Polyurethane resin production process and production system thereof

By using nitrogen protection gas and chemical reaction heat to regulate the temperature in the polyurethane resin production process, and designing a complex stirring mechanism, the problem of uneven mixing of raw materials in the prior art is solved, and the reaction efficiency and product performance are significantly improved.

CN119823339AInactive Publication Date: 2025-04-15ANHUI HUAJUE NEW MATERIAL TECHNOLOGY CO LTD
View PDF 0 Cites 0 Cited by

Patent Information

Application Number
CN202510027806.8
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-01-08
Publication Date
2025-04-15
Estimated Expiration
Not applicable · inactive patent

AI Technical Summary

Technical Problem

In the existing polyurethane resin production process, the mixing mechanism is simple, resulting in uneven mixing of raw materials, and it is easy to cause local overreaction or insufficient reaction, which affects the reaction efficiency and product performance.

Method used

A polyurethane resin production process is adopted, by blowing nitrogen protective gas into the reactor, and temperature is regulated by using chemical reaction heat to combine indirect cooling water and vapor to regulate the temperature, and the material viscosity is monitored regularly to ensure smooth reaction. At the same time, a complex mixing mechanism is designed, including a lifting shaft and an attached mixer, to achieve more complete material mixing.

Benefits of technology

By accurately controlling the reaction temperature and monitoring the viscosity regularly, the quality and efficiency of the polyurethane resin reaction are ensured. The complex mixing mechanism design allows the mixing of raw materials more fully, avoiding local uneven reactions, and significantly improving product performance.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN119823339A_ABST
    Figure CN119823339A_ABST
Patent Text Reader

Abstract

The invention discloses a polyurethane resin production process which comprises the following steps: S1, blowing nitrogen into a reaction kettle to serve as shielding gas, and pumping a polyol intermediate and diisocyanate into the reaction kettle through a pump; s2, after the raw materials are fed, controlling the temperature to gradually rise to 50-60 DEG C by utilizing self chemical reaction heat under the condition of continuous cooling of indirect cooling water, after 3 hours, controlling the temperature of a reaction kettle to be 70 DEG C by utilizing indirect circulating cooling water and steam, and along with the proceeding of chemical reaction. The stirring mechanism of the production system is ingenious in design, the lifting rotating shaft can achieve lifting reciprocating movement while rotating, the stirring shaft is driven to conduct complex stirring action, materials are stirred more sufficiently, the situation that local mixing is uneven is avoided, and the overall mixing effect of the materials is improved.
Need to check novelty before this filing date? Find Prior Art

Description

Technical Field

[0001] The invention relates to the technical field of polyurethane resin production, and in particular to a polyurethane resin production process and a production system thereof. Background Art

[0002] As a high-performance polymer material, polyurethane resin has extremely wide applications in many fields. With its good wear resistance, chemical corrosion resistance, flexibility and high strength, it is widely used in coatings, adhesives, elastomers, foam plastics and other industries, playing a key role in promoting the development of modern industrial and daily life products. For example, in the construction field, polyurethane foam plastics can be used as high-quality thermal insulation materials to effectively improve the energy-saving effect of buildings; in automobile manufacturing, polyurethane coatings can provide excellent protection and aesthetic effects for the car body; and in the shoemaking industry, polyurethane elastomers are often used in the manufacture of soles, giving shoes a comfortable wearing experience and good durability.

