Automatic leak repairing and reinforcing robot

Abstract

The invention discloses an automatic leak repairing and reinforcing robot, which is used for repairing a door gap of a train and comprises a walking trolley; the feeding module stores and outputs leak repairing materials; the spraying module is arranged on the walking trolley and connected with the feeding module, and the spraying module sprays leakage repairing materials to a gap of a train door of the train; the covering module is arranged on the walking trolley and is arranged above the spraying module; and the information acquisition module is arranged on the covering module and the injection module, and the information acquisition module acquires the train number and the train door gap information of the train. According to the invention, the train number can be automatically identified, a compartment and a door gap which need to be repaired are accurately positioned, and leakage repairing materials are accurately sprayed through the six-axis mechanical arm. Meanwhile, the covering module protects leak repairing operation from being affected by weather, and the power supply system ensures continuous operation. The whole leak repairing efficiency is improved, the labor cost is reduced, the sealing performance and safety of the train door are ensured, and automation and accuracy are high.

Description

Technical Field

[0001] The invention relates to the technical field of leak repairing, and in particular to an automatic leak repairing and reinforcing robot. Background Art

[0002] Freight trains are the main mode of transporting bulk goods, and the sealing of their door gaps is directly related to transportation efficiency and cargo safety. However, during long-term, high-intensity transportation, the door gaps may leak due to wear, aging, or external impact, which can cause safety issues such as cargo damage and leakage. Therefore, it is particularly important to repair the door gaps of freight trains in a timely and accurate manner.

[0003] In the prior art, the repair of the door gaps of freight trains mainly relies on manual operation, which has significant disadvantages. Manual repair is time-consuming and labor-intensive, inefficient, and the quality of repair is difficult to unify, which largely depends on the skill level and experience of the workers. In addition, there are safety hazards in the repair process. Summary of the invention

[0004] According to an embodiment of the present invention, an automatic leak repairing and reinforcing robot is provided, which is used to repair the gap of a door of a train, and comprises: A traveling trolley, which moves along the length of the train; A feeding module is arranged on the traveling trolley, and the feeding module stores and outputs leak repairing materials; The injection module is arranged on the traveling trolley and connected to the feeding module. The injection module injects the leak-proof material to the door gap of the train; A covering module is arranged on the traveling trolley and above the spraying module; An information collection module, which is arranged on the covering module and the spraying module, and collects the train number and door gap information of the train; The control cabinet is installed on the traveling trolley and is electrically connected to the traveling trolley, the feeding module, the injection module and the information acquisition module. The control cabinet receives information from the information acquisition module to control the actions of the traveling trolley, the feeding module and the injection module.

[0005] Furthermore, it also includes: a running track, which is parallel to the track of the train and guides the running direction of the trolley.

[0006] Furthermore, it also includes: a pair of positioning and anti-collision modules, the pair of positioning and anti-collision modules are respectively arranged at both ends of the walking trolley; The positioning anti-collision module includes a buffer bar, a warning light and a positioning radar; The buffer strip is fixed on the side wall at one end of the traveling trolley; The positioning radar is connected to the warning light and connected to the control cabinet; The positioning radar determines the position of the traveling trolley relative to the train, and the warning light lights up to warn according to the data of the positioning radar. The positioning radar and the warning light are electrically connected to the control cabinet.

[0007] Further, the feeding module comprises: a pair of feeding barrels, a pair of feeding pipes and joints; A pair of material supply barrels are arranged on the traveling trolley, and the material supply barrels store leak repairing materials; A pair of feed barrels are respectively connected to the joints through a pair of feed pipes, and the joints are fixed on the injection module; Each material supply pipeline is provided with a paint solenoid valve, which controls the connection of the corresponding material supply pipeline.

[0008] Furthermore, the feeding module also includes: an air source, an exhaust pipe and an exhaust solenoid valve; The two ends of the exhaust pipe are connected to the joint and the gas source respectively, and the exhaust solenoid valve is arranged on the exhaust pipe; The gas source outputs gas and is delivered to the connector through the exhaust pipe to empty and clean the connector.

