Adjustable climbing robot and use method thereof

Abstract

The invention discloses an adjustable climbing robot and a using method thereof.The adjustable climbing robot is characterized in that climbing wheels are installed on the two sides of a robot body through connecting rods, a transmission box is fixedly connected to the bottom of the robot body, a rotating rod is arranged on the front face of the transmission box, and a first motor is fixedly connected to the front face of the rotating rod; the back face of the rotating rod extends into the transmission box and is movably connected with the inner wall of the transmission box through a bearing, the surface of the rotating rod is in threaded connection with two moving blocks, the bottoms of the moving blocks are fixedly connected with first moving blocks, and the interiors of the first moving blocks are movably connected with traction rods through pin rods. The height and the vertical position of the magnet can be effectively adjusted, the phenomenon that the climbing robot cannot effectively climb due to different angles is avoided, the practicability of the climbing robot is enhanced, and the phenomenon that the climbing robot cannot effectively climb due to the influence of magnetic force is prevented.

Description

Technical Field

[0001] The invention relates to the technical field of angle steel tower maintenance, and in particular to an adjustable climbing robot and a use method thereof. Background Art

[0002] A wall-climbing robot is an automated robot that can climb and complete tasks on vertical walls. A wall-climbing robot is also called a wall-mobile robot. Because vertical wall operations are beyond human limits, they are also called extreme operation robots abroad. A wall-climbing robot must have two basic functions: adsorption and movement. Common adsorption methods include negative pressure adsorption and permanent magnetic adsorption. The negative pressure method can adsorb on the wall by generating negative pressure in the suction cup, and is not limited by the wall material. The permanent magnetic adsorption method includes permanent magnets and electromagnets, which are only suitable for adsorbing magnetic conductive walls. Wall-climbing robots are mainly used in petrochemical enterprises to perform flaw detection or painting on large cylindrical tanks, or to clean and spray buildings.

[0003] The angle steel tower is a plate tower with a downcomer. Its bubbling area is composed of angle steels arranged in parallel with each other. The arrangement direction of the angle steels is parallel to the liquid flow direction. The sharp edge of the angle steel is at the bottom, and the cross-section is "V" shaped. There is a certain grid gap between two adjacent angle steels. The downcomer is the same as the general tower plate. The liquid on the upper plate flows into the "V" shaped angle steel through the downcomer, and the gas bubbles with the liquid when rising through the grid gap to carry out the mass transfer process. The gas-liquid flow state on the tower plate is similar to that of the sieve plate. The angle steel tower plate has a small pressure drop, a large gas phase flux, a good tower plate efficiency, a simple structure, convenient processing and manufacturing, and good rigidity.

[0004] A climbing robot is needed for the inspection and maintenance of diagonal steel towers, but the position of the magnets at the bottom of existing climbing robots is mostly fixed. This causes the climbing robot to easily fall off due to low magnetic attraction or to be unable to move quickly due to high magnetic attraction when climbing a steel frame with a slope that is too high or too slow. This results in unsatisfactory climbing performance of the climbing robot and reduces the practicality of the climbing robot.

[0005] Therefore, it is necessary to invent a climbing robot with adjustable magnet position to prevent the climbing robot from being unable to climb effectively due to the influence of magnetic force. Summary of the invention

[0006] In order to solve the problems raised in the above-mentioned background technology, the purpose of the present invention is to provide an adjustable climbing robot and a method of using the same, which has the advantage of easy adjustment of the position of the magnet, and solves the problem that the position of the magnet at the bottom of the existing climbing robots is mostly fixed. This causes the climbing robot to fall easily due to low magnetic attraction or to be unable to move quickly due to high magnetic attraction when climbing a steel frame with a slope that is too high or too slow, resulting in unsatisfactory climbing effect of the climbing robot and reducing the practicality of the climbing robot.

[0007] To achieve the above object, the present invention provides the following technical solution: an adjustable climbing robot and a method for using the same, comprising:

[0008] The lifting of the clutch pedal is to ensure that the lifting of the clutch pedal is stable, and the lever is engaged with the clutch pedal and the stopper is engaged with the clutch pedal. The lever is engaged with the clutch pedal and the stopper is engaged with the clutch pedal. The lever is engaged with the clutch pedal and the stopper is engaged with the clutch pedal.