[0003] In the prior art, in production, the design of the stirring mechanism in the reactor is relatively simple, usually only a single rotating stirring mode, the stirring range and strength are limited, it is difficult to make the polyol intermediates and diisocyanate and other raw materials fully and evenly mixed in the reactor, and it is easy to have local over-reaction or under-reaction, which not only affects the reaction efficiency, but also causes the performance of the product to not reach the optimal state. At the same time, some stirring mechanisms are not compact and reasonable in structure, occupy a large space, are not conducive to the layout optimization of the entire production system, and lack stability during long-term operation, are prone to failure, affect the continuity of production, and increase maintenance costs and time costs. Summary of the invention

[0004] In order to solve the problems mentioned in the above background technology, the present invention provides a polyurethane resin production process and a production system thereof.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A polyurethane resin production process comprises the following steps:

[0007] S1: First, nitrogen is blown into the reactor as a protective gas, and the polyol intermediate and diisocyanate are pumped into the reactor;

[0008] S2: After the raw materials are put in, the temperature is gradually raised to 50-60°C by using the heat of the chemical reaction and the indirect cooling water. After 3 hours, the temperature is basically stable. Then the temperature of the reactor is controlled at 70°C by using the indirect circulating cooling water and steam. As the chemical reaction proceeds, the viscosity of the material increases continuously. The actual viscosity of the material is measured every 2 hours. When it is qualified, the heating is stopped and the reaction is terminated. Generally, it takes 6-12 hours from the start to the end of the reaction.

[0009] After the reaction is completed, the materials in the reactor are cooled with indirect cooling water.

[0010] S3: Filter and remove fiber impurities to obtain finished product packaging.

[0011] A polyurethane resin production system, comprising a reaction kettle with a polyol intermediate addition port and a diisocyanate addition pipe provided at the top, a discharge port provided at the bottom, and a stirring mechanism installed inside the reaction kettle;

[0012] The stirring mechanism comprises a driving box and a stirring shaft, and the driving box drives the stirring shaft to rotate and move up and down.

[0013] Preferably, a jacket is provided on the outside of the reactor, and a medium inlet and a medium outlet are respectively installed on the jacket.

[0014] Preferably, a connecting sleeve and a lifting shaft are rotatably installed inside the drive box, the top end of the connecting sleeve extends to the outside of the drive box and is connected to the diisocyanate addition tube via a rotating joint, and a polygonal pin is fixed to the top end of the lifting shaft, the top end of the polygonal pin movably extends into the connecting sleeve, and the two cannot rotate relative to each other.

[0015] Preferably, the outside of the lifting shaft is provided with a plurality of annular teeth equidistantly distributed from top to bottom, a first spur gear is fixed to the outside of the connecting sleeve, and a worm, a second spur gear and a turbine are rotatably mounted inside the driving box.

[0016] Preferably, the turbine is meshed with the worm, the second spur gear is meshed with the annular gear, a first connecting rod is fixed at the center position of the turbine, a second connecting rod is fixed at the center position of the second spur gear, a third connecting rod is provided between the second spur gear and the turbine, the second connecting rod and the first connecting rod are respectively hinged to the two ends of the third connecting rod, a fifth spur gear is fixed at the top end of the worm, and the fifth spur gear is meshed with the first spur gear.

[0017] Preferably, the bottom end of the lifting shaft is fixedly connected to the top end of the stirring shaft, an auxiliary stirring branch is fixed on the external part of the stirring shaft, and a plurality of stirring branches are fixed on the external part of the stirring shaft.

[0018] Preferably, the connecting sleeve, lifting shaft, stirring shaft and auxiliary agitator are all hollow and internally connected in sequence. The outside of the auxiliary agitator is connected to multiple liquid distribution pipes. The diisocyanate liquid introduced by the diisocyanate addition pipe enters the connecting sleeve through the rotary joint and is finally sprayed out from the liquid distribution pipe.

[0019] Preferably, a first bevel gear is fixed on the attached agitator, a second bevel gear is fixed on the agitator shaft, a vertical guide rail is also fixed on the drive box, a lifting bracket is movably mounted on the vertical guide rail, a third bevel gear is rotatably mounted on the lifting bracket, the first bevel gear and the second bevel gear are respectively meshed with the third bevel gear from both sides, a connecting cross bar is fixed on the lifting bracket, and one end of the connecting cross bar and the vertical guide rail is rotatably connected to the lifting shaft through a bearing.