[0009] Furthermore, the feeding module also includes: an insulation box and a heating device; The insulated box is arranged on the traveling trolley and is used to store a pair of feed barrels; The heating device is arranged in the heat preservation box and is connected with a pair of material supply barrels. The heating device heats the leak repairing materials in the material supply barrels.

[0010] Furthermore, the spray module includes: a six-axis robot arm, a spray gun and a control valve; The six-axis robotic arm is installed on the walking trolley; The spray gun is fixed to the output end of the six-axis robot arm; The control valve is arranged at the input end of the spray gun, and the control valve controls the opening and closing of the spray gun; The six-axis robotic arm drives the spray gun to spray at the gap of the car door; The six-axis robot arm and the control valve are electrically connected to the control cabinet.

[0011] Further, the covering module comprises: a roof and a pair of side sheds; The ceiling is fixed on the traveling trolley, and the ceiling covers the injection module; A pair of side sheds are movably connected to both sides of the roof respectively.

[0012] Furthermore, the information collection module includes: a first camera, a second camera and a 3D radar; The first camera is installed on the traveling trolley, and collects the train number; The second camera and 3D radar are installed on the injection module, and the second camera and 3D radar jointly collect the door gap information of the train; The first camera, the second camera and the 3D radar are electrically connected to the control cabinet.

[0013] Furthermore, it also comprises: a power supply cable, a cable drum, a driving member, a first cable guide rod and a pair of second cable guide rods; The cable drum, the driving member, the first cable guide rod and a pair of second cable guide rods are arranged on the traveling trolley; The power supply cable is rolled up on the cable drum; The output end of the driving member is connected to the cable drum, and the driving member drives the cable drum to rotate so as to reel in and unwind the power supply cable; A pair of second cable guide rods are respectively arranged on the upper and lower sides of the power supply cable to clamp the power supply cable; The bottom of the second cable guide rod is in contact with the cable, and the first cable guide rod and the first and second cable guide rods jointly guide the lead-out direction of the power supply cable.

[0014] The automatic leak repair and reinforcement robot according to the embodiment of the present invention can automatically identify the train number, accurately locate the compartment and door gaps that need to be repaired, and accurately spray the leak repair material through the six-axis robotic arm. At the same time, the covering module protects the leak repair operation from the weather, and the power supply system ensures continuous operation. Overall, the leak repair efficiency is improved, the labor cost is reduced, the sealing and safety of the train doors are ensured, and the automation and precision are high.

[0015] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the technology as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of leak repairing of an automatic leak repairing and reinforcing robot according to an embodiment of the present invention; Figure 2 Schematic diagram of the structure of the automatic leak repair and reinforcement robot according to an embodiment of the present invention; Figure 3 It is a front view schematic diagram of an automatic leak repair and reinforcement robot according to an embodiment of the present invention; Figure 4 Schematic diagram of the internal structure of the automatic leak repair and reinforcement robot according to an embodiment of the present invention; Figure 5 A schematic diagram of a covering module of an automatic leak repair and reinforcement robot according to an embodiment of the present invention; Figure 6 for Figure 5 Schematic diagram of the masking process in ; Figure 7 Schematic diagram of a feeding module of an automatic leak repair and reinforcement robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings to further illustrate the present invention.

[0018] First, combine Figures 1 to 7 An automatic leak repairing and reinforcing robot according to an embodiment of the present invention is described, which is used to repair the door gap of a train and has a wide range of application scenarios.

[0019] like Figures 1 to 7 As shown, the automatic leak repairing and reinforcing robot 1 of the embodiment of the present invention is used to repair the door gap of a train 1, and comprises: a walking trolley 21, a feeding module, a spraying module, a covering module 22, an information collection module, and a control cabinet 23.

