Intelligent housekeeping service robot

Abstract

The intelligent housekeeping service robot comprises a rack, a walking mechanism and a power source are installed in the rack, and a collision sensor is installed on the outer side of the rack; the driving motor is mounted in the rack and is used for driving the walking mechanism; the sweeping mechanism is mounted in the rack and connected with the walking mechanism; the supporting assembly is mounted on the rack; the window cleaning machine is installed on the supporting assembly through the multiple adjusting assemblies. The multifunctional window cleaning robot has the advantages that sweeping and window cleaning are integrated, cost and space are saved, cleaning is efficient, walking and sweeping design is reasonable, window cleaning is flexible, the multiple telescopic rods can adapt to different windows, the structure is stable, operation is stable, storage can be convenient and fast, and efficient cleaning is achieved through accurate control.

Description

Technical Field

[0001] The present invention relates to the technical field of household service robots, and in particular to an intelligent household service robot. Background Art

[0002] With the continuous improvement of people's living standards and the increasingly accelerated pace of life, the demand for domestic services is becoming more and more vigorous. Traditional manual domestic services are not only costly, but also inconvenient in time arrangement, and it is difficult to meet the diverse and immediate service needs of modern families. Therefore, intelligent domestic service robots came into being and gradually became an important means to solve daily affairs such as household cleaning and maintenance.

[0003] At present, there are some domestic service robots on the market, which have reduced people's housework burden to a certain extent. However, there are still some problems, such as the low cleaning coverage of sweeping robots. They are not good at adapting to the diversity of windows. Windows in different buildings vary in height, angle, position, etc. Existing window cleaning robots are difficult to flexibly adjust their own positions and angles to achieve all-round and no-dead-angle window cleaning operations. The operation is complicated and requires manual assistance for installation and fixation, and the safety is questionable.

[0004] To this end, we propose an intelligent housekeeping service robot to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to solve the problems in the prior art and to propose an intelligent household service robot.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: An intelligent household service robot, comprising A frame, wherein a walking mechanism and a power supply are installed inside the frame, and a collision sensor is installed outside the frame; A driving motor, installed in the frame and used to drive the traveling mechanism; A cleaning mechanism, installed in the frame and connected to the traveling mechanism; A support assembly mounted on the frame; The window cleaning machine is installed on the supporting assembly through a plurality of adjusting assemblies.

[0007] In the above-mentioned intelligent household service robot, the frame includes two symmetrically arranged mounting frames, two trusses are commonly installed at both ends of the two mounting frames, upper protective covers are commonly installed on the upper end surfaces of the two mounting frames and the two trusses, and lower protective covers are commonly installed on the lower end surfaces of the two mounting frames and the two trusses.

[0008] In the above-mentioned intelligent housekeeping service robot, each of the walking mechanisms includes two symmetrically arranged rotating shafts and an installation shaft, and the installation shaft is connected to the output shaft of the driving motor at the corresponding position, and the installation shaft is located between the two rotating shafts, each of the installation shafts and each rotating shaft is installed with a walking wheel, and a plurality of through holes are opened on the lower protective cover, each walking wheel passes through the through hole and contacts the ground, each of the installation shafts is installed with two active synchronous wheels, and the two active synchronous wheels are arranged on both sides of the walking wheel at the corresponding position, and the two active synchronous wheels at the corresponding positions are both located in the mounting frame, each of the rotating shafts is installed with a driven synchronous wheel, and each of the driven synchronous wheels is jointly sleeved with a synchronous belt on the active synchronous wheel at the corresponding position.

[0009] In the above-mentioned intelligent housekeeping service robot, the cleaning mechanism includes two symmetrically arranged horizontal axes, two supporting frames are symmetrically installed on each of the trusses, and each horizontal axis is installed on two supporting frames with corresponding positions, and the horizontal axis is welded to two rotating shafts corresponding to the positions located in different mounting frames, and a plurality of active bevel gears are symmetrically installed on each of the horizontal axes, and a plurality of vertical axes are vertically installed on the lower protective cover, and a driven bevel gear is installed on each of the vertical axes, and each driven bevel gear is meshed with the active bevel gear with the corresponding position, and the lower end of each vertical axis extends to the outside of the lower protective cover and is installed with a cleaning disc.