[0020] Preferably, a rotating motor is fixedly installed in the driving box, the rotating motor is equipped with a motor reducer, a third spur gear is fixed to the output end of the motor reducer, a fourth spur gear is fixed to the outside of the connecting sleeve, and the third spur gear is meshed with the fourth spur gear.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. In terms of production technology, the order of raw material input is reasonably controlled, the reaction temperature is accurately controlled by using chemical reaction heat and indirect cooling water, steam, etc., and the viscosity of the materials is regularly monitored to ensure that the reaction proceeds as required, effectively guaranteeing the quality of polyurethane resin products;

[0023] 2. The mixing mechanism of the production system is cleverly designed. The lifting shaft can achieve lifting and reciprocating movement while rotating, driving the mixing shaft to perform complex mixing actions, so that the materials are mixed more fully, avoiding local uneven mixing and improving the overall mixing effect of the materials;

[0024] 3. The attached agitator and the agitator shaft rotate in opposite directions. The synergistic effect of the two further strengthens the stirring force. When the attached agitator rotates, it can drive the liquid distribution pipe to move continuously, so that the diisocyanate liquid can be more evenly mixed into the existing materials, which significantly improves the mixing efficiency of the reactants and thus enhances the effect of the entire reaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is an appearance diagram of the reaction kettle of the present invention;

[0027] Figure 2 It is a cross-sectional view of a reaction kettle of the present invention;

[0028] Figure 3 This is a schematic diagram of the internal structure of the reactor of the present invention from a first viewing angle;

[0029] Figure 4 It is a schematic diagram of the internal structure of the reactor of the present invention from a second viewing angle;

[0030] Figure 5 It is a schematic diagram of the internal components of the drive box of the present invention from a first viewing angle;

[0031] Figure 6 A schematic diagram of the internal components of the drive box of the present invention from a second viewing angle;

[0032] Figure 7 for Figure 4 A zoomed-in detail of position A in the middle;

[0033] Figure 8 It is a schematic diagram of the linkage relationship between the turbine and the second spur gear of the present invention;

[0034] In the figure: 1. Reactor; 101. Jacket; 102. Medium inlet; 103. Medium outlet; 104. Polyol intermediate addition port; 105. Discharge port; 106. Diisocyanate addition pipe 2. Drive box; 201. Connecting sleeve; 2011. Fourth spur gear; 202. Rotary joint; 203. Lifting shaft; 2031. Polygonal pin shaft; 2032. Ring gear; 2033. First spur gear; 204. Rotating motor; 2041. Motor reducer; 2042. Third spur gear; 205, worm; 2051, turbine; 2052, second spur gear; 2053, second connecting rod; 2054, first connecting rod; 2055, third connecting rod; 2056, fifth spur gear; 206, vertical guide rail; 2061, lifting bracket; 2062, connecting cross bar; 2063, third bevel gear; 3, stirring shaft; 301, stirring branch; 3011, second bevel gear; 302, attached agitator; 3021, auxiliary stirring branch; 3022, liquid distribution pipe; 3023, first bevel gear. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 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 are within the scope of protection of the present invention.

[0036] Example 1

[0037] A polyurethane resin production process comprises the following steps:

[0038] S1: First, nitrogen is blown into the reactor as a protective gas, and the polyol intermediate and diisocyanate are pumped into the reactor;

[0039] S2: After the raw materials are put in, the temperature is gradually raised to 55°C by using the heat of the chemical reaction and the indirect cooling water is continuously used for cooling. After 3 hours, the temperature is basically stable. Then, the temperature of the reactor is controlled at 70°C by using indirect circulating cooling water and steam. As the chemical reaction proceeds, the viscosity of the material increases continuously. The actual viscosity of the material is measured every 2 hours. When it is qualified, the heating is stopped and the reaction is terminated. Generally, it takes 10 hours from the start to the end of the reaction.

