A mobile platform driving device

Abstract

The present invention discloses a mobile platform driving device, which includes: a main body, wherein two support rods are arranged relatively to each other, each support rod is connected to a hydraulic cylinder, and the hydraulic cylinder is used to drive the support rod to deflect relative to the main body, and a rotating shaft is arranged at the lower end of each support rod, and moving wheels are rotatably arranged at both ends of the rotating shaft, and the rotating shaft is connected to a motor through a reducer, and the motor is connected to a control module; a limiter, which is rotatably arranged on the main body, and the limiter is connected to a driver, and the limiter is used to limit the support rod from deflecting relative to the main body to an unfolded state, and the driver is used to drive the limiter to rotate away from the support rod. The mobile platform driving device with the above structure can support the transfer of large-volume and heavy-weight objects at a low and uniform speed, and the objects can stop at the designated position in time after the transfer.

Description

Technical Field

[0001] The invention relates to the technical field of material transfer, and in particular to a mobile platform travel drive device. Background Art

[0002] At present, in the existing factory production and processing of materials, there are two adjacent workstations or other scenes where materials need to be transferred, so people often use transport carts to transfer, thereby realizing the transfer of materials to be processed. However, since there are large and heavy objects in the existing materials to be processed, the existing transport carts cannot support the transfer of such objects, and inertia needs to be considered when transporting such objects. If the speed is too high, it is easy for the objects to move excessively, and it is impossible to control the objects to stop accurately at the specified position. Summary of the invention

[0003] In view of the above shortcomings, the present invention proposes a uniform speed mobile platform travel drive device, which can support the transfer of large-volume and heavy-weight objects at a low and uniform speed, and the objects can stop at a designated position in time after the transfer.

[0004] In order to achieve the above object, the present invention adopts the following technical scheme:

[0005] A mobile platform travel drive device comprises: a main body, wherein two support rods are arranged opposite to each other, each of the support rods is connected to a hydraulic cylinder, and the hydraulic cylinder is used to drive the support rod to deflect relative to the main body, and the lower end of each support rod is provided with a rotating shaft, and moving wheels are rotatably arranged at both ends of the rotating shaft, and the rotating shaft is connected to a motor through a reducer, and the motor is connected to a control module; a limit member, which is rotatably arranged on the main body, the limit member is connected to a driver, the limit member is used to limit the deflection of the support rod relative to the main body to an unfolded state, and the driver is used to drive the limit member to rotate away from the support rod.

[0006] According to the mobile platform driving device of the embodiment of the present invention, at least the following beneficial effects are achieved: in the non-working state, the hydraulic cylinder drives the support rod to deflect, and then the support rod is folded relative to the main body, so that the moving wheel is away from the ground, and finally the driver drives the limiter to rotate close to the support rod, so that the limiter cooperates with the support rod, thereby achieving the limiting effect of preventing the support rod from deflecting in the opposite direction. In the working state, the driver drives the limiter to rotate away from the support rod, thereby releasing the limiting effect of the limiter, and then the hydraulic cylinder drives the support rod to deflect away from the main body, so that the moving wheel abuts against the ground, and finally the control module drives the motor to run, and the motor drives the moving wheel to travel at a low and uniform speed through the reducer, thereby driving the main body to achieve short-distance movement. With the above structure, the driving force generated by the hydraulic cylinder to deflect the support rod can keep the moving wheel close to the ground on the one hand, increase the weight of the material supported by the main body, and on the other hand, reduce the center of gravity of the main body by deflection, so that the main body travels more smoothly, which is conducive to reducing the shaking of the main body. Among them, the motor is decelerated through the reducer to output, so that the moving wheel can travel a short distance at a low and uniform speed, which is beneficial to increase the torque of the moving wheel to improve the load capacity, and is also beneficial to reduce the load inertia, thereby ensuring that large and heavy objects can stop at the designated position in time.

