Cement concrete distribution manipulator

Abstract

The invention provides a cement concrete distribution mechanical arm. The cement concrete distribution mechanical arm comprises a walking distribution trolley connected with a concrete pipe. The material distribution assembly is communicated with a concrete pipe and has a driving energy storage function, and the material distribution assembly is located below the inner side of the walking material distribution trolley and slides left and right at the tail of the inner side of the walking material distribution trolley in a reciprocating mode; the vibrating box is connected with the energy storage part of the material distribution assembly and fixed to the rear portion of the walking material distribution trolley, and the output end of the vibrating box slides up and down in a reciprocating mode; the adjusting ram is provided with a double-section bending drive, and the adjusting ram is hinged to the two sides of the walking material distribution trolley; concrete flowing in the concrete distribution pipe can be evenly sprayed to the lower portion, after spraying, the concrete distribution quality is guaranteed in a quick-inserting and slow-pulling mode by being connected with a vibrating rod, the surface of the concrete is leveled through the leveling driving part, and the flatness of the concrete surface after distribution is completed is improved.

Description

Technical Field

[0001] The invention relates to the field of cement concrete distribution, and in particular to a cement concrete distribution manipulator. Background Art

[0002] Cement concrete spreading refers to the process of evenly distributing concrete to a designated area in a construction project. Cement concrete spreading is divided into manual spreading and modern mechanically assisted spreading. Manual spreading relies on a large amount of labor, has the advantages of flexibility but low efficiency and unstable quality. Mechanical spreading uses a concrete pump truck equipped with a long boom and a delivery pipe, which can achieve long-distance high-altitude operations with high efficiency and stable quality.

[0003] In the process of mechanically spreading cement concrete, the mechanical equipment is precisely moved to the designated position through the concrete delivery pipe, and the concrete layer is spread through the flow of the concrete itself. This spreading method is difficult to fully automatically spread, vibrate and smooth the concrete evenly.

[0004] Therefore, we made improvements to this and proposed a cement concrete placing robot. Summary of the invention

[0005] The purpose of the present invention is to address the fact that the existing mechanical material laying methods are relatively simple and it is difficult to achieve a fully automated material laying process.

[0006] In order to achieve the above-mentioned purpose of the invention, the present invention provides the following cement concrete placing robot to improve the above-mentioned problem.

[0007] The specific application is as follows:

[0008] A cement concrete placing robot, comprising

[0009] A traveling material placing vehicle connected with a concrete pipe;

[0010] A concrete pipe is connected to a material distribution component with driving energy storage, wherein the material distribution component is located at the lower inner side of the traveling material distribution vehicle and reciprocates left and right at the inner rear of the traveling material distribution vehicle;

[0011] A vibrating box connected to the energy storage part of the material distribution assembly, the vibrating box is fixed behind the traveling material distribution vehicle, and the output end of the vibrating box reciprocates up and down;

[0012] An adjustable lifting rod with double-section bending drive is hinged on both sides of the traveling material distributing vehicle;

[0013] A trowel drive unit is hinged with trowel blades, the trowel blades are elastically hinged and distributed in a ring shape outside the trowel drive unit, and the trowel drive unit is fixed to the ends of two groups of adjustment levers;

[0014] A combined tripod that is buckled and connected to the scraping blades, wherein the combined tripod is located between the scraping blades;

[0015] The material distribution assembly drives the concrete pipe to slide back and forth and rotate and slide at the rear end of the traveling material distribution vehicle, and at the same time, the material distribution assembly synchronously hydraulically drives the output end of the vibrating box to slide back and forth up and down;

[0016] The adjusting lever drives the smoothing driving part to rise and fall and slide behind the traveling cloth-distributing vehicle, and the adjusting lever drives the smoothing driving part to rise and fall and slide on both sides behind the traveling cloth-distributing vehicle.

[0017] As a preferred technical solution of the present application, a lower transmission chamber is provided on one side of the interior of the walking material distribution vehicle, an upper storage chamber is provided above the lower transmission chamber, a reciprocating sliding chamber is provided at one end of the lower transmission chamber and the upper storage chamber, a concrete pipe displacement groove is provided in the middle of one end of the upper storage chamber connected to the reciprocating sliding chamber, a reciprocating slide groove is provided in the middle of one end of the lower transmission chamber connected to the reciprocating sliding chamber, a discharge pipe slide groove is provided in the middle of one side of the reciprocating sliding chamber away from the concrete pipe displacement groove and the reciprocating slide groove, and a feed port is provided in the middle of one side of the upper storage chamber away from the concrete pipe displacement groove.

[0018] As a preferred technical solution of the present application, the cloth assembly includes an energy storage assembly, a drive assembly, and a driven swing head piece. The energy storage assembly elastically slides back and forth inside the reciprocating sliding chamber, the drive assembly is located inside the lower transmission chamber, and the driven swing head piece is located on the inner side of the discharge pipe chute and is transmission-connected to the energy storage assembly.

[0019] As a preferred technical solution of the present application, the energy storage component includes an energy storage slider, the outer surface of the energy storage slider slides in close contact with the inner wall of the reciprocating sliding chamber, a spring receiving groove is provided at the center of one end of the energy storage slider, an energy storage spring is provided inside the spring receiving groove, and the other end of the energy storage spring abuts against the side of the inner wall of the reciprocating sliding chamber, a hydraulic groove is provided at the center of one side of the energy storage slider away from the spring receiving groove, an oil flow groove is provided on the deep side of the hydraulic groove, a piston rod is sealed and slid in close contact with the inner surface of the hydraulic groove, a concrete pipe sliding hole is provided on the upper side of the energy storage slider, the concrete pipe sliding hole is avoided from the spring receiving groove and the hydraulic groove, a movable cavity is provided at the center of the concrete pipe sliding hole, and a hinge head is connected to the side of the energy storage slider away from the lower transmission chamber, and the hinge head slides on the inner side of the discharge pipe slide groove.

