of pads are arranged between the electrical box and the frame body, and the transfer flange is arranged on one side of the frame body.

3. The robot automatic loading and unloading gripper for soft and hard plastic injection molding according to claim 1, characterized in that: The first jet mechanism includes a first nozzle, a first air pipe joint and a first mounting plate. The first mounting plate is arranged on the movable rubber plate. The first mounting plate is provided with the first nozzle. The first air pipe joint is connected to the first nozzle. The first nozzle is provided with a plurality of jet holes.

4. The robot automatic loading and unloading gripper for soft and hard plastic injection molding according to claim 1, characterized in that: The first driving mechanism includes a base, a first driving member, a connecting seat, a sliding block and a connecting block. The base is arranged on the movable rubber plate, two first driving members are arranged in the base, the connecting seat is arranged on the base, a slide groove is provided on the connecting seat, two sliding blocks are arranged in the slide groove, each of the sliding blocks is respectively provided with a connecting block, the connecting block is connected to the first clamping claw, and the output end of the first driving member is connected to the first sliding block.

5. The robot automatic loading and unloading gripper for soft and hard plastic injection molding according to claim 1, characterized in that: It also includes a mold clamping mechanism, which includes a clamping bracket, a locking bracket and a clamp cylinder. An opening is provided in the middle of the movable rubber plate, one end of the clamping bracket is provided on the frame body, and the other end of the clamping bracket extends out of the opening. The locking bracket is provided at the other end of the clamping bracket, and the clamp cylinder is provided between the locking bracket and the clamping bracket.

6. The robot automatic loading and unloading gripper for soft and hard plastic injection molding according to claim 1, characterized in that: The garbage nail clamping mechanism includes a second driving mechanism, a second clamping claw and a second jet mechanism. The second driving mechanism is installed at one end of the frame body. The second driving mechanism is provided with two second clamping claws. The second jet mechanism is provided between the two second clamping claws. The two second clamping claws are arranged opposite to each other, and each second clamping claw has three clamping ends.

7. The robot automatic loading and unloading gripper for soft and hard plastic injection molding according to claim 1, characterized in that: The hard rubber clamping mechanism includes a movable plate, a third clamping jaw, a third driving mechanism, a second cylinder and a second guide shaft. The movable plate is movably mounted on one end of the frame body through the second guide shaft. The second cylinder is arranged at the other end of the frame body. The output end of the second cylinder is connected to the movable plate. The third driving mechanism is arranged on the movable plate. The third driving mechanism is provided with two third clamping jaws. Both of the two third clamping jaws are provided with second notches. The two second notches facing each other form a second clamping groove.

8. The robot automatic loading and unloading gripper for soft and hard plastic injection molding according to claim 6, characterized in that: It also includes a speed regulating valve, which is arranged at the middle part of one end of the frame body and is connected to the first jet mechanism and the second jet mechanism.

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