[0007] It is understandable that the hydraulic cylinder has a large output torque, which can keep the hydraulic cylinder driving the support rod to always maintain the maximum output stroke, which is conducive to preventing the moving wheel from hitting the concave and convex surface and causing retraction, so that the moving wheel forms a rigid contact with the ground, which is conducive to preventing the main body from shaking and maintaining the support rod with a good load-bearing capacity. The double-sided double-wheel setting not only increases the contact area with the ground through multiple moving wheels, but also can use multiple moving wheels to distribute the weight of the main body, thereby improving the main body's load-bearing capacity and driving stability.

[0008] Furthermore, the main body is provided with a first mounting seat, the limiting member is a hook, the hook is pivotally mounted on the first mounting seat, the output end of the driver is connected to the hook, and the support rod is provided with a limiting shaft that cooperates with the hook.

[0009] Furthermore, the hook includes a U-shaped portion, both ends of the U-shaped portion are connected to a circular ring portion, the circular ring portion can be movably inserted into the pivot, both ends of the pivot are provided with nuts, the circular ring portion is clamped between the first mounting seat and the nut, and when the U-shaped portion is rotated to abut against the support rod, the limit shaft abuts against the inner wall of the U-shaped portion.

[0010] Furthermore, the driver is a cylinder, the cylinder is provided with a second telescopic rod, and the U-shaped portion is provided with a cross bar rotatably connected to the second telescopic rod.

[0011] Furthermore, an elastic member is obliquely connected between the first mounting seat and the cross bar, and the elastic member and the second telescopic rod are distributed on both sides of the cross bar.

[0012] Furthermore, the moving wheel is a solid wheel.

[0013] Furthermore, the main body includes a frame, a mounting box is connected to the lower end of the frame, the frame is provided with a second mounting seat, and one end of the support rod is rotatably disposed on the second mounting seat.

[0014] Furthermore, it also includes a positioning module and a navigation module electrically connected to the control module, the positioning module includes a transmitter and a receiver, the transmitter is used to set the starting position and the end position of the main body, the receiver is arranged on the main body, the receiver is used to receive the signal of the transmitter, the navigation module is arranged on the main body, and the navigation module is used to receive satellite navigation signals for mobile navigation of the main body.

[0015] Furthermore, two second launchers are arranged between the two first launchers, the hydraulic cylinder is provided with a first telescopic rod, the first telescopic rod is connected to the middle part of the support rod, the hydraulic cylinder is connected to a pipeline with a flow valve, the flow valve is electrically connected to the control module, and the control module is used to change the output of the flow valve so that the first telescopic rod adjusts the deflection angle of the support rod.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 It is a structural schematic diagram of an embodiment of a mobile platform travel drive device of the present invention;

[0019] Figure 2 for Figure 1 Remove the structural diagram of the main body;

[0020] Figure 3 for Figure 2 A schematic diagram of the structure of the limiter assembly;

[0021] Figure 4 The present invention is a structural block diagram of a module control of a mobile platform travel drive device.

[0022] In the figure: main body 100, frame 101, installation box 102, support rod 110, moving wheel 111, limiting shaft 112, hydraulic cylinder 120, reducer 121, motor 122, first telescopic rod 123, third mounting seat 124, first mounting seat 130, pivot 131, nut 132, side extension block 133, second mounting seat 140, limiting member 200, U-shaped portion 201, circular ring portion 202, cross bar 203, elastic member 204, mounting rod 205, driver 210, second telescopic rod 211, control module 300, positioning module 400, first transmitter 410, receiver 420, second transmitter 430, navigation module 500, flow valve 600, laser rangefinder 700. DETAILED DESCRIPTION

[0023] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "inside", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0025] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If the terms "first" or "second" are described, they are only used for descriptive purposes and cannot be understood to indicate or imply relative importance.