[0020] As a preferred technical solution of the present application, the driving assembly includes a main gear, which is rotatably connected to the center of the lower transmission chamber. A vertical shift rod is connected to the outer side of the top surface of the main gear. A transmission slide rod is connected to the lower side of the center of the side of the energy storage slider away from the hinge head. The transmission slide rod slides on the inside of the reciprocating slide groove and extends to the inside of the lower transmission chamber. The transmission slide rod abuts against the shift rod. A driving motor is provided on one side of the main gear located on the top surface of the lower transmission chamber. A driving gear is connected to the output end of the driving motor, and the driving gear is meshed with the main gear.

[0021] The transmission gear of the present invention is connected with a toothed wheel which is provided at the bottom of the toothed wheel shaft, and the toothed wheel shaft is connected with a toothed wheel to form a rotation axis.

[0022] As a preferred technical solution of the present application, two symmetrical groups of tamping rod storage grooves are opened inside the bottom surface of the vibration box, and the top surface of the vibration box is located above the tamping rod storage grooves and is connected to a hydraulic push rod, the output end of the hydraulic push rod is passed through the tamping rod storage grooves, the output end of the hydraulic push rod is connected to a tamping rod driving machine, the output end of the tamping rod driving machine is connected to a transmission soft strip, the bottom end of the transmission soft strip is connected to a vibrating rod, the tamping rod driving machine is connected to the vibrating rod through the transmission soft strip, and one side of the top of the hydraulic push rod is connected to an oil transmission pipe, and the other end of the oil transmission pipe is connected to the oil flow groove.

[0023] As a preferred technical solution of the present application, the end of the adjusting lever away from the walking material-distributing vehicle is hinged with a horizontal adjusting lever, and an adjusting motor is provided at the position where the horizontal adjusting lever and the adjusting lever are hinged, and the adjusting motor is fixed on the outer wall of the adjusting lever and is drivingly connected to the horizontal adjusting lever, and the end of the horizontal adjusting lever away from the adjusting lever is internally limited and rotatably connected with a rotating adjusting lever, and the end of the top surface of the walking material-distributing vehicle close to the vibrating box is connected with a lifting seat, and symmetrical electric push rods are rotatably connected under both ends of the lifting seat, and the output end of the electric push rod is hinged to the top surface of the adjusting lever.

[0024] As a preferred technical solution of the present application, the smoothing driving unit includes a power box, wherein the power box is fixed on the top of one end of the rotation adjustment rod away from the horizontal adjustment rod, a second motor is fixed at the center of one side of the outer wall of the power box connected to the first bevel gear, the second motor is located inside the rotation adjustment rod, the output end of the second motor is passed through the inner side of the power box, and the end of the second motor located inside the power box is connected to the first bevel gear, the outer wall of the power box is located at an adjacent surface connected to the second motor and is connected to a rotating rotating seat, the central axis of the rotating seat is passed through the center of the power box, and the rotating seat is connected to one end of the power box that is located inside the power box, and the second bevel gear is meshed with the first bevel gear, and the outer wall of the second bevel gear is hinged with an annular equidistantly distributed blade hinge block, the scraping blade is tilted and fixed at the center of the end face of the blade hinge block, and the inner walls of both ends of the blade hinge block connected to the rotating seat are provided with symmetrical expansion springs, and the other end of the expansion spring is fixed to the inner wall of the rotating seat.

[0025] As a preferred technical solution of the present application, the combined tripod is provided with two groups, namely a right-side tripod and a left-side tripod, the ends of the right-side tripod and the left-side tripod are connected with combined buckle strips, a buckle strip slot is opened in the middle of one end of the scraping blade away from the blade hinge block, the combined buckle strip is buckled inside the buckle strip slot, a combined screw is connected to one side of the right-side tripod, one end of the combined screw is passed through the inner side of the right-side tripod and the left-side tripod, the other end of the combined screw is connected to a driving rotating rod, a fixing nut is connected at the center of the outer wall of one side of the left-side tripod, and one end of the combined screw located inside the left-side tripod is threadedly screwed inside the fixing nut.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] In the scheme of the present application: by setting a reciprocating concrete distribution pipe at the rear end of the walking distribution vehicle, the concrete flowing inside the concrete distribution pipe can be evenly sprayed below during the walking process, and the vibrating rod is connected after spraying to vibrate the concrete in a fast-insertion and slow-pulling manner to ensure the quality of concrete distribution. After the concrete is vibrated, the smoothing drive unit will scrape the concrete surface flat to improve the flatness and aesthetics of the concrete surface after distribution, realizing fully automated high-quality distribution, which can be suitable for a variety of places.

[0028] 1. The present invention provides a distribution component at the position where the distribution concrete pipe is connected inside the walking distribution vehicle, which is used to drive the distribution concrete pipe so that the distribution concrete pipe has the function of reciprocating sliding, so that the concrete inside the distribution concrete pipe can have the function of rotating while reciprocating sliding, thereby improving the range of the reciprocating sliding distribution of the distribution concrete pipe. At the same time, the distribution component can also synchronously drive the vibrating box to work together, which is beneficial to improving the working quality of the concrete.

[0029] 2. The present invention provides a hydraulic push rod inside and on the upper side of the vibrating box, and an oil transmission pipe is connected to the boost port of the hydraulic push rod to communicate with the energy storage component. During the reciprocating sliding energy storage process of the energy storage component, the hydraulic push rod can be reciprocatingly driven by oil, thereby realizing the coordinated work of the vibrating box and the material distribution component. At the same time, the energy storage component can achieve return damping through the oil of the hydraulic push rod, thereby ensuring the balance of the reciprocating sliding rate of the energy storage component, and the material distribution box can achieve fast insertion and slow withdrawal of the vibrating rod and cement concrete by rapid pushing out, which is beneficial to improving the vibration quality of the cement concrete.