[0009] The translation mechanism includes a connecting sleeve fixedly connected to the bottom of the push plate, the bottom of the connecting sleeve is fixedly connected to the limit box, a second motor is arranged inside the connecting sleeve, the bottom of the second motor is fixedly connected to the top of the limit box, the output end of the second motor extends to the inside of the limit box and is fixedly connected to a special-shaped toothed disk, the surface of the special-shaped toothed disk is sleeved with a moving frame, the surface of the moving frame is slidably connected to the inner wall of the limit box, a plurality of teeth are fixedly connected on both sides of the inner wall of the moving frame, the teeth and the special-shaped toothed disk are meshed with each other, the bottom of the moving frame is fixedly connected to a connecting plate, the top of the connecting plate extends to the inside of the limit box and is slidably connected to the inner wall of the limit box, and the bottom of the connecting plate is fixedly connected to the top of the clamping sleeve.

[0010] As a preferred embodiment of the present invention, an opening is provided on the front side of the transmission box, the width of the opening is greater than the width of the rotating rod, and the opening is used in conjunction with the rotating rod.

[0011] As a preferred embodiment of the present invention, a support sleeve is provided on the surface of the first motor, and the back side of the support sleeve is fixedly connected to the front side of the transmission box via a fixing rod.

[0012] As a preferred embodiment of the present invention, a support block is sleeved on the surface of the rotating rod, and both sides of the support block are fixedly connected to the inner wall of the transmission box.

[0013] As a preferred embodiment of the present invention, both sides of the connecting sleeve are provided with ventilation holes, and the ventilation holes are used in conjunction with the connecting sleeve.

[0014] As a preferred embodiment of the present invention, the front and back sides of the connecting sleeve are fixedly connected with fixing plates, and the bottom of the fixing plates is fixedly connected to the top of the limiting box.

[0015] As a preferred embodiment of the present invention, the front side and the rear side of the push plate are fixedly connected with friction pads, and the surface of the friction pads is in contact with the inner wall of the transmission box.

[0016] As a preferred embodiment of the present invention, a movable groove is provided at the bottom of the transmission box, the width of the movable groove is greater than the width of the push plate, and the movable groove is used in conjunction with the push plate.

[0017] As a preferred embodiment of the present invention, an adjustable climbing robot and a method for using the same include the following steps:

[0018] S1; by placing the robot body on the surface of the angle steel tower, the magnetic attraction force at this time may be large or small, and the first motor is started to rotate forward or reverse according to the magnetic attraction force, and the first motor drives the rotating rod to rotate, so that the thread on the surface of the rotating rod drives the moving block to move toward the center or outward, and the moving block drives the first movable block and the traction rod to move toward the center or outward. At the same time, the traction rod moves inward and drives the push plate downward or upward through the second movable block, so that the magnet is close to or away from the angle steel tower for magnetic adjustment;

[0019] S2: After the magnetic force is adjusted up and down, the second motor is started. The output end of the second motor drives the special-shaped toothed disc to rotate. When rotating, the special-shaped toothed disc drives the teeth on the left side of the moving frame to move backward. The moving frame drives the connecting plate to move left through the thrust of the teeth, so that the connecting plate drives the ferrule and the magnet to move backward. If the user needs to move the magnet forward, he only needs to keep starting the second motor to make the special-shaped toothed disc drive the teeth on the right side of the moving frame to move forward to solve the problem of moving the magnet forward.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention can effectively adjust the height and up and down position of the magnet, avoiding the phenomenon that the climbing robot cannot effectively climb due to different angles, enhancing the practicality of the climbing robot, and preventing the climbing robot from being unable to effectively climb due to the influence of magnetic force.