[0010] In the above-mentioned intelligent housekeeping service robot, the supporting assembly includes a fastening frame, and the fastening frame is installed on the upper protective cover, an extension frame is installed on the fastening frame, a movable frame is slidably connected to the extension frame, and a first telescopic rod is commonly installed between one side of the movable frame and the inner side wall of the extension frame.

[0011] In the above-mentioned intelligent household service robot, the adjustment component is installed on the upper end surface of the movable frame, and a connecting frame is commonly installed between the multiple adjustment components. A support is installed on the inner side wall of the extension frame, and a second telescopic rod is rotatably connected to the support, and a steering ball is installed at the end of the second telescopic rod. A ball groove is opened on the connecting frame, and the steering ball is clamped in the ball groove.

[0012] In the above-mentioned intelligent housekeeping service robot, the adjustment component also includes a fixed frame, and the fixed frame is installed on the upper end surface of the movable frame, the fixed frame is rotatably connected to a hollow rod, and the connecting frame is installed on the outer wall of the hollow rod, an inner support rod is slidably connected inside the hollow rod, the end of the inner support rod extends outside the hollow rod and is connected to the window cleaning machine through a universal joint, a third telescopic rod is installed inside the hollow rod, and the telescopic end of the third telescopic rod is fixedly connected to the lower end of the inner support rod, a plurality of limit strips are symmetrically installed on the outer wall of the inner support rod, a plurality of limit grooves are symmetrically opened on the inner wall of the hollow rod, and each limit strip is located in a limit groove corresponding to the position.

[0013] In the above-mentioned intelligent housekeeping service robot, the extension frame includes a vertical extension frame and a horizontal extension frame, and the vertical extension frame is vertically arranged on the fastening frame, and the horizontal extension frame is vertically arranged at the upper end of the vertical extension frame, and the movable frame is slidably connected to the horizontal extension frame, and the inner side wall of the horizontal extension frame is symmetrically provided with limiting grooves, and the two sides of the movable frame are symmetrically provided with limiting blocks, and the limiting blocks are slidably connected in the limiting grooves.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The walking mechanism adopts a unique multi-wheel drive and synchronous belt drive design to ensure that the robot can move stably on various floors, can flexibly shuttle between furniture, and thoroughly clean the floor. The cleaning disc is driven by bevel gears and can obtain strong power. The high-speed rotating cleaning disc can effectively remove dust, hair, debris and other debris on the ground. The cleaning effect is significantly better than that of ordinary sweeping robots.

[0015] 2. The sweeping and window cleaning functions are integrated into one robot. One robot can complete the two main housekeeping tasks of household floor cleaning and window cleaning. There is no need to purchase sweeping robots and window cleaning robots separately, which saves equipment costs and storage space, and greatly improves the efficiency and convenience of housekeeping services.

[0016] 3. The window cleaning mechanism has multiple adjustable parts. The first telescopic rod can adjust the horizontal position of the window cleaning machine. The second telescopic rod cooperates with the steering ball to realize the angle adjustment of the window cleaning machine in the vertical plane. The third telescopic rod is used to adjust the height of the window cleaning machine, so that the robot can adapt to windows of different heights, angles and positions, and realize all-round and dead-angle window cleaning operations, solving the problem of poor adaptability of existing window cleaning robots.

[0017] 4. When storing, the telescopic rods and related structures work together to quickly store the window cleaning machine into a compact space, making it convenient to store and move the robot when the window cleaning function is not in use, reducing the space occupied and improving the practicality and convenience of the product.

[0018] 5. Through various sensors and main controllers in the electrical structure, the robot can achieve precise position control, angle adjustment and motion coordination. For example, the position sensor and angle sensor provide real-time feedback on the position and angle information of the window cleaning machine. The main controller accurately controls the movements of each motor and telescopic rod based on this information to ensure efficient completion of the cleaning task.

[0019] To sum up, the present invention integrates sweeping and window wiping in one, saves cost and space, cleans efficiently, has reasonable walking and cleaning designs, is flexible in window wiping, has multiple telescopic rods that can adapt to different windows, has a solid structure, stable operation, and can be easily stored, achieving efficient cleaning through precise control. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of an intelligent household service robot proposed by the present invention; Figure 2 This is an enlarged view of the cleaning plate structure of an intelligent household service robot proposed by the present invention; Figure 3 This is an enlarged view of the active bevel gear structure of the intelligent household service robot proposed by the present invention; Figure 4 This is an enlarged view of the extension frame structure of an intelligent household service robot proposed by the present invention; Figure 5 This is an enlarged view of the structure of the adjustment component part of the intelligent household service robot proposed by the present invention.

