Foot end component of inspection robot and inspection robot

Abstract

The invention relates to the technical field of inspection climbing robots, in particular to a foot end component of an inspection robot and the inspection robot, and the foot end component of the inspection robot comprises a foot end shell, a suction cup unit, a sliding block and a telescopic rod. When the telescopic rods contract to drive the pull rods to slide away from the sucker bodies, the tops of the sucker bodies are driven to move towards the bottoms, and negative pressure cavities are formed between the sucker bodies and adsorbed objects. Due to the fact that the multiple suction cup units are arranged on the foot end component of the inspection robot side by side, each suction cup unit can independently suck the surface of the object closest to the sucked object, and it is guaranteed that the foot end component can suck the different surfaces or different radians of the sucked object; therefore, the foot end unit can still be stably adsorbed under the condition that the foot end unit has a certain radian or the surface smoothness degree is limited, climbing inspection is achieved through cooperation of different foot end components, and the application scene is expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of patrol climbing robots, and in particular to a foot end component of a patrol robot and the patrol robot. Background Art

[0002] At present, in the inspection work of large pipe fittings such as steel plant pipelines, robot inspection has been used to inspect large pipe fittings; currently there are many types of wall-climbing robots, including magnetic robots, adsorption robots, spider robots, etc.

[0003] Existing adsorption-type inspection robots are basically single-legged independent suction cup type, which has high requirements for the curvature and overall flatness of the surface. For pipes with large surface curvature and poor smoothness, its climbing effect is poor. Summary of the invention

[0004] The present invention is made to solve the above-mentioned technical problems, and its purpose is to provide a foot end component of a patrol robot, which can achieve climbing and patrol under conditions of a certain curvature or limited surface smoothness, thereby expanding the use scenarios.

[0005] In order to achieve the above-mentioned objectives, the present invention provides a foot-end component of a patrol robot, comprising a foot-end shell; a plurality of suction cup units are arranged in parallel, comprising a tubular shell, a suction cup body and a pull rod, wherein the bottom of the suction cup body is connected to one end of the tubular shell, and the pull rod is slidably arranged in the tubular shell, and one end is connected to the suction cup body; a sliding block is arranged in the foot-end shell and connected to the pull rod; a telescopic rod is installed in the foot-end shell and connected to the sliding block; wherein, when the telescopic rod contracts and drives the pull rod to slide away from the suction cup body, it drives the top of the suction cup body to move toward the bottom, so that a negative pressure cavity is generated between the suction cup body and the adsorbed object, and when the telescopic rod extends and drives the pull rod to slide toward the suction cup body, it drives the bottom of the suction cup body to move toward the top, so that the negative pressure cavity is eliminated.

[0006] Preferably, the suction cup unit further comprises an elastic member, the pull rod comprises a sliding plate, and two ends of the elastic member are connected to the sliding plate and the tubular shell.

[0007] Preferably, the tubular housing further includes a fixing plate, the elastic member is installed inside the tubular housing, and two ends of the elastic member abut against the sliding plate and the fixing plate.

[0008] Preferably, one end of the sliding block away from the suction cup unit comprises a connecting hole, and the telescopic rod is installed in the connecting hole.

[0009] Preferably, the foot-end shell includes a foot-end shell and a connecting shell, and the sliding block is located in the foot-end shell; the foot-end shell and the connecting shell are correspondingly provided with connecting holes, and the telescopic rod passes through the connecting holes and is located in the foot-end shell and the connecting shell.

[0010] Preferably, the width of the sliding block is greater than the width of the connecting shell and smaller than the width of the foot-end shell.

[0011] Preferably, the sliding block and the telescopic rod are integrally formed.

[0012] Preferably, the pull rod is connected to the center of the suction cup body and passes through the center of the tubular shell; the arc center of the suction cup body is located on the extension line of the pull rod.

[0013] The present invention provides an inspection robot, comprising a foot end component as described in any one of the items, wherein the foot end component is located at the bottom of the inspection robot.