[0020] Specifically, Figures 1 to 7 As shown, in this embodiment, the walking trolley 21 walks along the length direction of the train 1. The walking trolley 21 is the mobile platform and the bearing platform of the automatic leak repairing and reinforcing robot 1, and is responsible for driving the entire robot device to walk along the train 1 so as to reach the gap position of the door of the train 1 that needs to be repaired. The walking trolley 21 is a self-driving trolley, and can be a wheeled robot, a crawler robot, etc.; The feeding module is arranged on the walking trolley 21, and the feeding module stores and outputs the leak repairing materials, and the leak repairing materials are sealants, fillers, etc.; The spray module is arranged on the traveling trolley 21 and is connected to the feeding module. The spray module sprays the leak-proof material to the door gap of the train 1; The covering module 22 is arranged on the walking trolley 21 and above the injection module. In the case of bad weather such as rainy days and snowy days, the covering module 22 can cover and protect the leak repairing materials and the repairing area to prevent the leak repairing materials from being lost and contaminated; The information collection module is arranged on the covering module 22 and the spraying module. The information collection module collects the car number and door gap information of the train 1. The door gap information includes the width, depth, position, etc. of the gap. The car number information is the identification of the train 1. By collecting the car number information, the train 1 to be repaired and its specific position can be accurately identified, which helps the walking trolley 21 to quickly locate the target car, reduce the time of searching and confirming, and improve the confirmation efficiency; The control cabinet 23 is installed on the traveling trolley 21 and is electrically connected to the traveling trolley 21, the feeding module, the injection module and the information collection module. The control cabinet 23 receives information from the information collection module to control the actions of the traveling trolley 21, the feeding module and the injection module.

[0021] Specifically, Figures 1 to 7As shown, in this embodiment, it also includes: a walking track 3, which is parallel to the track of the train 1. The walking track 3 guides the walking direction of the walking trolley 21, provides a clear moving path for the walking trolley 21, greatly improves the positioning accuracy, ensures that the gap between the trolley and the train 1 meets the relevant standards, enhances the walking stability, and optimizes the moving efficiency.

[0022] Specifically, Figures 1 to 7 As shown, in this embodiment, it also includes: a pair of positioning and anti-collision modules, which are respectively arranged at both ends of the walking trolley 21 to achieve complete positioning of both sides of the walking trolley 21, improve positioning accuracy, and prevent collision; The positioning and anti-collision module includes a buffer bar 241, a warning light 242 and a positioning radar 243; The buffer strip 241 is fixed to a side wall of one end of the traveling trolley 21. The buffer strip 241 is made of elastic material to absorb and disperse the impact force generated by the traveling trolley 21 when it collides. The positioning radar 243 is connected to the warning light 242 and is also connected to the control cabinet 23; The positioning radar 243 determines the position of the traveling trolley 21 relative to the train 1. The positioning radar 243 can determine that the warning light 242 of the traveling trolley 21 lights up to warn according to the data of the positioning radar 243. The positioning radar 243 and the warning light 242 are electrically connected to the control cabinet 23. The positioning radar 243 continuously emits electromagnetic waves and receives reflected signals. When these signals encounter obstacles, they will be reflected back and received by the radar. By analyzing these reflected signals, the positioning radar 243 can determine the position and distance of the obstacle. When the positioning radar 243 detects the obstacle and determines its position, it will send a signal to the control cabinet 23. The control cabinet 23 determines whether the trolley is in a dangerous state based on these signals and triggers the corresponding warning light 242. In addition, the positioning radar 243 can assist the traveling trolley 21 to accurately locate the position of the train 1 carriage. For example, when the traveling trolley 21 exceeds the position of the carriage where the seam to be repaired is located, the warning light 242 is triggered to assist the traveling trolley 21 to reach the correct position and perform the repair operation.

[0023] Specifically, Figures 1 to 7 As shown, in this embodiment, the feeding module comprises: a pair of feeding barrels 251, a pair of feeding pipes 252 and a joint 253; A pair of supply barrels 251 are arranged on the traveling trolley 21. The supply barrels 251 store leak repairing materials. The pair of supply barrels 251 supply materials alternately to increase the continuous operation time of the traveling trolley 21. The supply barrels 251 can be a barrel with a pressure structure to output leak repairing materials. A pair of feed barrels 251 are respectively connected to a joint 253 through a pair of feed pipes 252. The feed pipes 252 ensure smooth transmission of materials from the feed barrels 251 to the injection module. The joint 253 is fixed on the injection module, and the joint 253 realizes a stable connection between the feed pipes 252 and the injection module. Each material supply pipeline 252 is provided with a paint solenoid valve 254 , and the paint solenoid valve 254 controls the communication of the corresponding material supply pipeline 252 . The paint solenoid valve 254 is electrically connected to the control cabinet 23 .