[0022] 2. The present invention can limit the rotating rod by setting the opening, thereby preventing the rotating rod from shaking when rotating. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 It is a partial enlarged view of the present invention;

[0025] Figure 3 This is an enlarged view of the translation mechanism of the present invention;

[0026] Figure 4 It is an enlarged cross-sectional view of the transmission box of the present invention;

[0027] Figure 5 It is an enlarged cross-sectional view of the translation mechanism of the present invention;

[0028] Figure 6 For the present invention Figure 5 Enlarged view of point A in the middle.

[0029] In the figure: 1. robot body; 2. climbing wheel; 3. transmission box; 4. rotating rod; 5. first motor; 6. moving block; 7. first movable block; 8. traction rod; 9. second movable block; 10. push plate; 11. translation mechanism; 111. connecting sleeve; 112. limit box; 113. second motor; 114. special-shaped gear disc; 115. moving frame; 116. teeth; 117. connecting plate; 12. clamping sleeve; 13. magnet; 14. opening; 15. support sleeve; 16. support block; 17. air vent; 18. fixing plate; 19. friction pad; 20. moving groove. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0031] like Figures 1 to 6 As shown, the present invention provides an adjustable climbing robot and a method of using the same, comprising:

[0032] A robot body 1, climbing wheels 2 are installed on both sides of the robot body 1 through connecting rods, a transmission box 3 is fixedly connected to the bottom of the robot body 1, a rotating rod 4 is arranged on the front of the transmission box 3, a first motor 5 is fixedly connected to the front of the rotating rod 4, the back of the rotating rod 4 extends to the inside of the transmission box 3 and is movably connected to the inner wall of the transmission box 3 through a bearing, two moving blocks 6 are threadedly connected to the surface of the rotating rod 4, a first moving block 7 is fixedly connected to the bottom of the moving block 6, a traction rod 8 is movably connected to the inside of the first moving block 7 through a pin rod, a second moving block 9 is movably connected to the bottom of the traction rod 8 through a pin rod, a push plate 10 is fixedly connected to the bottom of the second moving block 9, a translation mechanism 11 is fixedly connected to the bottom of the push plate 10, a clamping sleeve 12 is arranged at the bottom of the translation mechanism 11, and a magnet 13 is fixedly connected to the bottom of the clamping sleeve 12;

[0033] The translation mechanism 11 includes a connecting sleeve 111 fixedly connected to the bottom of the push plate 10, the bottom of the connecting sleeve 111 is fixedly connected to the limit box 112, a second motor 113 is arranged inside the connecting sleeve 111, the bottom of the second motor 113 is fixedly connected to the top of the limit box 112, the output end of the second motor 113 extends to the inside of the limit box 112 and is fixedly connected to a special-shaped toothed disc 114, the surface of the special-shaped toothed disc 114 is sleeved with a moving frame 115, the surface of the moving frame 115 is slidably connected to the inner wall of the limit box 112, a plurality of teeth 116 are fixedly connected on both sides of the inner wall of the moving frame 115, the teeth 116 and the special-shaped toothed disc 114 are meshed with each other, a connecting plate 117 is fixedly connected to the bottom of the moving frame 115, the top of the connecting plate 117 extends to the inside of the limit box 112 and is slidably connected to the inner wall of the limit box 112, and the bottom of the connecting plate 117 is fixedly connected to the top of the sleeve 12.

[0034] refer to Figure 2 The front of the transmission box 3 is provided with an opening 14 , the width of the opening 14 is greater than the width of the rotating rod 4 , and the opening 14 is used in conjunction with the rotating rod 4 .

[0035] As a technical optimization solution of the present invention, by providing the opening 14, the rotating rod 4 can be limited to prevent the rotating rod 4 from shaking when rotating.

[0036] refer to Figure 2 A support sleeve 15 is sleeved on the surface of the first motor 5 , and the back side of the support sleeve 15 is fixedly connected to the front side of the transmission box 3 via a fixing rod.

[0037] As a technical optimization solution of the present invention, by providing a support sleeve 15, the first motor 5 can be supported to avoid strong shaking of the first motor 5 during operation.

[0038] refer to Figure 4A support block 16 is sleeved on the surface of the rotating rod 4 , and both sides of the support block 16 are fixedly connected to the inner wall of the transmission box 3 .