[0014] Preferably, it also includes a linkage part, which is connected to the telescopic rod of the foot end part and controls the adsorption or release of the suction cup unit.

[0015] According to the above description and practice, the foot-end component of the inspection robot described in the present invention includes a foot-end shell, a suction cup unit, a sliding block and a telescopic rod. There are multiple suction cup units arranged in parallel, including a tubular shell, a suction cup body and a pull rod, wherein the bottom of the suction cup body is connected to one end of the tubular shell, and the pull rod is slidably arranged in the tubular shell, and one end is connected to the suction cup body. The sliding block is arranged in the foot-end shell and connected to the pull rod. The telescopic rod is installed in the foot-end shell and connected to the sliding block. Among them, when the telescopic rod contracts and drives the pull rod to slide away from the suction cup body, it drives the top of the suction cup body to move toward the bottom, so that a negative pressure cavity is generated between the suction cup body and the adsorbed object. When the telescopic rod extends and drives the pull rod to slide toward the suction cup body, it drives the bottom of the suction cup body to move toward the top, so that the negative pressure cavity is eliminated. When the suction cup unit and the adsorbed object generate a negative pressure cavity, the foot end component only needs to extend the pull rod through the telescopic rod to drive the suction cup body to change shape, and no longer needs to evacuate the air pressure in the cavity, which simplifies the conditions for the formation of the negative pressure cavity and reduces the size of the entire suction cup unit. In addition, since multiple suction cup units are arranged in parallel on the foot end component of the inspection robot, each suction cup unit can independently adsorb to the surface of the object closest to the adsorbed object, ensuring that the foot end component can adsorb to different surfaces or different curvatures of the adsorbed object, so that the foot end unit can still stably adsorb under conditions of a certain curvature or limited surface smoothness, and achieve climbing inspection through the cooperation between different foot end components, expanding the applicable scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a structural schematic diagram of a normal state of a suction cup unit involved in an embodiment of the present invention.

[0017] Figure 2 It is a structural schematic diagram of the adsorption state of the suction cup unit involved in one embodiment of the present invention.

[0018] Figure 3 It is a schematic structural diagram of the foot end component of the inspection robot involved in one embodiment of the present invention.

[0019] Figure 4 The figure is a schematic diagram of the structure of an inspection robot involved in one embodiment of the present invention. DETAILED DESCRIPTION

[0020] The exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and fully convey the concepts of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0021] In addition, the accompanying drawings are only schematic diagrams of the present invention and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, so their repeated description will be omitted. It should be noted that in the present invention, the terms "including", "configured with", and "set in" are used to express the meaning of open-ended inclusion, and mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms "first", "second", etc. are only used as marks, not to limit the number or order of their objects; the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 a limitation on the present invention.

[0022] 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 an indirect connection 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.

[0023] The present invention discloses a foot end component 100 of a patrol robot, please refer to Figures 1 to 4 The foot-end component 100 includes a foot-end shell 10, a suction cup unit 20, a sliding block 30 and a telescopic rod 40. A plurality of suction cup units 20 are arranged in parallel, including a tubular shell 1, a suction cup body 2 and a pull rod 3, wherein the bottom of the suction cup body 2 is connected to one end of the tubular shell 1, and the pull rod 3 is slidably arranged in the tubular shell 1, and one end is connected to the suction cup body 2. The sliding block 30 is arranged in the foot-end shell 10 and connected to the pull rod 3. The telescopic rod 40 is installed in the foot-end shell 10 and connected to the sliding block 30. Among them, when the telescopic rod 40 contracts and drives the pull rod 3 to slide away from the suction cup body 2, it drives the top of the suction cup body 2 to move toward the bottom, so that a negative pressure cavity is generated between the suction cup body 2 and the adsorbed object. When the telescopic rod 40 extends and drives the pull rod 3 to slide toward the suction cup body 2, it drives the bottom of the suction cup body 2 to move toward the top, so that the negative pressure cavity is eliminated. When the suction cup unit 20 and the adsorbed object generate a negative pressure cavity, the foot end component 100 only needs to extend the pull rod 3 through the telescopic rod 40 to drive the suction cup body 2 to change its shape, and it is no longer necessary to evacuate the air pressure in the cavity, which simplifies the conditions for the formation of the negative pressure cavity and reduces the size of the entire suction cup unit 20. In addition, since a plurality of suction cup units 20 are arranged in parallel on the foot end component 100 of the inspection robot, each suction cup unit 20 can independently adsorb to the surface of the object closest to the adsorbed object, ensuring that the foot end component 100 can adsorb to different surfaces or different curvatures of the adsorbed object, so that the foot end unit can still stably adsorb under conditions of a certain curvature or limited surface smoothness, and achieve climbing inspection through the cooperation between different foot end components 100, expanding the applicable scenarios.