[0026] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] See also Figures 1 to 4A mobile platform travel drive device includes: a main body 100 and a limit member 200, the main body 100 is relatively provided with two support rods 110, each support rod 110 is connected to a hydraulic cylinder 120, the hydraulic cylinder 120 is used to drive the support rod 110 to deflect relative to the main body 100, the lower end of each support rod 110 is provided with a rotating shaft, and moving wheels 111 are rotatably provided at both ends of the rotating shaft, the rotating shaft is connected to a motor 122 through a reducer 121, and the motor 122 is connected to a control module 300; the limit member 200 is rotatably provided on the main body 100, the limit member 200 is connected to a driver 210, the limit member 200 is used to limit the support rod 110 from deflecting relative to the main body 100 to a deployed state, and the driver 210 is used to drive the limit member 200 to rotate away from the support rod 110.

[0028] The driving device for the mobile platform of the above structure, when in the non-working state, the hydraulic cylinder 120 drives the support rod 110 to deflect, and then the support rod 110 is folded relative to the main body 100, so that the moving wheel 111 is away from the ground, and finally the driver 210 drives the limiter 200 to rotate to abut against the support rod 110, so that the limiter 200 cooperates with the support rod 110, thereby achieving the limiting effect of preventing the support rod 110 from deflecting in the opposite direction. In the working state, the driver 210 drives the limiter 200 to rotate away from the support rod 110, thereby releasing the limiting effect of the limiter 200, and then the hydraulic cylinder 120 drives the support rod 110 to deflect away from the main body 100, so that the moving wheel 111 abuts against the ground, and finally the control module 300 drives the motor 122 to operate, and the motor 122 drives the moving wheel 111 to travel at a low and uniform speed through the reducer 121, thereby driving the main body 100 to achieve short-distance movement. With the above structure, the support rod 110 generates a driving force for deflection by the hydraulic cylinder 120, which can keep the moving wheel 111 close to the ground on the one hand, increase the weight of the material supported by the main body 100, and on the other hand, lower the center of gravity of the main body 100 by deflection, so that the main body 100 can travel more smoothly, which is conducive to reducing the shaking of the main body 100. Among them, the motor 122 is decelerated and output through the reducer 121, so that the moving wheel 111 can travel a short distance at a low speed and at a constant speed, which is conducive to increasing the torque of the moving wheel 111 to improve the load capacity, and is also conducive to reducing the load inertia of the moving wheel 111, so as to ensure that large-volume and heavy-weight objects can stop at the designated position in time.

[0029] It is understandable that the hydraulic cylinder 120 has a large output torque, which can keep the hydraulic cylinder 120 driving the support rod 110 to always maintain the maximum output stroke, which is conducive to preventing the moving wheel 111 from hitting the concave and convex surface and causing the retraction, so that the moving wheel 111 forms a rigid contact with the ground, which is conducive to preventing the main body 100 from shaking and maintaining the support rod 110 with a good load-bearing capacity. The double-sided double-wheel setting not only increases the contact area with the ground through multiple moving wheels 111, but also can use multiple moving wheels 111 to distribute the weight carried by the main body 100, thereby improving the load-bearing capacity of the main body 100 and the stability of driving.

[0030] In some embodiments, the motor 122 may be a servo motor 122, and the control module 300 may be a PLC. After the moving wheel 111 abuts against the ground, the PLC controls the servo motor to output torque, thereby achieving automatic control of the travel of the main body 100. In addition, the mobile platform may include an existing truck for heavy-duty transportation, and the main body 100 is installed on the frame of the existing truck. By adding the drive device to the rear of the truck, the support rod 110 can be unfolded to make the moving wheel 111 abut against the ground, thereby ensuring that the truck travels more smoothly to reduce shaking. When the device is not in use, the moving wheel 111 can also be kept away from the ground by folding the support rod 110.