[0024] Further, if Figures 1 to 7 As shown, in this embodiment, the feeding module further comprises: an air source 255, an exhaust pipe 256 and an exhaust solenoid valve 257; The two ends of the exhaust pipe 256 are respectively connected to the joint 253 and the gas source 255. The exhaust solenoid valve 257 is arranged on the exhaust pipe 256. The exhaust solenoid valve 257 is electrically connected to the control cabinet 23 to control the on and off of the exhaust pipe 256. The exhaust pipe 256 and the pair of feed pipes 252 are both flexible pipes with good adaptability. The gas source 255 outputs gas and is transported to the connector 253 through the exhaust pipe 256 to empty and clean the connector 253. The gas source 255 can be an air pump, an air compressor, etc. The connector 253 adopts a three-input and one-out type, and the three input ports are respectively connected to the exhaust pipe 256 and a pair of feed pipes 252, and one output port is connected to the injection module. After the injection is completed, the exhaust pipe 256 outputs gas to clean the connector 253 and the leak-proof material at the spray gun nozzle.

[0025] Further, if Figures 1 to 7 As shown, in this embodiment, the feeding module further comprises: an insulation box 258 and a heating device 259; The heat preservation box 258 is arranged on the walking trolley 21 and is used to store a pair of feeding barrels 251. The heat preservation box 258 is made of heat preservation and heat insulation materials to ensure that the temperature of the feeding barrels 251 is suitable; The heating device 259 is arranged in the insulation box 258 and is connected to a pair of supply barrels 251. The heating device 259 heats the leak-proof material in the supply barrels 251. The heating device 259 is electrically connected to the control cabinet 23. The heating device 259 can adopt the existing one, including a heater and a temperature sensor. The temperature sensor detects the internal temperature of the insulation box 258 and determines whether the heater is heated according to the temperature conditions.

[0026] Further, if Figures 1 to 7 As shown, in this embodiment, the spray module includes: a six-axis robot arm 261, a spray gun 262 and a control valve; The six-axis robot arm 261 is installed on the walking trolley 21. The six-axis robot arm 261 has six rotating joints, which can realize complex spatial movement and positioning, and can move and operate in a large range; The spray gun 262 is fixed to the output end of the six-axis robot arm 261, and the spray gun 262 can be a self-pressure structure; The control valve is arranged at the input end of the spray gun 262, and the control valve controls the opening and closing, spray flow rate and speed of the spray gun 262; The six-axis mechanical arm 261 drives the spray gun 262 to spray at the gap of the door, and the spray position is precisely controlled by the movement of the six-axis mechanical arm 261; The six-axis robot arm 261 , the spray gun 262 and the control valve are electrically connected to the control cabinet 23 .

[0027] Further, if Figures 1 to 7 As shown, in this embodiment, the covering module 22 includes: a ceiling 221 and a pair of side shelves 222; The ceiling 221 is fixed on the walking trolley 21, and the ceiling 221 covers the spray module. The height of the middle part of the ceiling 21 is less than the height of the two sides thereof, so that rainwater gathers in the middle part, and prevents rainwater from flowing to the two sides to affect the leak repairing effect; A pair of side sheds 222 are movably connected to both sides of the ceiling 221, and the side sheds 222 can be expanded and retracted relative to the ceiling 221; In this embodiment, the ceiling 221 is connected to a pair of side shelves 222 via a rotating shaft 223, the rotating shaft 223 is rotatably arranged on the side of the ceiling 221, the side shelves 222 are connected to the rotating shaft 223, and rotate with the rotating shaft 223, the rotating shaft 223 is connected to the driving motor 224, and the driving motor 224 drives the rotating shaft 223 to rotate to realize the expansion and retraction of the side shelves 222; In this embodiment, the ceiling 221 is slidably connected to a pair of side shelves 222. A slide rail is set on the ceiling 221, and the side shelves 222 are slidably set on the slide rail. The side shelves 222 are connected to the cylinder, and the cylinder is extended and retracted to drive the side shelves 222 to extend and retract relative to the ceiling 221.