[0024] In some embodiments, the bottom of the suction cup body 2 is connected to one end of the tubular shell 1 to prevent the suction cup body 2 from detaching from the tubular shell 1 due to excessive pulling force on both sides when the suction cup body 2 contacts the adsorption surface. The pull rod 3 is slidably arranged in the tubular shell 1, and one end is connected to the suction cup body 2. When the pull rod 3 slides to the other end, it drives the top of the suction cup body 2 to move to the bottom, so that a negative pressure cavity is generated between the suction cup body 2 and the adsorbed object, and the suction cup body 2 is adsorbed on the adsorbed object. When generating the negative pressure cavity, the suction cup body 2 only needs to drive the suction cup body 2 to change its shape through the pull rod 3, and no longer needs to evacuate the air pressure in the cavity, which simplifies the conditions for the formation of the negative pressure cavity, thereby reducing the size of the entire suction cup unit 20, so that the suction cup body 2 can be installed in some smaller parts, which can be suitable for some application scenarios in narrow spaces.

[0025] In some embodiments, the suction cup body 2 is an arc-shaped shell, and the center of the arc falls on one end of the suction cup unit 20 close to the pull rod 3, that is, the setting of the suction cup body 2 is opposite to that of a common suction cup, and the arc-shaped shell is a soft material shell, specifically, it can be a rubber material, a silicone material, a plastic material or an organic material, etc. The arc-shaped edge of the suction cup body 2 contacts the adsorbed object, and the top of the arc of the suction cup body 2 is pulled to the bottom of the suction cup body 2 by the pull rod 3, forming a negative pressure cavity between the outer surface of the arc-shaped shell and the adsorbed object, thereby achieving adsorption of the suction cup unit 20 on a plane or object.

[0026] Furthermore, in some embodiments, the pull rod 3 is connected to the center of the suction cup body 2 and is arranged through the center of the tubular shell 1, so as to ensure that the pull rod 3 changes the shape of the suction cup body 2 more evenly when being pulled. The arc center of the suction cup body 2 is located on the extension line of the pull rod 3, which further ensures that when the pull rod 3 is pulled to form a negative pressure cavity between the suction cup body 2 and the adsorbed object, a more uniform negative pressure cavity can be formed with the center of the suction cup body 2 as a reference, so as to ensure that the suction cup body 2 can be more tightly adsorbed on the adsorbed object, thereby improving the use effect of the suction cup unit 20 and avoiding the suction cup body 2 from falling off due to insufficient adsorption force in some areas of the suction cup body 2, which causes air pressure to enter the negative pressure cavity.