[0031] See also Figures 1 to 3 Further, the main body 100 is provided with a first mounting seat 130, the limiting member 200 is a hook, the hook is rotatably arranged on the first mounting seat 130 through a pivot 131, the output end of the driver 210 is connected to the hook, and the support rod 110 is provided with a limiting shaft 112 that cooperates with the hook. Specifically, when the hydraulic cylinder 120 drives the support rod 110 to deflect to the folded state, the driver 210 drives the hook to rotate to abut against the support rod 110, so that the limiting shaft 112 cooperates with the hook, so that the support rod 110 can be hung on the hook, so as to achieve a limiting effect of limiting the support rod 110 from falling. When it is necessary to unlock the limiting effect of the limiting member 200, it is only necessary for the driver 210 to drive the hook to rotate away from the support rod 110, so that the hook and the limiting shaft 112 are separated from each other.

[0032] See also Figures 1 to 3Further, the hook includes a U-shaped portion 201, and the two ends of the U-shaped portion 201 are connected with an annular portion 202, and the annular portion 202 can be movably inserted into the pivot 131, and the two ends of the pivot 131 are provided with nuts 132, and the annular portion 202 is sandwiched between the first mounting seat 130 and the nut 132. When the U-shaped portion 201 rotates to abut against the support rod 110, the limiting shaft 112 abuts against the inner wall of the U-shaped portion 201. Specifically, during installation, the pivot 131 is first movably inserted into the first mounting seat 130, and then the annular portion 202 is sleeved on one end of the corresponding pivot 131, and the nut 132 is tightened on the pivot 131. Finally, the position of the nut 132 is adjusted so that the annular portion 202 is located between the nut 132 and the first mounting seat 130 in a clearance fit manner, so that the hook can rotate relative to the main body 100. When the hook rotates to abut against the support rod 110 , the limiting shaft 112 is built into the U-shaped portion 201 , so that the limiting shaft 112 abuts against the inner bottom wall of the U-shaped portion 201 .

[0033] See also Figure 3 Further, the driver 210 is a cylinder, the cylinder is provided with a second telescopic rod 211, and the U-shaped portion 201 is provided with a cross bar 203 rotatably connected to the second telescopic rod 211. Specifically, the first mounting seat 130 is provided with two side extension blocks 133 opposite to each other, the tail end of the cylinder is fixed between the two side extension blocks 133 by a bolt, one end of the second telescopic rod 211 is connected to a mounting rod 205, and one end of the mounting rod 205 is provided with a through hole that can be sleeved on the cross bar 203, so that the mounting rod 205 and the cross bar 203 are rotatably connected.

[0034] See also Figures 1 to 3 Furthermore, an elastic member 204 is obliquely connected between the first mounting seat 130 and the cross bar 203, and the elastic member 204 and the second telescopic rod 211 are distributed on both sides of the cross bar 203. Specifically, the cylinder is a single-acting pneumatic actuator, which drives and maintains the retraction movement of the second telescopic rod 211 through the air source, so that the hook can be rotated away from the support rod 110. After the air source is disconnected, the elastic member 204 is used to restore the elastic deformation to drive the second telescopic rod 211 to extend, thereby driving the hook to reset. The structure is simple and maintenance and installation are relatively convenient. In some embodiments, the cylinder can also be a double-acting pneumatic actuator, which does not use the elastic member 204 for reset, and changes the output direction of the air source through the steering valve, so that the second telescopic rod 211 can perform telescopic movement relative to the support rod 110.

[0035] See also Figure 1 and Figure 2 Furthermore, the moving wheel 111 is a solid wheel. Specifically, the solid wheel configuration can prevent the moving wheel 111 from deforming, thereby ensuring that the moving wheels 111 on both sides can evenly distribute the weight carried by the main body 100, thereby improving the stability of the main body 100 when traveling.

[0036] See also Figure 1 Further, the main body 100 includes a frame 101, a mounting box 102 is connected to the lower end of the frame 101, the frame 101 is provided with a second mounting seat 140, and one end of the support rod 110 is rotatably mounted on the second mounting seat 140. Specifically, the frame 101 can be mounted on the frame of some trucks used for heavy-duty transportation, the mounting box 102 is used to place the driving source and arrange the pipeline connection, and when the support rod 110 is in a folded state relative to the mounting box 102, the moving wheel 111 is far away from the ground. When the support rod 110 is in an unfolded state relative to the mounting box 102, the moving wheel 111 is in contact with the ground, so as to facilitate the subsequent smooth driving of the truck.