[0040] After the reaction is completed, the materials in the reactor are cooled with indirect cooling water.

[0041] S3: Filter and remove fiber impurities to obtain finished product packaging.

[0042] Example 2

[0043] Reference Figure 1-8 , a polyurethane resin production system, comprising a reactor 1 having a polyol intermediate addition port 104 and a diisocyanate addition pipe 106 at the top, a discharge port 105 at the bottom, and a stirring mechanism installed inside the reactor 1;

[0044] The stirring mechanism comprises a driving box 2 and a stirring shaft 3. The driving box 2 drives the stirring shaft 3 to rotate and move up and down.

[0045] The outside of the reactor 1 is provided with a jacket 101 , and the jacket 101 is respectively provided with a medium inlet 102 and a medium outlet 103 . The reaction temperature is controlled by introducing a coolant or a heat medium into the jacket 101 .

[0046] Example 3

[0047] Reference Figure 1-8 The difference between this embodiment and embodiment 2 is that a connecting sleeve 201 and a lifting shaft 203 are rotatably installed inside the driving box 2, the top end of the connecting sleeve 201 extends to the outside of the driving box 2 and is connected to the diisocyanate addition pipe 106 via a rotating joint 202, and a polygonal pin 2031 is fixed to the top end of the lifting shaft 203, and the top end of the polygonal pin 2031 movably extends into the connecting sleeve 201, and the two cannot rotate relative to each other;

[0048] When the connecting sleeve 201 rotates, the polygonal pin 2031 and the lifting shaft 203 can be driven to rotate. When the lifting shaft 203 moves up and down, the polygonal pin 2031 can move up and down inside the connecting sleeve 201 .

[0049] Among them, the outside of the lifting shaft 203 is evenly distributed with multiple annular teeth 2032 from top to bottom, the outside of the connecting sleeve 201 is fixed with a first spur gear 2033, and the inside of the driving box 2 is also rotatably installed with a worm 205, a second spur gear 2052 and a turbine 2051, the turbine 2051 is meshed with the worm 205, the second spur gear 2052 is meshed with the annular teeth 2032, a first connecting rod 2054 is fixed at the center position of the turbine 2051, a second connecting rod 2053 is fixed at the center position of the second spur gear 2052, a third connecting rod 2055 is provided between the second spur gear 2052 and the turbine 2051, the second connecting rod 2053 and the first connecting rod 2054 are respectively hinged to the two ends of the third connecting rod 2055, a fifth spur gear 2056 is fixed at the top of the worm 205, and the fifth spur gear 2056 is meshed with the first spur gear 2033;

[0050] When the connecting sleeve 201 rotates, it can drive the first spur gear 2033 to rotate, and the first spur gear 2033 and the fifth spur gear 2056 can further drive the worm 205 to rotate. The rotation of the worm 205 can drive the turbine 2051 to rotate continuously. During the rotation of the turbine 2051, the cooperation between the first connecting rod 2054, the second connecting rod 2053 and the third connecting rod 2055 can drive the second connecting rod 2053 to swing up and down, thereby driving the second spur gear 2052 to rotate reciprocatingly. The specific movement process is as follows: Figure 8 As shown, the second spur gear 2052 is meshed with the annular gear 2032 to drive the lifting shaft 203 to move up and down and reciprocate, so that the lifting shaft 203 can be driven to move up and down while maintaining continuous rotation, thereby driving the lifting shaft 203 to rotate and stir while continuously lifting and reciprocating, thereby improving the stirring effect.