[0027] In some embodiments, the suction cup unit 20 also includes an elastic member 4, which is sleeved on the pull rod 3 and installed in the tubular shell 1. The pull rod 3 can be rebounded by the reaction force of the elastic member 4, so that the negative pressure cavity formed by pulling the pull rod 3 can fit better with the adsorbed object during the rebound of the pull rod 3, further ensuring the tight connection between the suction cup body 2 and the adsorbed object, and ensuring the use effect of the suction cup unit 20. The pull rod 3 includes a sliding plate 31, which is connected to one end of the elastic member 4. The pull rod 3 drives the sliding plate 31 to move away from the suction cup body 2. The elastic member 4 is compressed and subjected to the pressure of the sliding plate 31 and the tubular shell 1, and drives the top of the suction cup body 2 to move toward the bottom to form a negative pressure cavity. After the pulling force disappears, the pull rod 3 moves toward the suction cup body 2 to release the elastic member 4. At this time, under the action of the elastic force, the pull rod 3 pushes the bottom of the suction cup body 2 to move toward the top to restore to a non-negative pressure state or to a close fit with the adsorbed object, which simplifies the operation difficulty of the suction cup unit 20, so that when the suction cup unit 20 needs to be adsorbed onto an object, there is no need to push the pull rod 3 after the negative pressure cavity is formed so that the suction cup body 2 can be stably adsorbed on the object.

[0028] It can be understood that the sliding plate 31 and the pull rod 3 are integrally formed, which on the one hand reduces the possibility of relative movement between the sliding rod and the pull rod 3, ensuring the use effect of the suction cup unit 20; on the other hand, it eliminates unnecessary connecting parts and supporting structures between the sliding rod and the pull rod 3, further reduces the weight of the suction cup unit 20 and simplifies the installation steps and installation costs.

[0029] In some embodiments, the suction cup unit 20 also includes a fixing plate 5, which is installed in the tubular shell 1 and does not move relative to the tubular shell 1. The fixing plate 5 is provided with a mounting hole 51, and the pull rod 3 passes through the mounting hole 51, that is, the pull rod 3 can move in the tubular shell 1 relative to the fixing plate 5, and the fixing plate 5 is connected to the end of the elastic member 4 away from the sliding plate 31. When the pull rod 3 drives the sliding plate 31 to move, the sliding plate 31 and the fixing plate 5 jointly compress the elastic member 4, so that the path of the negative pressure cavity formed by the suction cup unit 20 is relatively reduced, thereby reducing the length of the pull rod 3, and further reducing the size of the entire suction cup unit 20, so that it can be suitable for a relatively narrow area.

[0030] In order to ensure that the sliding plate 31 can slide relatively smoothly with the elastic member 4 in the tubular housing 1 and facilitate understanding, in some embodiments, the tubular housing 1 is a circular tube, and the sliding plate 31 and the fixed plate 5 are both circular plates. At this time, the diameter of the sliding plate 31 is greater than or equal to the outer diameter of the elastic member 4, ensuring that the sliding plate 31 can always drive the elastic member 4 to move inside the tubular housing 1, and avoiding the elastic member 4 to be set on the sliding plate 31 when the size is large, thereby affecting the compression of the elastic member 4 and the adsorption effect of the suction cup unit 20. The diameter of the sliding plate 31 is smaller than the inner diameter of the tubular housing 1, so that when the sliding plate 31 slides in the tubular housing 1, there will be no unnecessary friction with the inner wall of the tubular housing 1, thereby affecting the use feel of the suction cup unit 20. The diameter of the fixed plate 5 is larger than the outer diameter of the elastic member 4, so as to avoid the elastic member 4 from being unable to abut against the fixed plate 5 or directly passing through the fixed plate 5 when moving with the sliding plate 31, resulting in a longer path for compressing the elastic member 4, thereby affecting the use effect of the suction cup unit 20. The diameter of the fixing plate 5 is equal to the inner diameter of the tubular housing 1 , so that the fixing plate 5 is fixedly installed in the tubular housing 1 without relative movement, thereby ensuring the compression effect of the sliding plate 31 and the fixing plate 5 on the elastic member 4 .

[0031] Furthermore, the diameter of the mounting hole 51 is smaller than the outer diameter of the elastic member 4, so as to prevent the elastic member 4 from falling out of the mounting hole 51 when the sliding plate 31 and the fixed plate 5 compress the elastic member 4, thereby affecting the adsorption effect between the suction cup body 2 and the adsorbed object.