[0028] Further, if Figures 1 to 7 As shown, in this embodiment, the information acquisition module includes: a first camera 281, a second camera 282 and a 3D radar; The first camera 281 is installed on the traveling trolley 21, and the first camera 281 collects the train number of the train 1; The second camera 282 and the 3D radar are installed on the injection module, specifically at the output end of the six-axis mechanical arm 261, to capture the details of the door gap at close range and with high precision. The second camera 282 and the 3D radar jointly collect the door gap information of the train 1. The second camera 282 can collect the two-dimensional image information of the door gap at close range. The 3D radar measures the distance and shape of the surrounding environment by transmitting and receiving electromagnetic waves, and can be used to accurately measure the width, depth and other parameters of the gap. The data information of the second camera 282 and the 3D radar ensures the accurate repair of the door gap. The first camera 281 , the second camera 282 , and the 3D radar are electrically connected to the control cabinet 23 .

[0029] Further, if Figures 1 to 7 As shown, in this embodiment, it also includes: a power supply cable 271, a cable drum 272, a driving member 273, a first cable guide rod 274 and a pair of second cable guide rods 275; The cable drum 272, the driving member 273, the first cable guide rod 274 and a pair of second cable guide rods 275 are arranged on the traveling trolley 21; The power supply cable 271 is wound on the cable drum 272. The power supply cable 271 can be directly connected to all the electrical devices of the automatic leak repair and reinforcement robot 1. The electrical devices, such as the walking trolley 21, the feeding module, the injection module, etc., can also be connected to the battery. The battery is connected to the electrical devices one by one to supply power to the electrical devices. The output end of the driving member 273 is connected to the cable drum 272. The driving member 273 drives the cable drum 272 to rotate so as to reel in and unwind the power supply cable 271. The driving member 273 may be a motor. A pair of second cable guide rods 275 are respectively arranged at the upper and lower sides of the power supply cable 271 to clamp the power supply cable 271 and clean the debris on the power supply cable 271 to reduce the debris from entering the cable drum 272; The bottom of the second cable guide rod 275 is in contact with the cable, and the first cable guide rod 274 and the first and second cable guide rods 275 jointly guide the lead-out direction of the power supply cable 271 to ensure that the power supply cable 271 is neat and tidy without being entangled.

[0030] When in use, the first camera 281 identifies the car number of train 1 and feeds it back to the control cabinet 23. The control cabinet 23 determines the number of cars that need to be repaired and the corresponding car numbers of train 1 based on the car number information, controls the walking trolley 21 to move to the specified car number, and the six-axis robotic arm 261 starts to drive the spray gun 262 to move to the door position. The second camera 282 and the 3D radar jointly collect the seam information and feed it back to the control cabinet 23. The control cabinet 23 starts the control valve according to the seam information, controls the spray speed and flow of the spray gun 262, and realizes the spray repair of the door gap of train 1. After completion, the walking trolley 21 moves to the next car to be repaired, and repeats the above operations to finally realize the door gap repair of the entire train 1.

[0031] Above, refer to Figures 1 to 7 The automatic leak repair and reinforcement robot according to the embodiment of the present invention is described, which can automatically identify the train number, accurately locate the compartment and door gaps that need to be repaired, and accurately spray the leak repair material through the six-axis mechanical arm. At the same time, the covering module protects the leak repair operation from the weather, and the power supply system ensures continuous operation. The overall leak repair efficiency is improved, the labor cost is reduced, the sealing and safety of the train door are ensured, and the automation and precision are high.

[0032] It should be noted that, in this specification, the terms "include", "comprises" or any other variations 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. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0033] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. An automatic leak repair and reinforcement robot for repairing the door gap of a train, characterized in that: Include: A traveling trolley, wherein the traveling trolley travels along the length direction of the train; A feeding module, which is arranged on the walking trolley and stores and outputs leak repairing materials; An injection module, which is arranged on the traveling trolley and connected to the feeding module, and which injects the leak-proof material to the door gap of the train; A covering module, the covering module is arranged on the walking trolley and above the spraying module; An information collection module, the information collection module is arranged on the covering module and the injection module, and the information collection module collects the train number and the door gap information of the train; A control cabinet is installed on the traveling trolley and is electrically connected to the traveling trolley, the feeding module, the injection module and the information acquisition module. The control cabinet receives information from the information acquisition module to control the actions of the traveling trolley, the feeding module and the injection module.