[0021] In the figure: 1 mounting frame, 2 walking wheel, 3 upper protective cover, 4 cleaning disc, 5 lower protective cover, 6 fastening frame, 7 extension frame, 701 vertical extension frame, 702 horizontal extension frame, 8 moving frame, 9 first telescopic rod, 10 second telescopic rod, 11 hollow rod, 12 connecting frame, 13 inner support rod, 14 universal joint, 15 window cleaning machine, 16 driving motor, 17 synchronous belt, 18 active bevel gear, 19 driven bevel gear, 20 supporting frame, 21 horizontal shaft, 22 driven synchronous wheel, 23 active synchronous wheel, 24 truss, 25 steering ball, 26 bearing, 27 limit groove, 28 limit block, 29 third telescopic rod, 30 fixed frame. DETAILED DESCRIPTION

[0022] The following examples are for illustrative purposes only and are not intended to limit the scope of the present invention.

[0023] Example Reference Figure 1-5, an intelligent household service robot comprises a frame, the frame comprises two symmetrically arranged mounting frames 1, two trusses 24 are commonly installed at both ends of the two mounting frames 1, an upper protective cover 3 is commonly installed on the upper end surfaces of the two mounting frames 1 and the two trusses 24, a lower protective cover 5 is commonly installed on the lower end surfaces of the two mounting frames 1 and the two trusses 24, a rechargeable lithium battery pack is arranged between the two mounting frames 1 as a power source to power the entire robot system, collision sensors are installed on the edges of the lower protective cover 5 and the upper protective cover 3, when the robot encounters an obstacle during movement, the collision sensor immediately sends a signal to the main controller, and the main controller controls the drive motor to stop or change the movement direction to avoid the robot from colliding with the obstacle; A drive motor 16 is installed on the side wall of each mounting frame 1. Each drive motor 16 is connected to an independent motor driver. The speed and direction of the drive motor are accurately controlled by PWM (pulse width modulation) technology. The motor driver receives a control signal from the main controller and adjusts the working state of the drive motor 16 according to different movement instructions, such as forward, backward, turning, etc.

[0024] The output shaft of each driving motor 16 extends to the corresponding mounting frame 1 and is installed with a walking mechanism. Each walking mechanism includes two symmetrically arranged rotating shafts and a mounting shaft, and the mounting shaft is connected to the output shaft of the driving motor 16 at the corresponding position, and the mounting shaft is located between the two rotating shafts. A walking wheel 2 is installed on each mounting shaft and each rotating shaft, and a plurality of through holes are opened on the lower protective cover 5, and each walking wheel 2 passes through the through holes and contacts the ground. Two active synchronous wheels 23 are installed on each mounting shaft, and the two active synchronous wheels 23 are arranged on both sides of the corresponding walking wheel 2, and the two active synchronous wheels 23 at the corresponding positions are located in the mounting frame 1, and a driven synchronous wheel 22 is installed on each rotating shaft, and each driven synchronous wheel 22 is provided with a synchronous belt 17 together with the active synchronous wheel 23 at the corresponding position; The cleaning mechanism includes two symmetrically arranged horizontal shafts 21, two support frames 20 are symmetrically installed on each truss 24, and each horizontal shaft 21 is installed on two support frames 20 at corresponding positions, and the horizontal shaft 21 is welded to two corresponding rotating shafts located in different mounting frames 1, and a plurality of active bevel gears 18 are symmetrically installed on each horizontal shaft 21, and a plurality of vertical shafts are vertically installed on the lower protective cover 5, and a driven bevel gear 19 is installed on each vertical shaft, and each driven bevel gear 19 is meshed with the active bevel gear 18 at the corresponding position, and the lower end of each vertical shaft extends to the outside of the lower protective cover 5 and is installed with a cleaning disc 4, and the motor of the cleaning disc 4 is also controlled by the main controller, and the motor speed is adjusted by the motor driver to adapt to different cleaning scenes and ground materials; The supporting assembly includes a fastening frame 6, and the fastening frame 6 is installed on the upper protective cover 3, an extension frame 7 is installed on the fastening frame 6, the extension frame 7 includes a vertical extension frame 701 and a horizontal extension frame 702, and the vertical extension frame 701 is vertically arranged on the fastening frame 6, and the horizontal extension frame 702 is vertically arranged at the upper end of the vertical extension frame 701, and a moving frame 8 is slidably connected to the horizontal extension frame 702, and limiting grooves 27 are symmetrically provided on the inner side wall of the horizontal extension frame 702, and limiting blocks 28 are symmetrically provided on both sides of the moving frame 8, and the limiting blocks 28 are slidably connected in the limiting grooves 27.