[0037] See also Figure 4 , further, it also includes a positioning module 400 and a navigation module 500 electrically connected to the control module 300, the positioning module 400 includes a first transmitter 410 and a receiver 420, the first transmitter 410 is used to set the starting position and the end position of the main body 100, the receiver 420 is arranged on the main body 100, and the receiver 420 is used to receive the signal of the first transmitter 410, and the navigation module 500 is arranged on the main body 100, and the navigation module 500 is used to receive the satellite navigation signal to perform the mobile navigation of the main body 100. Specifically, based on the satellite navigation technology, the navigation module 500 pre-plans a route between the starting position and the end position, the main body 100 travels at the starting position, and the receiver 420 receives the starting signal of the transmitter, thereby judging that the main body 100 enters the route planning range, and then the main body 100 travels according to the planned route of the navigation module 500 until the receiver 420 receives the end signal sent by the transmitter, and the main body 100 stops traveling to complete the transfer of materials. It can be understood that the first transmitter 410 can be an optical or electromagnetic signal transmitter, and the receiver 420 can receive the light beam or electromagnetic signal emitted by the first transmitter 410, thereby ensuring the response efficiency.

[0038] See also Figures 1 to 4, further, two second launchers 430 are arranged between the two first launchers 410, the hydraulic cylinder 120 is provided with a first telescopic rod 123, the first telescopic rod 123 is connected to the middle of the support rod 110, the hydraulic cylinder 120 is connected to a pipeline with a flow valve 600, the flow valve 600 is electrically connected to the control module 300, and the control module 300 is used to change the output of the flow valve 600 so that the first telescopic rod 123 adjusts the deflection angle of the support rod 110. Specifically, the second launcher 430 is arranged between the two first launchers 410, so as to divide the route into an acceleration stage, a uniform speed stage and a deceleration stage. When the receiver 420 receives the starting signal of the first first transmitter 410, the control module 300 controls the motor 122 to operate, so that the moving wheel 111 first accelerates, until the receiver 420 receives the signal of the first second transmitter 430, the motor 122 drives the moving wheel 111 to accelerate to a constant speed to achieve uniform motion, and finally the receiver 420 receives the signal of the second second transmitter 430, the motor 122 drives the moving wheel 111 to decelerate, until the receiver 420 receives the signal of the second first transmitter 410, the main body 100 stops moving. When the moving wheel 111 decelerates, the control module 300 controls the flow valve 600 to increase the output, thereby increasing the decomposition force of the output torque of the hydraulic cylinder 120 in the vertical direction, which is conducive to increasing the friction of the main body 100, and then accelerating the deceleration movement of the main body 100, so that the main body 100 can stop in time at the terminal position, which is conducive to reducing the displacement transition phenomenon caused by inertia. It can be understood that two third mounting seats 124 are also included, one of which is mounted on the main body 100, and the other is mounted on the support rod 110, the tail of the hydraulic cylinder 120 is rotatably mounted on one of the third mounting seats, and the end of the first telescopic rod 123 away from the main body 100 is rotatably connected to the other third mounting seat 124.

[0039] See also Figure 4 , further, it also includes a laser rangefinder 700 electrically connected to the control module 300, the laser rangefinder 700 is arranged on the periphery of the main body 100 and is used to identify obstacles around the main body 100. Specifically, the device can be installed on a mobile platform with a steering component, and the laser rangefinder 700 is used to identify obstacles around the main body 100, so that the navigation component modifies the route in real time, and the control module 300 controls the steering component to adjust the direction according to the new route, so as to achieve the effect of automatic driving of the main body 100. It can be understood that the steering component can adopt the steering system of an existing vehicle, which includes a steering wheel, an actuator and a power mechanism. The power mechanism is connected to the control module 300, and the control module 300 drives the power mechanism to output, so that the actuator drives the steering wheel to steer, which will not be described in detail here.