[0030] 3. The present invention has symmetrical adjustment levers hinged on both sides of the traveling material placing vehicle to connect to the smoothing driving part, realizing the free adjustment function of the height of the scraping blades in the smoothing driving part, thereby ensuring the levelness of the concrete after smoothing. At the same time, when the smoothing driving part is separated and the blades are changed for smoothing work, the adjustment levers can be used to adjust the fit between the blades and the concrete surface, thereby ensuring that both smoothing functions can improve the flatness of the concrete surface layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the overall structure of a cement concrete distribution manipulator provided by the present invention;

[0032] Figure 2 for Figure 1 The schematic diagram of the structure of the middle section shown;

[0033] Figure 3 for Figure 2 A schematic diagram of the structure viewed from above is shown;

[0034] Figure 4 for Figure 2 The structure of the walking cloth distributing vehicle in cross section and the schematic diagram of the decomposition of the internal structure are shown;

[0035] Figure 5 for Figure 4 The structural section exploded diagram of the other side of the traveling fabric distributing vehicle is shown;

[0036] Figure 6 for Figure 5 A schematic diagram of the structure of the cloth component shown;

[0037] Figure 7 for Figure 6 The schematic diagram of the structure of the energy storage assembly shown;

[0038] Figure 8 for Figure 6 The structural sectional exploded schematic diagram of the driven swinging member shown;

[0039] Fig. 9 for Figure 3 The structural schematic diagram of the vibrating box cross-section shown;

[0040] Fig.10 for Figure 1 The structural exploded diagram of the adjusting lever shown;

[0041] Fig.11 for Fig.10 The structural sectional exploded schematic diagram of the leveling drive unit shown;

[0042] Fig.12 for Fig.10 Schematic diagram of the rotating structure of the combined tripod decomposed as shown.

[0043] Indicated in the figure:

[0044] 1. Walking material placing vehicle; 11. Lower transmission room; 12. Upper storage room; 13. Reciprocating sliding room; 14. Concrete pipe displacement slot; 15. Reciprocating slide slot; 16. Discharge pipe slide slot; 17. Feeding port;

[0045] 2. Material distribution assembly; 21. Energy storage assembly; 211. Energy storage slider; 212. Spring storage groove; 213. Energy storage spring; 214. Hydraulic groove; 215. Piston rod; 216. Oil flow groove; 217. Concrete pipe sliding hole; 218. Activity cavity; 219. Rebar;

[0046] 22, driving assembly; 221, main gear; 222, lever; 223, transmission slide bar; 224, driving motor; 225, driving gear; 226,

[0047] 23, driven swing head; 231, concrete pipe for distributing materials; 232, transmission head; 233, driven gear; 234, concrete hose; 235, positioning ring; 236, return spring; 237, fixed rack;

[0048] 3. Vibrating box; 31. Tamping rod storage slot; 32. Hydraulic push rod; 33. Tamping rod driving machine; 34. Transmission soft strip; 35. Tamping rod; 36. Oil transmission pipe;

[0049] 4. Adjustment lever; 41. Horizontal adjustment lever; 42. Adjustment motor; 43. Rotation adjustment lever; 44. Lifting seat; 45. Electric push rod;

[0050] 5. Smoothing drive unit; 51. Power box; 52. Second motor; 53. First bevel gear; 54. Rotating seat; 55. Second bevel gear; 56. Blade hinge block; 57. Smoothing blade; 58. Unfolding spring;

[0051] 6. Combined tripod; 61. Right tripod; 62. Left tripod; 63. Combined buckle strip; 64. Buckle strip slot; 65. Combined screw rod; 66. Driving rotating rod; 67. Fixing nut. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0053] As described in the background art, the mechanical cloth laying method is relatively simple and it is difficult to achieve a fully automated cloth laying process.

[0054] In order to solve this technical problem, the present invention provides a cement concrete distribution robot, which is used for the comprehensive automation of cement concrete distribution, and completes uniform spraying of cement concrete, vibrating concrete, and smoothing of concrete through the movement of mechanical equipment.

[0055] Specifically, please refer to Figure 1-Figure 12 The cement concrete placing robot specifically comprises:

[0056] A traveling material placing vehicle 1 connected with a concrete pipe;

[0057] A concrete pipe is connected to a material distribution component 2 having a driving energy storage device, wherein the material distribution component 2 is located at the lower inner side of the traveling material distribution vehicle 1 and reciprocates left and right at the inner rear of the traveling material distribution vehicle 1;

[0058] A vibration box 3 connected to the energy storage part of the material distribution assembly 2, wherein the vibration box 3 is fixed behind the traveling material distribution vehicle 1, and the output end of the vibration box 3 reciprocates up and down;

[0059] An adjustable lifting rod 4 with double-section bending drive is hinged on both sides of the traveling material distributing vehicle 1;

[0060] A trowel drive unit 5 is hinged with trowel blades 57, wherein the trowel blades 57 are elastically hinged and distributed in an annular shape outside the trowel drive unit 5, and the trowel drive unit 5 is fixed to the ends of two sets of adjustment levers 4;

[0061] A combined tripod 6 that is snap-fitted and connected to the scraping blades 57, wherein the combined tripod 6 is located between the scraping blades 57;

[0062] The material distribution component 2 drives the concrete pipe to slide back and forth and rotate and slide at the rear end of the walking material distribution vehicle 1, and at the same time, the material distribution component synchronously hydraulically drives the output end of the vibrating box 3 to slide back and forth up and down;

[0063] The adjusting lever 4 drives the smoothing driving part 5 to rise and fall and slide behind the traveling cloth distributing vehicle 1 , and the adjusting lever 4 drives the smoothing driving part 5 to rise and fall and slide on both sides behind the traveling cloth distributing vehicle 1 .

[0064] The present invention provides a cement concrete spreading robot. Through the concrete spreading pipe 231 that is reciprocatingly slidably arranged at the rear end of a walking spreading vehicle 1, the concrete flowing inside the concrete spreading pipe 231 can be evenly sprayed below during the walking process. After the spraying, the vibrating rod 35 is connected to vibrate the concrete in a fast-insertion and slow-pulling manner to ensure the quality of the concrete spreading. After the concrete is vibrated, the smoothing drive unit 5 scrapes the concrete surface to improve the flatness and aesthetics of the concrete surface after the spreading is completed, thereby realizing fully automated high-quality spreading, and can be applied to a variety of places.