[0032] It can be understood that the present invention does not limit the specific shapes of the tubular shell 1, the sliding plate 31 and the fixed plate 5. The tubular shell 1 can be a shell of other shapes such as a round tube or a square tube. The shortest end point distance of the sliding plate 31 is greater than or equal to the outer diameter of the elastic member 4 and smaller than the inner diameter of the tubular shell 1. The shortest end point of the fixed plate 5 is greater than the outer diameter of the elastic member 4, and the longest end point of the fixed plate 5 is equal to the inner diameter of the tubular shell 1, so that the fixed plate 5 is fixed in the tubular shell 1 without relative movement.

[0033] In some embodiments, a through hole 11 is provided at one end of the tubular shell 1 away from the suction cup body 2, and the pull rod 3 passes through the through hole 11 and extends out of the tubular shell 1. When operating the suction cup unit 20, the part of the pull rod 3 extending out of the tubular shell 1 can be pulled and pulled toward the side away from the suction cup body 2 to generate a negative pressure cavity between the suction cup body 2 and the object to be adsorbed, thereby adsorbing the suction cup unit 20 onto the object or plane.

[0034] In order to connect the sliding block 30 with the telescopic rod 40 so that the sliding block 30 can be synchronously driven to move when the telescopic rod 40 is extended and retracted, in some embodiments, the end of the sliding block 30 away from the suction cup unit 20 includes a connecting hole 103, and the telescopic rod 40 is installed in the connecting hole 103, wherein threads may be correspondingly provided in the connecting hole 103 and outside the telescopic rod 40, and the sliding block 30 and the telescopic rod 40 are connected by threaded connection. Alternatively, the connecting hole 103 and the telescopic rod 40 may be connected by a buckle or other connecting structure, which ensures the tightness of the connection between the two, and prevents the sliding block 30 and the telescopic rod 40 from falling off when they are moving together, thereby affecting the adsorption effect of the suction cup unit 20 on the foot end component 100, and more seriously, may cause the foot end component 100 to fall off from the adsorbed object or plane, causing loss.

[0035] In some embodiments, the foot end housing 10 includes a foot end housing 101 and a connection housing 102, which are arranged in parallel to wrap the entire foot end component 100, and the sliding block 30 is located in the foot end housing 101. The foot end housing 101 and the connection housing 102 are correspondingly provided with connection holes 103, and the telescopic rod 40 passes through the connection hole 103 and is located in the foot end housing 101 and the connection housing 102. The telescopic rod 40 passes through the connection hole 103 and is connected to the sliding block 30, and drives the sliding block 30 to move in the foot end housing 101. At this time, the moving area of ​​the sliding block 30 is only in the foot end housing 101, which prevents the telescopic rod 40 from pulling the pull rod 3 of the suction cup unit 20 out too far when driving the sliding block 30 to move, causing damage to the suction cup body 2 and affecting the adsorption effect of the suction cup unit 20.

[0036] Furthermore, in some embodiments, the width of the sliding block 30 is greater than the width of the connecting shell 102 and smaller than the width of the foot-end shell 101, further ensuring that the sliding block 30 can only move inside the foot-end shell 101 driven by the telescopic rod 40. On the one hand, the moving distance of the sliding block 30 is shortened, preventing the sliding block 30 from driving the pull rod 3 to move too long when moving, causing the top and bottom of the suction cup body 2 of the suction cup unit 20 to fit too closely, resulting in the suction cup body 2 being unable to return to its original state and causing unnecessary damage; on the other hand, it also limits the moving distance of the telescopic rod 40, thereby reducing the size of the entire foot-end component 100, so that the foot-end component 100 can be suitable for some smaller inspection robots, expanding the applicable scenarios.

[0037] In some embodiments, the sliding block 30 and the telescopic rod 40 are integrally formed, which, on the one hand, reduces the possibility of relative movement between the sliding block 30 and the telescopic rod 40, ensuring the effect of the foot end component 100 driving the suction cup assembly; on the other hand, it eliminates unnecessary connecting parts and supporting structures between the sliding block 30 and the telescopic rod 40, further reduces the weight of the foot end component 100 and simplifies the installation steps and installation costs.