[0025] A first telescopic rod 9 is installed between one side of the mobile frame 8 and the inner wall of the horizontal extension frame 702. A plurality of adjustment components are symmetrically installed on the upper end surface of the mobile frame 8. A window cleaning machine 15 is installed on the upper end of each adjustment component. The window cleaning machine 15 is connected to an independent control circuit. The main controller sends start, stop and speed adjustment instructions. The control circuit controls the working state of the window cleaning machine motor according to the instructions to achieve efficient window cleaning operation.

[0026] A connecting frame 12 is commonly installed between multiple adjustment components, and a support 26 is installed on the inner wall of the horizontal extension frame 702. The second telescopic rod 10 is rotatably connected to the support 26, and a steering ball 25 is installed at the end of the second telescopic rod 10. A ball groove is opened on the connecting frame 12, and the steering ball 25 is stuck in the ball groove. An angle sensor is installed at the steering ball 25 to detect the rotation angle of the connecting frame 12 and provide the main controller with angle information of the window cleaning machine 15 in the vertical plane to achieve precise angle adjustment.

[0027] The adjustment assembly includes a fixed frame 30, and the fixed frame 30 is installed on the upper end surface of the mobile frame 8, the fixed frame 30 is rotatably connected to the hollow rod 11, and the connecting frame 12 is installed on the outer side wall of the hollow rod 11, the inner support rod 13 is slidably connected in the hollow rod 11, the end of the inner support rod 13 extends to the outside of the hollow rod 11 and is connected to the window cleaning machine 15 through the universal joint 14, a third telescopic rod 29 is installed inside the hollow rod 11, and the telescopic end of the third telescopic rod 29 is fixedly connected to the lower end of the inner support rod 13, and the outer side of the inner support rod 13 A number of limit bars are symmetrically installed on the wall, and a number of limit grooves are symmetrically opened on the inner wall of the hollow rod 11, and each limit bar is located in the limit groove corresponding to the position. A linear displacement sensor is installed in the limit groove 27 of the horizontal extension frame 702 to monitor the position of the movable frame 8 in real time and feed back to the main controller to ensure that the position of the window cleaning machine 15 in the horizontal direction is accurately controlled. A displacement sensor is installed between the hollow rod 11 and the inner support rod 13 to monitor the telescopic position of the inner support rod 13 so as to accurately adjust the height of the window cleaning machine 15.

[0028] It is worth noting that a high-performance microcontroller is selected as the main controller, such as the STM32 series single-chip microcomputer. The main controller is responsible for receiving data from various sensors, analyzing and processing according to the preset program and algorithm, and sending control instructions to the motor drive module to coordinate the robot's movement, cleaning, window cleaning and other actions. At the same time, the main controller can also communicate with external devices (such as mobile phone APP) through the wireless communication module to achieve remote control and status monitoring.

[0029] The motors inside the first telescopic rod 9, the second telescopic rod 10 and the third telescopic rod 29 are also controlled by their own motor drivers. The extension and shortening of the telescopic rods are achieved by controlling the forward and reverse rotation and speed of the motors. The motor drivers communicate with the main controller to accurately control the movement of the telescopic rods according to the position adjustment requirements of the window cleaning machine 15.