[0065] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0066] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0067] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0068] Example 1

[0069] Please refer to Figure 1-Figure 12 A cement concrete material distribution robot, a lower transmission chamber 11 is provided on one side of the interior of the walking material distribution vehicle 1, an upper storage chamber 12 is provided above the lower transmission chamber 11, a reciprocating sliding chamber 13 is provided at one end of the lower transmission chamber 11 and the upper storage chamber 12, a concrete pipe displacement groove 14 is provided in the middle of one end of the upper storage chamber 12 connected to the reciprocating sliding chamber 13, a reciprocating slide groove 15 is provided in the middle of one end of the lower transmission chamber 11 connected to the reciprocating sliding chamber 13, a discharge pipe slide groove 16 is provided in the middle of one side of the reciprocating sliding chamber 13 away from the concrete pipe displacement groove 14 and the reciprocating slide groove 15, and a feed port 17 is provided in the middle of one side of the upper storage chamber 12 away from the concrete pipe displacement groove 14.

[0070] The cloth assembly 2 includes an energy storage assembly 21, a driving assembly 22, and a driven swing head 23. The energy storage assembly 21 elastically slides back and forth inside the reciprocating sliding chamber 13, the driving assembly 22 is located inside the lower transmission chamber 11, and the driven swing head 23 is located on the inner side of the discharge pipe chute 16 and is transmission-connected to the energy storage assembly 21.

[0071] The energy storage assembly 21 includes an energy storage slider 211, the outer surface of which slides against the inner wall of the reciprocating sliding chamber 13, a spring receiving groove 212 is provided at the center of one end of the energy storage slider 211, an energy storage spring 213 is provided inside the spring receiving groove 212, and the other end of the energy storage spring 213 abuts against the inner wall side of the reciprocating sliding chamber 13, a hydraulic groove 214 is provided at the center of one side of the energy storage slider 211 away from the spring receiving groove 212, and the hydraulic groove 214 is provided inside An oil flow groove 216 is opened on the deep side, and a piston rod 215 is sealed and slidably fitted on the inner surface of the hydraulic groove 214. A concrete pipe sliding hole 217 is provided on the upper side of the energy storage slider 211. The concrete pipe sliding hole 217 is arranged in a avoidance position with the spring receiving groove 212 and the hydraulic groove 214. A movable cavity 218 is opened at the center of the concrete pipe sliding hole 217. A hinge head 219 is connected to the side of the energy storage slider 211 away from the lower transmission chamber 11, and the hinge head 219 slides on the inner side of the discharge pipe slide groove 16.

[0072] The driving assembly 22 includes a main gear 221, which is rotatably connected to the center of the lower transmission chamber 11. A vertical lever 222 is connected to the outer side of the top surface of the main gear 221. A transmission slide 223 is connected to the lower center of a side of the energy storage slider 211 away from the hinge head 219. The transmission slide 223 slides on the inner side of the reciprocating slide 15 and extends to the lower transmission chamber 11. The transmission slide 223 abuts against the lever 222. A driving motor 224 is provided on one side of the main gear 221 located on the top surface of the lower transmission chamber 11. A driving gear 225 is connected to the output end of the driving motor 224, and the driving gear 225 meshes with the main gear 221.

[0073] The driven swing head 23 includes a concrete distribution pipe 231, one end of which is connected to a transmission head 232, which is hinged at the middle of the hinge head 219, and the other end of the concrete distribution pipe 231 is bent downward toward the ground, and the upper and lower ends of the central axis of the transmission head 232 are connected to driven gears 233, and one end of the concrete distribution pipe 231 connected to the transmission head 232 is connected to a concrete delivery hose 234, which is inserted into the hinge head 219 and extends to the upper storage chamber 12 through the active cavity 218 and the concrete pipe sliding hole 217, and the concrete delivery hose 234 is located inside the upper storage chamber 12. One end is connected with the feed port 17, a section of the outer wall of the concrete delivery hose 234 located inside the movable cavity 218 is connected with a positioning ring 235, the outer surface of the positioning ring 235 fits and slides on the inner wall of the movable cavity 218, and a return spring 236 is provided on the side of the outer wall of the positioning ring 235 close to the hinge head 219, and the return spring 236 is sleeved on the outer wall of the concrete delivery hose 234, and the other end of the return spring 236 abuts against the inner wall of the movable cavity 218. The outer side of the discharge pipe chute 16 is located on the upper and lower sides of the outer surface of the walking material distribution vehicle 1, and symmetrical fixed racks 237 are fixed, and the driven gear 233 is meshed with the fixed rack 237.

[0074] A distribution component 2 is provided at the position where the distribution concrete pipe 231 is connected inside the walking distribution vehicle 1, which is used to drive the distribution concrete pipe 231 so that the distribution concrete pipe 231 has the function of reciprocating sliding, so that the concrete inside the distribution concrete pipe 231 can have the function of rotating while reciprocating sliding, thereby improving the range of the reciprocating sliding distribution of the distribution concrete pipe 231. At the same time, the distribution component 2 can also synchronously drive the vibrating box 3 to cooperate in the work, which is beneficial to improving the working quality of the concrete.

[0075] Example 2

[0076] The cement concrete distribution manipulator provided in Example 1 is further optimized. Specifically, Figure 1-Figure 12 Two groups of symmetrical tamping rod storage grooves 31 are opened inside the bottom surface of the vibration box 3. The top surface of the vibration box 3 is located above the tamping rod storage groove 31 and is connected to a hydraulic push rod 32. The output end of the hydraulic push rod 32 is penetrated into the tamping rod storage groove 31. The output end of the hydraulic push rod 32 is connected to a tamping rod driving machine 33. The output end of the tamping rod driving machine 33 is connected to a transmission soft strip 34. The bottom end of the transmission soft strip 34 is connected to a vibrating rod 35. The tamping rod driving machine 33 is connected to the vibrating rod 35 through the transmission soft strip 34. One side of the top of the hydraulic push rod 32 is connected to an oil transmission pipe 36, and the other end of the oil transmission pipe 36 is connected to the oil flow groove 216.