[0040] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0041] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A mobile platform driving device, characterized in that: include: A main body (100), wherein the main body (100) is provided with two supporting rods (110) opposite to each other, each supporting rod (110) is connected to a hydraulic cylinder (120), and the hydraulic cylinder (120) is used to drive the supporting rod (110) to deflect relative to the main body (100), and each supporting rod (110) is provided with a rotating shaft at the lower end, and moving wheels (111) are rotatably provided at both ends of the rotating shaft, and the rotating shaft is connected to a motor (122) through a reducer (121), and the motor (122) is connected to a control module (300); A limiting member (200) is rotatably disposed on the main body (100), the limiting member (200) being connected to a driver (210), the limiting member (200) being used to limit the support rod (110) from deflecting relative to the main body (100) to an unfolded state, and the driver (210) being used to drive the limiting member (200) to rotate away from the support rod (110).

2. A mobile platform travel drive device according to claim 1, characterized in that: The main body (100) is provided with a first mounting seat (130), the limiting member (200) is a hook, the hook is rotatably arranged on the first mounting seat (130) via a pivot (131), the output end of the driver (210) is connected to the hook, and the support rod (110) is provided with a limiting shaft (112) matched with the hook.

3. A mobile platform travel drive device according to claim 2, characterized in that: The hook comprises a U-shaped portion (201), both ends of the U-shaped portion (201) are connected to an annular portion (202), the annular portion (202) is movably inserted into the pivot (131), both ends of the pivot (131) are provided with nuts (132), the annular portion (202) is clamped between the first mounting seat (130) and the nut (132), and when the U-shaped portion (201) rotates to abut against the support rod (110), the limiting shaft (112) abuts against the inner wall of the U-shaped portion (201).

4. A mobile platform travel drive device according to claim 3, characterized in that: The driver (210) is a cylinder, the cylinder is provided with a second telescopic rod (211), and the U-shaped portion (201) is provided with a cross bar (203) rotatably connected to the second telescopic rod (211).

5. The mobile platform travel drive device according to claim 4, characterized in that: An elastic member (204) is obliquely connected between the first mounting seat (130) and the cross bar (203), and the elastic member (204) and the second telescopic rod (211) are distributed on both sides of the cross bar (203).

6. The mobile platform travel drive device according to claim 1, characterized in that: The moving wheel (111) is a solid wheel.

7. The mobile platform driving device according to claim 1, characterized in that: The main body (100) comprises a frame (101), the lower end of the frame (101) is connected to a mounting box (102), the frame (101) is provided with a second mounting seat (140), and one end of the support rod (110) is rotatably mounted on the second mounting seat (140).

8. The mobile platform travel drive device according to claim 1, characterized in that: The invention also comprises a positioning module (400) and a navigation module (500) which are electrically connected to the control module (300); the positioning module comprises a first transmitter (410) and a receiver (420); the first transmitter (410) is used to set the starting position and the ending position of the main body (100); the receiver (420) is arranged on the main body (100); the receiver (420) is used to receive the signal of the first transmitter (410); the navigation module (500) is arranged on the main body (100); the navigation module (500) is used to receive the satellite navigation signal to carry out the mobile navigation of the main body (100).

9. The mobile platform travel drive device according to claim 8, characterized in that: Two second transmitters (430) are arranged between the two first transmitters (410); the hydraulic cylinder is provided with a first telescopic rod (123); the first telescopic rod (123) is connected to the middle part of the support rod (110); the hydraulic cylinder is connected to a pipeline having a flow valve (600); the flow valve (600) is electrically connected to the control module (300); the control module (300) is used to change the output of the flow valve (600) so that the first telescopic rod (123) adjusts the deflection angle of the support rod (110).

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