[0030] When the intelligent household service robot starts working, the driving motor 16 drives the installation shaft to rotate, and the walking wheel 2 on the installation shaft starts to rotate. At the same time, the active synchronous wheel 23 on the installation shaft also rotates synchronously at the same speed. The active synchronous wheel 23 and the driven synchronous wheel 22 are connected by a high-precision synchronous belt 17. The active synchronous wheel 23 drives the driven synchronous wheel 22 with the help of the synchronous belt 17, and then the walking wheel 2 on the rotating shaft also rotates, so as to realize the movement of the robot on the ground. The two rotating shafts corresponding to the positions in different mounting frames 1 are connected by a solid horizontal shaft 21. The horizontal shaft 21 is made of high-strength alloy material, which can withstand large torque and ensure the coordinated movement of the walking wheels on both sides. The robot can easily complete actions such as straight-line walking and precise turning, and can run stably on different ground materials, such as wooden floors, tiles, and short-haired carpets.

[0031] During the movement of the robot, the rotation of the rotating shaft is smoothly transmitted to the active bevel gear 18 through the horizontal shaft 21. The active bevel gear 18 meshes with the driven bevel gear 19 to efficiently transmit power to the vertical shaft. The cleaning disc 4 installed at the lower end of the vertical shaft is made of a soft material with strong adsorption force, such as a special rubber or fiber composite material. Driven by the driven bevel gear 19, the cleaning disc 4 rotates at a high speed to deeply clean the ground, and can effectively clean up various debris such as dust, hair, and debris.

[0032] When it is necessary to clean the window, the first telescopic rod 9 comes into play. The first telescopic rod 9 is electrically controlled and can accurately control the length of extension or contraction. When it is extended or shortened, it pushes the mobile frame 8 to slide smoothly along the limit groove 27 in the horizontal extension frame 702, thereby adjusting the position of the window cleaning machine 15 in the horizontal direction to ensure that it can cover windows at different positions. When the second telescopic rod 10 is extended or shortened, the steering ball 25 flexibly rotates in the ball groove of the connecting frame 12, driving the connecting frame 12 and the adjustment component connected thereto and the window cleaning machine 15 to rotate, so as to achieve the angle adjustment of the window cleaning machine 15 in the vertical plane. When the third telescopic rod 29 in the adjustment component is extended or shortened, it pushes the inner support rod 13 to slide up and down in the hollow rod 11, thereby adjusting the height of the window cleaning machine 15 to adapt to windows of different heights. At the same time, the limit strip on the inner support rod 13 is closely matched with the limit groove in the hollow rod 11, and the surfaces of the limit strip and the limit groove are finely polished to ensure the stability of the inner support rod 13 during the sliding process and prevent shaking and deviation. After completing the precise adjustment of the position, angle and height, the window cleaning machine 15 is started, and the window cleaning machine 15 can efficiently wipe and clean the windows to remove stains and dust.

[0033] When storing, first the third telescopic rod 29 is retracted, pulling the inner support rod 13 to slide downward in the hollow rod 11, so that the window cleaning machine 15 is lowered and gradually approaches the robot body. Then the second telescopic rod 10 is retracted, and the connecting frame 12 and the adjustment component are driven to rotate through the steering ball 25, so that the window cleaning machine 15 rotates in the direction close to the extension frame and adjusts to a suitable storage angle. Subsequently, the first telescopic rod 9 is retracted, pulling the moving frame 8 to slide in the horizontal extension frame 702 in the direction close to the fastening frame 6, and the window cleaning machine 15 is retracted in the horizontal direction to a position close to the center of the robot. During the entire storage process, the extension frame 7 provides support and guidance for the movement of each telescopic rod and the window cleaning machine, so that the window cleaning machine can be stored in a compact space in an orderly manner, which is convenient for the robot to store and move when the window cleaning function is not in use, and reduces the occupied space.

[0034] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent household service robot, characterized in that: include A frame, wherein a walking mechanism and a power supply are installed inside the frame, and a collision sensor is installed outside the frame; A driving motor (16) installed in the frame and used for driving the walking mechanism; A cleaning mechanism, installed in the frame and connected to the traveling mechanism; A support assembly mounted on the frame; The window cleaning machine (15) is mounted on the supporting assembly via a plurality of adjusting assemblies.

2. The intelligent household service robot according to claim 1, characterized in that: The frame comprises two symmetrically arranged mounting frames (1), two trusses (24) being mounted on both ends of the two mounting frames (1), an upper protective cover (3) being mounted on the upper end surfaces of the two mounting frames (1) and the two trusses (24), and a lower protective cover (5) being mounted on the lower end surfaces of the two mounting frames (1) and the two trusses (24).