[0051] Example 4

[0052] Reference Figure 1-8The difference between this embodiment and embodiment 3 is that the bottom end of the lifting shaft 203 is fixedly connected to the top end of the stirring shaft 3, the stirring shaft 3 is rotatably mounted with an attached stirrer 302, the attached stirrer 302 is fixed with an auxiliary stirring branch 3021, a plurality of stirring branches 301 are fixed to the outside of the stirring shaft 3, the connecting sleeve 201, the lifting shaft 203, the stirring shaft 3 and the attached stirrer 302 are all hollow, and the insides are sequentially connected, the attached stirrer 302 is connected to the outside with a plurality of liquid distribution pipes 3022, the diisocyanate liquid introduced by the diisocyanate addition pipe 106 enters the connecting sleeve 201 through the rotary joint 202, and is finally sprayed out from the liquid distribution pipe 3022;

[0053] A first bevel gear 3023 is fixed to the attached stirrer 302, a second bevel gear 3011 is fixed to the stirring shaft 3, a vertical guide rail 206 is also fixed to the driving box 2, a lifting bracket 2061 is movably installed on the vertical guide rail 206, a third bevel gear 2063 is rotatably installed on the lifting bracket 2061, the first bevel gear 3023 and the second bevel gear 3011 are respectively meshed with the third bevel gear 2063 from both sides, a connecting cross bar 2062 is fixed to the lifting bracket 2061, and one end of the connecting cross bar 2062 and the vertical guide rail 206 is rotatably connected to the lifting shaft 203 through a bearing;

[0054] When the stirring shaft 3 is raised, lowered and rotated, the second bevel gear 3011 will rotate accordingly, and then the third bevel gear 2063 is driven to rotate by the engagement of the second bevel gear 3011 and the third bevel gear 2063, and then the attached agitator 302 is driven to rotate by the engagement of the third bevel gear 2063 and the first bevel gear 3023. The rotation direction of the attached agitator 302 is opposite to that of the stirring shaft 3, thereby improving the stirring effect. When the attached agitator 302 rotates, it can drive the liquid distribution pipe 3022 to move continuously, so that the liquid sprayed from the liquid distribution pipe 3022 can be more evenly mixed into the existing liquid, thereby improving the efficiency of the mixing of the reactants and improving the reaction effect.

[0055] Among them, a rotating motor 204 is fixedly installed in the driving box 2, and the rotating motor 204 is equipped with a motor reducer 2041. A third spur gear 2042 is fixed to the output end of the motor reducer 2041, and a fourth spur gear 2011 is fixed to the outside of the connecting sleeve 201. The third spur gear 2042 is meshed with the fourth spur gear 2011. The rotating motor 204 and the motor reducer 2041 can drive the third spur gear 2042 to rotate at a low speed, and then the third spur gear 2042 is meshed with the fourth spur gear 2011 to drive the connecting sleeve 201 to rotate at a low speed, thereby driving stirring.

[0056] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0057] In the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", "connect", "fix" 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, 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by technicians in this field. The provision of power is also common knowledge in this field. The present invention is mainly used to protect mechanical devices, so the present invention will no longer explain the control method and circuit connection in detail.

[0059] 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. A polyurethane resin production process, characterized in that: The following steps are involved: S1: First, nitrogen is blown into the reactor as a protective gas, and the polyol intermediate and diisocyanate are pumped into the reactor; S2: After the raw materials are put in, the temperature is gradually raised to 50-60°C by using the heat of the chemical reaction and the indirect cooling water. After 3 hours, the temperature is basically stable. Then the temperature of the reactor is controlled at 70°C by using indirect circulating cooling water and steam. As the chemical reaction proceeds, the viscosity of the material increases continuously. The actual viscosity of the material is measured every 2 hours. When it is qualified, the heating is stopped. After the reaction is completed, the material in the reactor is cooled with indirect cooling water. S3: Filter and remove fiber impurities to obtain finished product packaging.

2. A polyurethane resin production system, applied to a polyurethane resin production process as claimed in claim 1, characterized in that: The top of the reaction kettle (1) is provided with a polyol intermediate addition port (104) and a diisocyanate addition pipe (106), the bottom of the reaction kettle (1) is provided with a discharge port (105), and a stirring mechanism is installed inside the reaction kettle (1); The stirring mechanism comprises a driving box (2) and a stirring shaft (3), and the driving box (2) drives the stirring shaft (3) to rotate and move up and down.