[0038] The present invention provides an inspection robot, comprising a foot end component 100 as described in any one of the above items, the foot end component 100 is located at the bottom of the inspection robot, and in some embodiments, according to the actual size and actual needs of the inspection robot, a plurality of suction cup units 20 on the foot end component 100 can be arranged in parallel, so as to enable the inspection robot to climb or fix on some planes or objects. Since the suction cup unit 20 is small in size and does not require other structures such as a vacuum pump to assist in sucking air to achieve a negative pressure cavity, the inspection robot with the suction cup unit 20 will also be smaller in size and more suitable for climbing and adsorption in some narrow areas.

[0039] It can be understood that the multiple suction cup units 20 arranged in parallel can be added or reduced from the foot end component 100 of the inspection robot according to actual needs, so as to change the size and weight of the inspection robot, further expanding the applicable scenarios of the inspection robot.

[0040] In some embodiments, the inspection robot also includes a linkage part 6, which is connected to the telescopic rod 40 of the foot end part 100, wherein the other end of the linkage part 6 is connected to a hydraulic cylinder or a drive motor located in the inspection robot, and the hydraulic cylinder or the drive motor is connected to the foot end part 100 through the linkage part 6. The hydraulic cylinder or the drive motor drives the telescopic rod 40 to extend and retract and drives the pull rod 3 to move to control the adsorption or release of the suction cup unit 20, thereby completing the adsorption or removal of the suction cup unit 20.

[0041] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A foot end component of an inspection robot, characterized in that: include: Foot end housing; A plurality of suction cup units are arranged in parallel, comprising a tubular shell, a suction cup body and a pull rod, wherein the bottom of the suction cup body is connected to one end of the tubular shell, and the pull rod is slidably arranged in the tubular shell, and one end of the pull rod is connected to the suction cup body; A sliding block is disposed in the foot end housing and connected to the pull rod; A telescopic rod, installed in the foot end housing and connected to the sliding block; When the telescopic rod contracts and drives the pull rod to slide away from the suction cup body, it drives the top of the suction cup body to move toward the bottom, so that a negative pressure cavity is generated between the suction cup body and the adsorbed object. When the telescopic rod extends and drives the pull rod to slide toward the suction cup body, it drives the bottom of the suction cup body to move toward the top, so that the negative pressure cavity is eliminated.

2. The foot end member according to claim 1, characterized in that The suction cup unit further comprises an elastic member, the pull rod comprises a sliding plate, and two ends of the elastic member are connected to the sliding plate and the tubular shell.

3. The foot end member according to claim 2, characterized in that: The tubular housing further comprises a fixing plate, the elastic member is installed inside the tubular housing, and two ends of the elastic member abut against the sliding plate and the fixing plate.

4. The foot end member according to claim 1, characterized in that: One end of the sliding block away from the suction cup unit comprises a connecting hole, and the telescopic rod is installed in the connecting hole.

5. The foot end member according to claim 4, characterized in that: The foot end housing comprises a foot end shell and a connecting shell, and the sliding block is located in the foot end shell; The foot end shell and the connection shell are correspondingly provided with connection holes, and the telescopic rod passes through the connection holes and is located in the foot end shell and the connection shell.

6. The foot end member according to claim 5, characterized in that The width of the sliding block is greater than the width of the connecting shell and smaller than the width of the foot end shell.

7. The foot end member according to claim 1, characterized in that: The sliding block and the telescopic rod are integrally formed.

8. The foot end member according to claim 1, characterized in that: The pull rod is connected to the center of the suction cup body and passes through the center of the tubular shell; The arc center of the suction cup body is located on the extension line of the pull rod.

9. A patrol robot, characterized in that: It comprises a foot-end component as described in any one of claims 1 to 8, wherein the foot-end component is located at the bottom of the inspection robot.

10. The inspection robot according to claim 9, characterized in that: Also includes: The linkage part is connected to the telescopic rod of the foot end part and controls the adsorption or release of the suction cup unit.

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