[0077] A hydraulic push rod 32 is provided inside and on the upper side of the vibrating box 3, and an oil transmission pipe 36 is connected to the boost port of the hydraulic push rod 32 to communicate with the energy storage component 21. During the reciprocating sliding energy storage process of the energy storage component 21, the hydraulic push rod 32 can be reciprocated by the oil, thereby realizing the coordinated work of the vibrating box 3 and the material distribution component 2. At the same time, the energy storage component 21 can realize return damping through the oil of the hydraulic push rod 32, thereby ensuring the balance of the reciprocating sliding rate of the energy storage component 21, and the material distribution box can realize the fast insertion and slow withdrawal of the vibrating rod 35 and the cement concrete by rapid pushing out, which is beneficial to improving the vibration quality of the cement concrete.

[0078] Example 3

[0079] A cement concrete distribution manipulator provided in Example 1 or 2 is further optimized, specifically, as follows: Figure 1-Figure 12 As shown, the end of the adjusting lever 4 away from the walking material-distributing vehicle 1 is hinged with a horizontal adjusting lever 41, and the position where the horizontal adjusting lever 41 and the adjusting lever 4 are hinged is provided with an adjusting motor 42, and the adjusting motor 42 is fixed on the outer wall of the adjusting lever 4 and is drivingly connected to the horizontal adjusting lever 41, and the end of the horizontal adjusting lever 41 away from the adjusting lever 4 is internally limited and rotatably connected with a rotating adjusting lever 43, and the end of the top surface of the walking material-distributing vehicle 1 close to the vibrating box 3 is connected with a lifting seat 44, and symmetrical electric push rods 45 are rotatably connected below both ends of the lifting seat 4, and the output end of the electric push rod 45 is hinged to the top surface of the adjusting lever 4.

[0080] The smoothing drive unit 5 includes a power box 51, which is fixed to the top of the end of the rotation adjustment rod 43 away from the horizontal adjustment rod 41. A second motor 52 is fixed at the center of a surface of the outer wall of the power box 51 connected to the first bevel gear 53. The second motor 52 is located inside the rotation adjustment rod 43. The output end of the second motor 52 is arranged inside the power box 51. The end of the second motor 52 located inside the power box 51 is connected to the first bevel gear 53. The outer wall of the power box 51 is connected to a rotating Seat 54, the central axis of the rotating seat 54 is passed through the center of the power box 51, one end of the rotating seat 54 located inside the power box 51 is connected with a second bevel gear 55, the second bevel gear 55 is meshed with the first bevel gear 53, the outer wall of the second bevel gear 55 is hinged with annular blade hinge blocks 56 distributed equidistantly, the scraping blade 57 is tilted and fixed at the center of the end face of the blade hinge block 56, the inner walls of the two ends of the blade hinge block 56 connected to the rotating seat 54 are provided with symmetrical expansion springs 58, and the other end of the expansion spring 58 is fixed to the inner wall of the rotating seat 54.

[0081] The combined tripod 6 is provided with two groups, namely a right tripod 61 and a left tripod 62, the ends of the right tripod 61 and the left tripod 62 are connected with a combined buckle strip 63, the middle part of the end of the scraping blade 57 away from the blade hinge block 56 is provided with a buckle strip slot 64, the combined buckle strip 63 is buckled inside the buckle strip slot 64, one side of the right tripod 61 is connected with a combined screw rod 65, one end of the combined screw rod 65 is passed through the inner side of the right tripod 61 and the left tripod 62, the other end of the combined screw rod 65 is connected with a driving rotating rod 66, a fixing nut 67 is connected at the center of the outer wall of one side of the left tripod 62, and one end of the combined screw rod 65 located inside the left tripod 62 is threadedly screwed inside the fixing nut 67.

[0082] Symmetrical adjustment levers 4 are hinged on both sides of the traveling spreading vehicle 1 to connect to the smoothing drive unit 5, realizing the free adjustment function of the height of the scraping blades 57 in the smoothing drive unit 5, thereby ensuring the levelness of the concrete after smoothing. At the same time, when the smoothing drive unit 5 separates and changes the blades for smoothing work, the adjustment levers 4 can be used to adjust the fit between the blades and the concrete surface, thereby ensuring that both smoothing functions can improve the flatness of the concrete surface layer.

[0083] The use process of a cement concrete placing robot provided by the present invention is as follows:

[0084] The feed port 17 of the traveling material placing vehicle 1 is connected to a feeding mechanism, or is connected to a cement concrete pump truck, and the concrete is transported to the interior of the concrete delivery hose 234 by the pump truck.

[0085] When the concrete pump truck is connected to transport concrete to the inside, the walking concrete spreading vehicle 1 is started at the location where concrete needs to be spread. As the walking concrete spreading vehicle 1 moves, the cement concrete entering the feed port 17 and transported through the concrete delivery hose 234 will be discharged to the ground through the concrete spreading pipe 231.

[0086] When the pump truck delivers concrete into the traveling material placing vehicle 1, the driving motor 224 is started, so that the driving gear 225 connected to the output end of the driving motor 224 drives the main gear 221 to rotate. The rotation of the main gear 221 drives the lever 222 to rotate. As the lever 222 rotates, the transmission slide bar 223 abutting against the lever 222 moves with the lever 222. The movement of the transmission slide bar 223 drives the energy storage slider 211 to slide to the other side of the reciprocating sliding chamber 13.

[0087] When the energy storage slider 211 slides, the energy storage slider 211 will apply pressure to the energy storage spring 213, so that the energy storage spring 213 stores energy. During the sliding process of the energy storage slider 211, the piston rod 215 connected to the other side of the energy storage slider 211 will gradually slide out from the hydraulic groove 214. When the piston rod 215 slides out, negative pressure will be generated between the piston rod 215 and the hydraulic groove 214. At this time, the negative pressure inside the hydraulic groove 214 will be transmitted to the oil transmission pipe 36 through the oil flow groove 216, so that the oil transmission pipe 36 absorbs the oil inside the hydraulic push rod 32 and transports it to the hydraulic groove 214.

[0088] It should be noted that one end of the piston rod 215 away from the energy storage slider 211 is fixed to the inner wall of the reciprocating sliding chamber 13 .

[0089] When the oil inside the hydraulic push rod 32 is pumped out, the hydraulic push rod 32 will enter a retracted state. The retraction of the hydraulic push rod 32 will drive the tamping rod driving machine 33 and the vibrating rod 35 to retract to the inside of the tamping rod storage groove 31, and during this process, the main gear 221 will slowly drive the energy storage slider 211 to slide, so the vibrating rod 35 will slowly slide from the bottom to the top.