3. The intelligent household service robot according to claim 2, characterized in that: Each of the walking mechanisms comprises two symmetrically arranged rotating shafts and a mounting shaft, and the mounting shaft is connected to the output shaft of a driving motor (16) at a corresponding position, and the mounting shaft is located between the two rotating shafts, each of the mounting shafts and each rotating shaft is mounted with a walking wheel (2), and the lower protective cover (5) is provided with a plurality of through holes, each walking wheel (2) passes through the through holes and contacts the ground, each of the mounting shafts is mounted with two active synchronous wheels (23), and the two active synchronous wheels (23) are arranged on both sides of the walking wheel (2) at a corresponding position, and the two active synchronous wheels (23) at a corresponding position are both located in the mounting frame (1), each of the rotating shafts is mounted with a driven synchronous wheel (22), and each of the driven synchronous wheels (22) and the active synchronous wheel (23) at a corresponding position are both sleeved with a synchronous belt (17).

4. The intelligent household service robot according to claim 4, characterized in that: The cleaning mechanism comprises two symmetrically arranged horizontal shafts (21), two support frames (20) are symmetrically mounted on each of the trusses (24), and each of the horizontal shafts (21) is mounted on two support frames (20) at corresponding positions, and the horizontal shaft (21) is welded to two corresponding rotating shafts located in different mounting frames (1), and a plurality of active bevel gears (18) are symmetrically mounted on each of the horizontal shafts (21), a plurality of vertical shafts are vertically mounted on the lower protective cover (5), a driven bevel gear (19) is mounted on each of the vertical shafts, and each driven bevel gear (19) is meshed with a corresponding active bevel gear (18), and the lower end of each of the vertical shafts extends outside the lower protective cover (5) and is mounted with a cleaning disc (4).

5. The intelligent household service robot according to claim 2, characterized in that: The support assembly comprises a fastening frame (6), and the fastening frame (6) is mounted on the upper protective cover (3), an extension frame (7) is mounted on the fastening frame (6), a moving frame (8) is slidably connected to the extension frame (7), and a first telescopic rod (9) is mounted between one side of the moving frame (8) and an inner side wall of the extension frame (7).

6. The intelligent household service robot according to claim 5, characterized in that: The adjustment assembly is mounted on the upper end surface of the mobile frame (8), a connecting frame (12) is commonly mounted between the plurality of the adjustment assemblies, a support (26) is mounted on the inner side wall of the extension frame (7), a second telescopic rod (10) is rotatably connected to the support (26), a steering ball (25) is mounted at the end of the second telescopic rod (10), a ball groove is formed on the connecting frame (12), and the steering ball (25) is clamped in the ball groove.

7. The intelligent household service robot according to claim 6, characterized in that: The adjustment assembly further comprises a fixed frame (30), and the fixed frame (30) is mounted on the upper end surface of the movable frame (8), a hollow rod (11) is rotatably connected to the fixed frame (30), and the connecting frame (12) is mounted on the outer side wall of the hollow rod (11), an inner support rod (13) is slidably connected inside the hollow rod (11), the end of the inner support rod (13) extends outside the hollow rod (11) and is connected to the window cleaning machine (15) through a universal joint (14), a third telescopic rod (29) is mounted inside the hollow rod (11), and the telescopic end of the third telescopic rod (29) is fixedly connected to the lower end of the inner support rod (13), a plurality of limit strips are symmetrically mounted on the outer side wall of the inner support rod (13), a plurality of limit grooves are symmetrically opened on the inner side wall of the hollow rod (11), and each limit strip is located in a limit groove corresponding to a position.

8. The intelligent household service robot according to claim 5, characterized in that: The extension frame (7) comprises a vertical extension frame (701) and a horizontal extension frame (702), and the vertical extension frame (701) is vertically arranged on the fastening frame (6), and the horizontal extension frame (702) is vertically arranged on the upper end of the vertical extension frame (701), and the movable frame (8) is slidably connected to the horizontal extension frame (702), and the inner side wall of the horizontal extension frame (702) is symmetrically provided with limiting grooves (27), and the two sides of the movable frame (8) are symmetrically provided with limiting blocks (28), and the limiting blocks (28) are slidably connected in the limiting grooves (27).

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