[0039] As a technical optimization solution of the present invention, by providing the support block 16, the rotating rod 4 can be supported, thereby improving the stability of the rotating rod 4 during rotation.

[0040] refer to Figure 3 Both sides of the connecting sleeve 111 are provided with ventilation holes 17 , and the ventilation holes 17 are used in conjunction with the connecting sleeve 111 .

[0041] As a technical optimization solution of the present invention, by providing the air vents 17, the heat of the second motor 113 can be dissipated, thereby preventing the second motor 113 from being unable to dissipate heat when operating.

[0042] refer to Figure 3 The front and back sides of the connecting sleeve 111 are fixedly connected with a fixing plate 18 , and the bottom of the fixing plate 18 is fixedly connected with the top of the limiting box 112 .

[0043] As a technical optimization solution of the present invention, by providing a fixing plate 18 , the connecting sleeve 111 can be fixed, thereby improving the fixing effect of the connecting sleeve 111 and the limiting box 112 .

[0044] refer to Figure 4 The front and rear sides of the push plate 10 are fixedly connected with friction pads 19 , and the surface of the friction pads 19 contacts the inner wall of the transmission box 3 .

[0045] As a technical optimization solution of the present invention, by providing the friction pad 19 , the push plate 10 can be brought into closer contact with the inner wall of the transmission box 3 , thereby increasing the contact area between the push plate 10 and the transmission box 3 .

[0046] refer to Figure 4 A moving groove 20 is provided at the bottom of the transmission box 3 , and the width of the moving groove 20 is greater than the width of the push plate 10 , and the moving groove 20 is used in conjunction with the push plate 10 .

[0047] As a technical optimization solution of the present invention, by providing the moving groove 20, the push plate 10 can completely pass through the transmission box 3 to move, preventing the opening 14 from being too small and the push plate 10 from having excessive friction.

[0048] refer to Figure 1-Figure 6 , an adjustable climbing robot and a method of using the same, comprising the following steps;

[0049] S1; by placing the robot body 1 on the surface of the angle steel tower, the magnetic attraction force at this time may be large or small, and the first motor 5 is started to rotate forward or reverse according to the magnetic attraction force, and the first motor 5 drives the rotating rod 4 to rotate, so that the thread on the surface of the rotating rod 4 drives the moving block 6 to move toward the center or outward, and the moving block 6 drives the first movable block 7 and the traction rod 8 to move toward the center or outward. At the same time, the traction rod 8 moves inward and drives the push plate 10 to move downward or upward through the second movable block 9, so that the magnet 13 is close to or away from the angle steel tower for magnetic adjustment;

[0050] S2: After the magnetic force is adjusted up and down, the second motor 113 is started. The output end of the second motor 113 drives the special-shaped toothed disc 114 to rotate. When rotating, the special-shaped toothed disc 114 drives the teeth 116 on the left side of the moving frame 115 to move backward. The moving frame 115 drives the connecting plate 117 to move left through the thrust of the teeth 116, so that the connecting plate 117 drives the sleeve 12 and the magnet 13 to move backward. If the user needs to move the magnet 13 forward, he only needs to continue to start the second motor 113, so that the special-shaped toothed disc 114 drives the teeth 116 on the right side of the moving frame 115 to move forward, which can solve the problem of moving the magnet 13 forward.

[0051] The working principle and use process of the present invention are as follows: when in use, the robot body 1 is first placed on the surface of the angle steel tower so that the climbing wheel 2 contacts the surface of the angle steel tower. After the placement is completed, the first motor 5 is started so that the output end of the first motor 5 drives the rotating rod 4 to rotate. When the rotating rod 4 rotates, the moving block 6 is driven to move inward through the thread. The moving block 6 drives the first movable block 7 to move inward. The first movable block 7 drives the traction rod 8 to move inward through the pin rod. The bottom of the traction rod 8 pushes the push plate 10 to move downward through the pin rod. The push plate 10 drives the connecting sleeve 111 and the limit box 112 to move downward. The limit box 112 drives the connecting plate 117 and the clamping sleeve 12 to move downward. The clamping sleeve 12 drives the magnet 13 to move downward. Approach the angle steel tower. After the height adjustment is completed, if you need to adjust the front and rear center of gravity of the magnet 13, start the second motor 113. The output end of the second motor 113 drives the special-shaped toothed disc 114 to rotate. The special-shaped toothed disc 114 drives the moving frame 115 to move forward through the left teeth 116. The moving frame 115 drives the connecting plate 117, the sleeve 12 and the magnet 13 to move forward. If you need to move the magnet 13 backward, just keep the special-shaped toothed disc 114 rotating. After the special-shaped toothed disc 114 rotates half a circle, it drives the moving frame 115 to move right through the right teeth 116. The moving frame 115 drives the connecting plate 117, the sleeve 12 and the magnet 13 to move right. Finally, after the position of the magnet 13 is adjusted, start the climbing robot to climb.