[0090] When the energy storage slider 211 slides, the transmission head 232 connected to the hinge head 219 on one side will move along. When the transmission head 232 moves along, since both ends of the central axis of the transmission head 232 are connected to the driven gear 233 and meshed with the fixed rack 237, the transmission head 232 itself will rotate during the sliding process. When the transmission head 232 rotates, the concrete distribution pipe 231 connected to its outer wall will follow the translation and rotate at the same time, so that the far end of the concrete distribution pipe 231 can spray concrete to a position far away from the rear of the walking distribution vehicle 1, thereby increasing the spraying range and width.

[0091] During the rotation of the concrete distribution pipe 231, as the transmission head 232 rotates, the concrete delivery hose 234 connected to the concrete distribution pipe 231 will be pulled to slide inside the concrete pipe sliding hole 217, the movable cavity 218 and the upper storage chamber 12, so that the concrete delivery hose 234 can have a sufficient length to cooperate with the movement and rotation of the transmission head 232.

[0092] When the concrete hose 234 is pulled, a section of its outer wall inside the movable cavity 218 will apply pressure to the return spring 236 by pulling the positioning ring 235 to store energy, so that the concrete hose 234 has a sufficient length. At the same time, when the concrete pipe 231 returns, the return spring 236 can be used to pull the concrete hose 234 from the position of the transmission head 232 to the inside of the movable cavity 218, so as to avoid the concrete hose 234 from being squeezed and ensure the transmission stability of the structure.

[0093] When the main gear 221 rotates to a certain angle, the lever 222 will separate from the transmission slide 223. At this time, the transmission slide 223 loses its driving force, and the energy storage spring 213 applies a thrust to the energy storage slider 211. The energy storage slider 211 will slide in the opposite direction and simultaneously apply pressure to the position of the hydraulic groove 214. The pressure inside the hydraulic groove 214 will transport the oil to the oil flow groove 216. The oil entering the oil flow groove 216 will be quickly transported to the inside of the hydraulic push rod 32 through the oil transmission pipe 36.

[0094] As the oil quickly enters the hydraulic push rod 32, the output push rod of the hydraulic push rod 32 will push the tamping rod driving machine 33 to move downward. The downward movement of the tamping rod driving machine 33 will simultaneously push the transmission soft strip 34 and the vibrating rod 35 to move downward rapidly. The vibrating rod 35 will quickly move downward and be inserted into the cement concrete to vibrate the cement concrete. The setting of the transmission soft strip 34 can avoid the steel bars when inserting and pulling out the vibrating rod 35 and insert it into the concrete without blocking the steel bars. At the same time, when pulling out, the vibrating rod 35 can have a certain bending function, so that the vibrating rod 35 can be slowly pulled out without conflict.

[0095] The energy storage slider 211 is subjected to the pressure of the energy storage spring 213, which will quickly apply pressure to the oil inside the hydraulic groove 214 and push the energy storage slider 211 to slide in the opposite direction. The oil inside the hydraulic groove 214 can provide sufficient damping effect for the reverse thrust of the energy storage spring 213, thereby avoiding collision of the energy storage slider 211 during the return stroke and ensuring a stable sliding rate during the return stroke.

[0096] During the return sliding of the energy storage slider 211, the return sliding of the hinge head 219 will synchronously drive the transmission head 232 to return, and the return of the transmission head 232 will drive the return rotation of the driven gear 233, and the return rotation of the driven gear 233 will drive the distribution concrete pipe 231 to rotate in the opposite direction, so that the output port of the distribution concrete pipe 231 is rotated to the opposite direction while sliding in the return direction, so that the output cement concrete can be sprayed to the farthest distance in the opposite direction.

[0097] After the walking distribution vehicle 1 has completed the distribution and vibration of concrete, the leveling drive unit 5 located at the rear end of the walking distribution vehicle 1 will level the cement concrete surface layer of a specified height by rotating the leveling blade 57, and scrape the excess concrete to one side of the walking distribution vehicle 1 to keep the rear concrete surface layer level.

[0098] When using the scraping blade 57 for horizontal scraping, it is necessary to start the electric push rod 45 according to the height of the concrete surface layer that needs to be scraped. The start of the electric push rod 45 will push the adjusting lever 4 to rotate around one end of the walking material distribution vehicle 1, so that the rotating adjusting lever 43 connected to the other end of the adjusting lever 4 moves toward the bottom of the walking material distribution vehicle 1. During the movement of the rotating adjusting lever 43, the smoothing drive unit 5 will be driven downward synchronously. The downward movement of the smoothing drive unit 5 will drive the scraping blade 57 to move downward at a horizontal angle. When the scraping blade 57 moves to the required height of the concrete surface layer, the second motor 52 can be started to drive the scraping blade 57 to rotate.

[0099] After the height adjustment of the scraping blade 57 is completed, starting the second motor 52 can drive its output end connected to the first bevel gear 53 to rotate, the rotating rod of the first bevel gear 53 will drive the second bevel gear 55 to rotate, the rotation of the second bevel gear 55 will drive the rotating seat 54 to rotate, the rotation of the rotating seat 54 will drive the blade hinge block 56 and the scraping blade 57 to rotate, and the scraping blade 57 can be rotated to scrape the concrete surface layer.

[0100] When the scraping blade 57 is used to perform rotary scraping on both sides, the driving rod 66 is rotated to drive the combined screw 65 to rotate. The rotation of the combined screw 65 will separate the threaded rod at one end of the combined screw 65 from the fixed nut 67. When the combined screw 65 is completely separated from the fixed nut 67, the rotating adjustment rod 43 is rotated to rotate the scraping blade 57 to face the ground. Then the right tripod and the left tripod are removed. When the left tripod and the right tripod are removed from the end of the scraping blade 57, the scraping blade 57 will be subjected to the elastic force of the expansion spring 58, and will quickly pop open, and expand with the rotating seat 54 to form a horizontal layer that fits the ground.