2. The automatic leak repair and reinforcement robot as claimed in claim 1, characterized in that: It also includes: a walking track, which is parallel to the track of the train and guides the walking direction of the walking trolley.

3. The automatic leak repair and reinforcement robot according to claim 1, characterized in that: It also includes: a pair of positioning and anti-collision modules, which are respectively arranged at two ends of the walking trolley; The positioning and anti-collision module includes a buffer bar, a warning light and a positioning radar; The buffer strip is fixed on a side wall at one end of the traveling trolley; The positioning radar is connected to the warning light and to the control cabinet; The positioning radar determines the position of the traveling vehicle relative to the train, and the warning light is turned on to warn according to the data of the positioning radar. The positioning radar and the warning light are electrically connected to the control cabinet.

4. The automatic leak repair and reinforcement robot as claimed in claim 1, characterized in that: The feeding module comprises: a pair of feeding barrels, a pair of feeding pipes and a joint; The pair of supply barrels are arranged on the walking trolley, and the supply barrels store the leak-proof materials; The pair of feed barrels are respectively connected to the joints through the pair of feed pipes, and the joints are fixed on the injection module; Each of the material supply pipelines is provided with a paint solenoid valve, and the paint solenoid valve controls the communication of the corresponding material supply pipeline.

5. The automatic leak repair and reinforcement robot as claimed in claim 4, characterized in that: The feeding module also includes: an air source, an exhaust pipe and an exhaust solenoid valve; The two ends of the exhaust pipe are respectively connected to the joint and the gas source, and the exhaust solenoid valve is arranged on the exhaust pipe; The gas source outputs gas and delivers it to the joint through the exhaust pipe to empty and clean the joint.

6. The automatic leak repair and reinforcement robot as claimed in claim 4 or 5, characterized in that: The feeding module also includes: an insulation box and a heating device; The insulated box is arranged on the walking trolley and is used to store the pair of feed barrels; The heating device is arranged in the heat preservation box and is connected to the pair of supply barrels. The heating device heats the leak-sealing material in the supply barrels.

7. The automatic leak repair and reinforcement robot as claimed in claim 1, characterized in that: The spray module comprises: a six-axis robotic arm, a spray gun and a control valve; The six-axis mechanical arm is installed on the walking trolley; The spray gun is fixed to the output end of the six-axis robotic arm; The control valve is arranged at the input end of the spray gun, and the control valve controls the opening and closing of the spray gun; The six-axis robotic arm drives the spray gun to aim at the door gap for spraying; The six-axis robot arm and the control valve are electrically connected to the control cabinet.

8. The automatic leak repair and reinforcement robot as claimed in claim 1, characterized in that: The covering module comprises: a ceiling and a pair of side sheds; The ceiling is fixed on the traveling trolley, and the ceiling covers the injection module; The pair of side shelves are movably connected to two sides of the ceiling respectively.

9. The automatic leak repair and reinforcement robot as claimed in claim 1, characterized in that: The information acquisition module includes: a first camera, a second camera and a 3D radar; The first camera is installed on the walking trolley, and the first camera collects the train number of the train; The second camera and the 3D radar are installed on the injection module, and the second camera and the 3D radar jointly collect the door gap information of the train; The first camera, the second camera and the 3D radar are electrically connected to the control cabinet.

10. The automatic leak repair and reinforcement robot according to claim 1, characterized in that: It also includes: a power supply cable, a cable drum, a driving member, a first cable guide rod and a pair of second cable guide rods; The cable drum, the driving member, the first cable guide rod and the pair of second cable guide rods are arranged on the traveling trolley; The power supply cable is wound on the cable drum; The output end of the driving member is connected to the cable drum, and the driving member drives the cable drum to rotate so as to reel in and unreel the power supply cable; The pair of second cable guides are respectively arranged on the upper and lower sides of the power supply cable to clamp the power supply cable; The bottom of the second cable guide rod is in contact with the cable, and the first cable guide rod and the first and second cable guide rods jointly guide the lead-out direction of the power supply cable.

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