3. A polyurethane resin production system according to claim 1, characterized in that: The reactor (1) is provided with a jacket (101) on the outside, and a medium inlet (102) and a medium outlet (103) are respectively installed on the jacket (101).

4. A polyurethane resin production system according to claim 1, characterized in that: A connecting sleeve (201) and a lifting shaft (203) are rotatably mounted inside the driving box (2); the top end of the connecting sleeve (201) extends to the outside of the driving box (2) and is connected to the diisocyanate addition tube (106) via a rotating joint (202); a polygonal pin (2031) is fixed to the top end of the lifting shaft (203); the top end of the polygonal pin (2031) movably extends into the connecting sleeve (201), and the two cannot rotate relative to each other.

5. A polyurethane resin production system according to claim 4, characterized in that: The outside of the lifting shaft (203) is provided with a plurality of annular teeth (2032) equidistantly distributed from top to bottom, the outside of the connecting sleeve (201) is fixed with a first spur gear (2033), and the inside of the driving box (2) is also rotatably mounted with a worm (205), a second spur gear (2052) and a turbine (2051).

6. A polyurethane resin production system according to claim 5, characterized in that: The turbine (2051) is meshed with the worm gear (205), the second spur gear (2052) is meshed with the annular gear (2032), a first connecting rod (2054) is fixed at the center of the turbine (2051), a second connecting rod (2053) is fixed at the center of the second spur gear (2052), a third connecting rod (2055) is provided between the second spur gear (2052) and the turbine (2051), the second connecting rod (2053) and the first connecting rod (2054) are respectively hinged to the two ends of the third connecting rod (2055), a fifth spur gear (2056) is fixed at the top end of the worm gear (205), and the fifth spur gear (2056) is meshed with the first spur gear (2033).

7. A polyurethane resin production system according to claim 6, characterized in that: The bottom end of the lifting shaft (203) is fixedly connected to the top end of the stirring shaft (3); an attached stirrer (302) is rotatably mounted on the outside of the stirring shaft (3); an auxiliary stirring branch (3021) is fixed on the attached stirrer (302); and a plurality of stirring branches (301) are fixed on the outside of the stirring shaft (3).

8. A polyurethane resin production system according to claim 7, characterized in that: The connecting sleeve (201), the lifting shaft (203), the stirring shaft (3) and the auxiliary stirrer (302) are all hollow and are connected in sequence internally. The external part of the auxiliary stirrer (302) is connected to a plurality of liquid distribution pipes (3022). The diisocyanate liquid introduced by the diisocyanate addition pipe (106) enters the connecting sleeve (201) through the rotary joint (202) and is finally ejected from the liquid distribution pipe (3022).

9. A polyurethane resin production system according to claim 7, characterized in that: The attached stirrer (302) is fixed with a first bevel gear (3023), the stirring shaft (3) is fixed with a second bevel gear (3011), the drive box (2) is also fixed with a vertical guide rail (206), a lifting bracket (2061) is movably mounted on the vertical guide rail (206), a third bevel gear (2063) is rotatably mounted on the lifting bracket (2061), the first bevel gear (3023) and the second bevel gear (3011) are respectively meshed with the third bevel gear (2063) from both sides, a connecting cross bar (2062) is fixed on the lifting bracket (2061), and one end of the connecting cross bar (2062) and the vertical guide rail (206) is rotatably connected to the lifting shaft (203) via a bearing.

10. A polyurethane resin production system according to claim 7, characterized in that: A rotating motor (204) is fixedly installed in the driving box (2), the rotating motor (204) is equipped with a motor reducer (2041), a third spur gear (2042) is fixed to the output end of the motor reducer (2041), a fourth spur gear (2011) is fixed to the outside of the connecting sleeve (201), and the third spur gear (2042) is meshed with the fourth spur gear (2011).