[0101] It should be noted that the elastic force applied by the unfolding spring 58 to the scraping blade 57 is to drive the scraping blade 57 to unfold, and the end of the rotating adjustment rod 43 connected to the inside of the horizontal adjustment rod 41 is equipped with a rotating drive motor 224, which can accurately drive the rotating adjustment rod 43 to rotate 90°, ensuring that the scraping blade 57 is at a horizontal angle facing the ground after unfolding.

[0102] After the scraping blade 57 is unfolded, the adjusting motor 42 is started to drive the horizontal adjusting rod 41 and the rotating adjusting rod 43 to adjust themselves to a horizontal angle. At this time, the scraping blade 57 will follow the rotating adjusting rod 43 to change to a horizontal state. At this time, if the height of the scraping blade 57 is different from the required height of the same surface layer, the electric push rod 45 and the adjusting motor 42 are started at the same time. During the process of adjusting the lifting rod 4 to be lowered, the horizontal adjusting rod 41 and the rotating adjusting rod 43 can be kept horizontal at all times by rotating the horizontal adjusting rod 41, thereby realizing precise control of the scraping blade 57 and the concrete surface layer.

[0103] It should be noted that when the scraping blade 57 is deployed for use, the position where it contacts the concrete surface layer is one end portion, and the scraping of the cement concrete surface layer can be ensured by rotating the one end portion.

[0104] It should be noted that: in the present invention, when the connection between the combined tripod and the scraping blade 57 has insufficient clamping strength, bolts can be added at the position of the combined buckle strip 63, and the combined buckle strip 63 and the scraping blade 57 are fixedly connected by bolts. After the bolt connection is adopted, since the bolt connection position is located at the center of the scraping blade 57, and the position of the scraping blade 57 used for scraping cement concrete is the end wing, it will not affect the flatness of the cement concrete.

[0105] It should be noted that the use of the present invention is not limited to the walking cloth-distributing vehicle. In the present invention, the walking cloth-distributing vehicle is used as a carrier of the tail driving structure, and the mechanical grasping and displacement installation formed by the carrier on multiple tail structures can be used.

[0106] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0107] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific embodiments, or to perform equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of the present invention, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. A cement concrete distribution robot, characterized in that: include A traveling material placing vehicle (1) connected to a concrete pipe; A concrete pipe is connected to a material distribution component (2) having a driving energy storage function, wherein the material distribution component (2) is located at the lower inner side of the traveling material distribution vehicle (1) and reciprocates left and right at the inner rear of the traveling material distribution vehicle (1); A vibration box (3) connected to the energy storage part of the material distribution assembly (2), the vibration box (3) being fixed behind the traveling material distribution vehicle (1), and the output end of the vibration box (3) sliding reciprocatingly up and down; An adjustable lifting rod (4) having a double-section bending drive, wherein the adjustable lifting rod (4) is hinged on both sides of the traveling material distributing vehicle (1); A trowel drive unit (5) is hinged with a trowel blade (57), wherein the trowel blade (57) is elastically hinged and distributed in an annular shape outside the trowel drive unit (5), and the trowel drive unit (5) is fixed to the ends of two groups of adjustment levers (4); A combined tripod (6) that is buckled and connected to the scraping blades (57), wherein the combined tripod (6) is located between the scraping blades (57); The material distribution component (2) drives the concrete pipe to slide back and forth and rotate and slide at the rear end of the traveling material distribution vehicle (1), and at the same time, the material distribution component synchronously hydraulically drives the output end of the vibrating box (3) to slide back and forth up and down; The adjusting lever (4) drives the smoothing driving part (5) to lift and slide behind the traveling material distributing vehicle (1), and the adjusting lever (4) drives the smoothing driving part (5) to lift and slide horizontally on both sides behind the traveling material distributing vehicle (1).

2. A cement concrete placing robot according to claim 1, characterized in that: A lower transmission chamber (11) is provided on one side of the interior of the traveling material distributing vehicle (1), an upper storage chamber (12) is provided above the lower transmission chamber (11), a reciprocating sliding chamber (13) is provided at one end of the lower transmission chamber (11) and the upper storage chamber (12), a concrete pipe displacement groove (14) is provided in the middle of one end of the upper storage chamber (12) connected to the reciprocating sliding chamber (13), a reciprocating slide groove (15) is provided in the middle of one end of the lower transmission chamber (11) connected to the reciprocating sliding chamber (13), a discharge pipe slide groove (16) is provided in the middle of one side of the reciprocating sliding chamber (13) away from the concrete pipe displacement groove (14) and the reciprocating slide groove (15), and a feed port (17) is provided in the middle of one side of the upper storage chamber (12) away from the concrete pipe displacement groove (14).

3. A cement concrete placing robot according to claim 2, characterized in that: The material distribution assembly (2) comprises an energy storage assembly (21), a driving assembly (22), and a driven swing head member (23); the energy storage assembly (21) elastically slides back and forth inside the reciprocating sliding chamber (13); the driving assembly (22) is located inside the lower transmission chamber (11); and the driven swing head member (23) is located inside the discharge pipe chute (16) and is transmission-connected to the energy storage assembly (21).

4. A cement concrete placing robot according to claim 3, characterized in that: The energy storage assembly (21) comprises an energy storage slider (211), the outer surface of which slides in contact with the inner wall of the reciprocating sliding chamber (13), a spring receiving groove (212) is provided at the center of one end of the energy storage slider (211), an energy storage spring (213) is provided inside the spring receiving groove (212), the other end of the energy storage spring (213) abuts against the inner wall side of the reciprocating sliding chamber (13), a hydraulic groove (214) is provided at the center of a side of the energy storage slider (211) away from the spring receiving groove (212), and the inner depth of the hydraulic groove (214) is An oil flow groove (216) is provided on one side, a piston rod (215) is sealed and slidably fitted on the inner surface of the hydraulic groove (214), a concrete pipe sliding hole (217) is provided on the upper side of the energy storage slider (211), the concrete pipe sliding hole (217) is arranged to avoid the spring receiving groove (212) and the hydraulic groove (214), an active cavity (218) is provided at the center of the concrete pipe sliding hole (217), and a hinge head (219) is connected to a side of the energy storage slider (211) away from the lower transmission chamber (11), and the hinge head (219) slides on the inner side of the discharge pipe sliding groove (16).