[0052] In summary: the adjustable climbing robot and its use method are as follows: the robot body 1 is placed on the surface of the angle steel tower so that the climbing wheel 2 contacts the surface of the angle steel tower, and after the placement is completed, the first motor 5 is started so that the output end of the first motor 5 drives the rotating rod 4 to rotate, and the rotating rod 4 drives the moving block 6 to move inward through the thread when rotating, and the moving block 6 drives the first movable block 7 to move inward, and the first movable block 7 drives the traction rod 8 to move inward through the pin rod, and the bottom of the traction rod 8 pushes the push plate 10 to move downward through the pin rod, and the push plate 10 drives the connecting sleeve 111 and the limit box 112 to move downward, and the limit box 112 drives the connecting plate 117 and the clamping sleeve 12 to move downward, and the clamping sleeve 12 drives the magnet 13 to move downward so that the magnet 13 is close to the angle steel tower. After the height adjustment is completed, if it is necessary to adjust the front and rear center of gravity of the magnet 13, the second motor 113 is started, and the output end of the second motor 113 drives the special-shaped toothed disc 114 to rotate, and the special-shaped toothed disc 114 drives the moving frame 115 forward through the left teeth 116, and the moving frame 115 drives the connecting plate 117, the sleeve 12 and the magnet 13 to move forward. If the magnet 13 needs to be moved backward, the special-shaped toothed disc 114 only needs to rotate continuously. After the special-shaped toothed disc 114 rotates half a circle, it drives the moving frame 115 to move right through the teeth 116 on the right, and the moving frame 115 drives the connecting plate 117, the sleeve 12 and the magnet 13 to move right. Finally, after the position of the magnet 13 is adjusted, the climbing robot is started to climb, thereby having the advantage of easy adjustment of the magnet position, solving the problem that the position of the magnet at the bottom of the existing climbing robot is mostly fixed, which leads to the climbing robot being prone to falling due to too low magnetic attraction or the climbing robot being unable to move quickly due to too high magnetic attraction when climbing a steel frame with a too high or too slow slope, resulting in unsatisfactory climbing effect of the climbing robot and reducing the practicality of the climbing robot.

[0053] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0054] 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. An adjustable climbing robot, characterized in that: include: A robot body (1), both sides of the robot body (1) are provided with climbing wheels (2) via connecting rods, the bottom of the robot body (1) is fixedly connected to a transmission box (3), a rotating rod (4) is arranged on the front of the transmission box (3), a first motor (5) is fixedly connected to the front of the rotating rod (4), the back of the rotating rod (4) extends to the interior of the transmission box (3) and is movably connected to the inner wall of the transmission box (3) via a bearing, the surface of the rotating rod (4) is threadedly connected to two moving blocks (6), the moving blocks (5) are The bottom of the movable block (6) is fixedly connected to a first movable block (7), the interior of the first movable block (7) is movably connected to a traction rod (8) via a pin, the bottom of the traction rod (8) is movably connected to a second movable block (9) via a pin, the bottom of the second movable block (9) is fixedly connected to a push plate (10), the bottom of the push plate (10) is fixedly connected to a translation mechanism (11), the bottom of the translation mechanism (11) is provided with a clamping sleeve (12), and the bottom of the clamping sleeve (12) is fixedly connected to a magnet (13); The translation mechanism (11) comprises a connecting sleeve (111) fixedly connected to the bottom of the push plate (10), the bottom of the connecting sleeve (111) is fixedly connected to a limit box (112), a second motor (113) is arranged inside the connecting sleeve (111), the bottom of the second motor (113) is fixedly connected to the top of the limit box (112), the output end of the second motor (113) extends to the inside of the limit box (112) and is fixedly connected to a special-shaped toothed disc (114), and the surface of the special-shaped toothed disc (114) is provided with a movable The movable frame (115) comprises a movable frame (115), the surface of which is slidably connected to the inner wall of the limit box (112), a plurality of teeth (116) are fixedly connected to both sides of the inner wall of the movable frame (115), the teeth (116) and the special-shaped toothed disc (114) are meshed with each other, the bottom of the movable frame (115) is fixedly connected to a connecting plate (117), the top of which extends to the interior of the limit box (112) and is slidably connected to the inner wall of the limit box (112), and the bottom of the connecting plate (117) is fixedly connected to the top of the sleeve (12).