5. A cement concrete placing robot according to claim 4, characterized in that: The driving assembly (22) comprises a main gear (221), the main gear (221) is rotatably connected to the center of the lower transmission chamber (11), a vertical lever (222) is connected to the outer side of the top surface of the main gear (221), a transmission slide bar (223) is connected to the lower side of the center of a side of the energy storage slider (211) away from the hinge head (219), the transmission slide bar (223) slides on the inner side of the reciprocating slide groove (15) and extends to the lower transmission chamber (11), the transmission slide bar (223) abuts against the lever (222), a driving motor (224) is provided on one side of the main gear (221) located on the top surface of the lower transmission chamber (11), the output end of the driving motor (224) is connected to a driving gear (225), and the driving gear (225) is meshed with the main gear (221).

6. A cement concrete placing robot according to claim 5, characterized in that: The driven swing head component (23) comprises a concrete distribution pipe (231), one end of which is connected to a transmission head (232), the transmission head (232) being hinged at the middle of the hinge head (219), the other end of which is bent downward toward the ground, the upper and lower ends of the central axis of the transmission head (232) being connected to driven gears (233), one end of which is connected to the transmission head (232) is connected to a concrete delivery hose (234), the concrete delivery hose (234) being inserted into the hinge head (219) and extending to the interior of the upper storage chamber (12) through the movable cavity (218) and the concrete pipe sliding hole (217), the concrete delivery hose (234) being located in the upper storage chamber (12). One end of the concrete delivery hose (234) is connected to the feed port (17); a section of the outer wall of the concrete delivery hose (234) located inside the movable cavity (218) is connected to a positioning ring (235); the outer surface of the positioning ring (235) is fitted and slid on the inner wall of the movable cavity (218); a return spring (236) is provided on the side of the outer wall of the positioning ring (235) close to the hinge head (219); the return spring (236) is fitted on the outer wall of the concrete delivery hose (234); the other end of the return spring (236) is abutted against the inner wall of the movable cavity (218); the outer side of the discharge pipe chute (16) is located on the upper and lower sides of the outer surface of the walking material distribution vehicle (1) and symmetrical fixed racks (237) are fixed; the driven gear (233) is meshed with the fixed racks (237).

7. The cement concrete placing robot according to claim 4, characterized in that: Two groups of symmetrical tamping rod storage grooves (31) are provided inside the bottom surface of the tamping box (3); the top surface of the tamping box (3) is located above the tamping rod storage grooves (31) and is connected to a hydraulic push rod (32); the output end of the hydraulic push rod (32) is arranged inside the tamping rod storage grooves (31); the output end of the hydraulic push rod (32) is connected to a tamping rod driving machine (33); the output end of the tamping rod driving machine (33) is connected to a transmission soft strip (34); the bottom end of the transmission soft strip (34) is connected to a tamping rod (35); the tamping rod driving machine (33) is connected to the tamping rod (35) through the transmission soft strip (34); one side of the top of the hydraulic push rod (32) is connected to an oil transmission pipe (36); the other end of the oil transmission pipe (36) is connected to an oil flow groove (216).

8. The cement concrete placing robot according to claim 1, characterized in that: The end of the adjusting lever (4) away from the traveling material distributing vehicle (1) is hinged with a horizontal adjusting lever (41), and an adjusting motor (42) is provided at the hinged position of the horizontal adjusting lever (41) and the adjusting lever (4). The adjusting motor (42) is fixed on the outer wall of the adjusting lever (4) and is drivingly connected to the horizontal adjusting lever (41). The end of the horizontal adjusting lever (41) away from the adjusting lever (4) is internally limited and rotatably connected with a rotating adjusting lever (43). The end of the top surface of the traveling material distributing vehicle (1) close to the vibrating box (3) is connected with a lifting seat (44), and symmetrical electric push rods (45) are rotatably connected below the two ends of the lifting seat (4), and the output end of the electric push rod (45) is hinged with the top surface of the adjusting lever (4).

9. A cement concrete placing robot according to claim 8, characterized in that: The smoothing drive unit (5) comprises a power box (51), the power box (51) being fixed to the top of one end of the rotary adjustment rod (43) away from the horizontal adjustment rod (41), a second motor (52) being fixed at the center of one surface of the outer wall of the power box (51) connected to the first bevel gear (53), the second motor (52) being located inside the rotary adjustment rod (43), an output end of the second motor (52) being passed through the inner side of the power box (51), one end of the second motor (52) located inside the power box (51) being connected to the first bevel gear (53), and a rotating gear (53) being connected to the outer wall of the power box (51) adjacent to the surface connected to the second motor (52). The rotary seat (54) is provided with a central axis passing through the center of the power box (51); one end of the rotary seat (54) located inside the power box (51) is connected with a second bevel gear (55); the second bevel gear (55) is meshed with the first bevel gear (53); the outer wall of the second bevel gear (55) is hinged with annular blade hinge blocks (56) distributed at equal intervals; the scraping blade (57) is fixed at an angle at the center of the end face of the blade hinge block (56); the inner walls of the two ends of the blade hinge block (56) connected to the rotary seat (54) are provided with symmetrical unfolding springs (58); the other end of the unfolding spring (58) is fixed to the inner wall of the rotary seat (54).

10. A cement concrete placing robot according to claim 9, characterized in that: The combined tripod (6) is provided with two groups, namely a right tripod (61) and a left tripod (62). The ends of the right tripod (61) and the left tripod (62) are connected with a combined buckle strip (63). A buckle strip slot (64) is provided in the middle of one end of the scraping blade (57) away from the blade hinge block (56). The combined buckle strip (63) is buckled inside the buckle strip slot (64). One side of the right tripod (61) is connected with a combined screw rod (65). One end of the combined screw rod (65) is passed through the inner sides of the right tripod (61) and the left tripod (62). The other end of the combined screw rod (65) is connected with a driving rotating rod (66). A fixing nut (67) is connected at the center of the outer wall of one side of the left tripod (62). One end of the combined screw rod (65) located inside the left tripod (62) is screwed inside the fixing nut (67).

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