2. The adjustable climbing robot according to claim 1, characterized in that: The front face of the transmission box (3) is provided with an opening (14), the width of the opening (14) is greater than the width of the rotating rod (4), and the opening (14) is used in conjunction with the rotating rod (4).

3. The adjustable climbing robot according to claim 1, characterized in that: A support sleeve (15) is sleeved on the surface of the first motor (5), and the back side of the support sleeve (15) is fixedly connected to the front side of the transmission box (3) via a fixing rod.

4. The adjustable climbing robot according to claim 1, characterized in that: A support block (16) is sleeved on the surface of the rotating rod (4), and both sides of the support block (16) are fixedly connected to the inner wall of the transmission box (3).

5. The adjustable climbing robot according to claim 1, characterized in that: Both sides of the connecting sleeve (111) are provided with ventilation holes (17), and the ventilation holes (17) are used in conjunction with the connecting sleeve (111).

6. The adjustable climbing robot according to claim 1, characterized in that: The front and back sides of the connecting sleeve (111) are both fixedly connected to a fixing plate (18), and the bottom of the fixing plate (18) is fixedly connected to the top of the limiting box (112).

7. The adjustable climbing robot according to claim 1, characterized in that: The front side and the rear side of the push plate (10) are both fixedly connected with a friction pad (19), and the surface of the friction pad (19) contacts the inner wall of the transmission box (3).

8. The adjustable climbing robot according to claim 1, characterized in that: The bottom of the transmission box (3) is provided with a moving groove (20), the width of the moving groove (20) is greater than the width of the push plate (10), and the moving groove (20) is used in conjunction with the push plate (10).

9. A method for using an adjustable climbing robot according to any one of the above claims, characterized in that: The steps include: S1; by placing the robot body (1) on the surface of the angle steel tower, the magnetic attraction force at this time may be large or small, and the first motor (5) is started to rotate forward or reverse according to the magnetic attraction force, and the first motor (5) drives the rotating rod (4) to rotate, so that the thread on the surface of the rotating rod (4) drives the moving block (6) to move toward the center or outward, and the moving block (6) drives the first movable block (7) and the traction rod (8) to move toward the center or outward. At the same time, the traction rod (8) moves inward and drives the push plate (10) to move downward or upward through the second movable block (9), so that the magnet (13) is close to or away from the angle steel tower for magnetic adjustment; S2: After the magnetic force is adjusted up and down, the second motor (113) is started, and the output end of the second motor (113) drives the special-shaped toothed disc (114) to rotate. When the special-shaped toothed disc (114) rotates, it drives the teeth (116) on the left side of the moving frame (115) to move backward. The moving frame (115) drives the connecting plate (117) to move leftward through the thrust of the teeth (116), so that the connecting plate (117) drives the ferrule (12) and the magnet (13) to move backward. If the user needs to move the magnet (13) forward, the second motor (113) only needs to be started continuously, so that the special-shaped toothed disc (114) drives the teeth (116) on the right side of the moving frame (115) to move forward, and the problem of moving the magnet (13) forward can be solved.

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