Automatic assembly manipulator for sealing ring of stop valve

Abstract

The invention relates to the technical field of manipulators, and discloses a stop valve sealing ring automatic assembly manipulator which comprises a fixing plate, two sets of supporting plates are fixedly connected to the top of the fixing plate, motors are fixedly connected to the sides, close to each other, of the two sets of supporting plates, and the output ends of the motors are in meshed connection with gears. A positioning block is fixedly connected to the bottom of the fixing plate, a threaded rod is arranged on the inner wall of the positioning block, the lower two ends of the threaded rod are fixedly connected with the inner wall of the positioning block, and the upper end of the threaded rod penetrates through the positioning block and the fixing plate. By arranging the first clamp and the second clamp, only the edge of the sealing ring can be clamped due to the fact that the lengths of the first clamp and the second clamp are different when the sealing ring is clamped, the second clamp is shorter than the first clamp, and when the sealing ring is placed, the first clamp is moved firstly and then the second clamp is moved, so that the sealing ring can be conveniently clamped. And the sealing ring cannot be touched for the second time.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to an automatic assembly manipulator for a sealing ring of a stop valve. Background Art

[0002] The automatic assembly robot for stop valve sealing rings is a highly automated industrial equipment, designed specifically to improve the assembly efficiency and accuracy of sealing rings during the stop valve production process. The robot integrates a precise mechanical structure, advanced sensor technology, and an intelligent control system, and can independently complete a series of operations such as grasping, positioning, assembly, and quality inspection of sealing rings, thereby greatly reducing the intensity of manual labor and improving the overall efficiency of the production line.

[0003] The patent application with application number CN201410775964.3 discloses an assembly robot for a magnet automatic assembly machine, which is installed at the upper end of the magnet automatic assembly machine and electrically connected to its control system. The assembly robot includes a control panel, a gripper limit block, a positioning pin, a gripper fixing seat, a gripper, a gripper hinge pin, a cylinder and a magnet limit block. A gripper limit block is installed at the upper end of the gripper fixing seat, and a plurality of gripper grooves are provided on the peripheral side of the gripper fixing seat.

[0004] When the existing stop valve sealing ring automatic assembly robot assembles the sealing ring, the sealing ring is grabbed and placed by the robot. The robot may not release the sealing ring in time, resulting in a secondary movement of the sealing ring. As a result, after the sealing ring is pressed, the sealing ring is not pressed flat, so that the sealing ring cannot be used normally. Summary of the invention

[0005] In view of the deficiencies in the prior art, the object of the present invention is to provide a stop valve sealing ring automatic assembly robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a stop valve sealing ring automatic assembly manipulator, comprising a fixed plate, two groups of support plates are fixedly connected to the top of the fixed plate, a motor is fixedly connected to the side of the two groups of support plates close to each other, a gear is meshed and connected to the output end of the motor, a positioning block is fixedly connected to the bottom of the fixed plate, a threaded rod is arranged on the inner wall of the positioning block, the lower two ends of the threaded rod are fixedly connected to the inner wall of the positioning block, the upper end of the threaded rod passes through the positioning block and the fixed plate, the top of the threaded rod is fixedly connected to the gear, the outer wall of the threaded rod is threadedly connected to the sliding block, and also includes: The pressing mechanism comprises a base, a side of the base close to the fixed plate is fixedly connected to the positioning block, the base is rotatably connected to a first rotating rod via a rotating shaft, a side of the first rotating rod away from the base is rotatably connected to a second rotating rod via a rotating shaft, and a side of the second rotating rod away from the first rotating rod is fixedly connected to a pressing ring; The clamping mechanism includes a third rotating rod, the third rotating rod is rotatably connected to the base through a rotating shaft, a side of the third rotating rod close to the sliding block is fixedly connected to a curved rod, and a side of the curved rod away from the third rotating rod is fixedly connected to the sliding block According to the above technical solution, the top of the first rotating rod is fixedly connected with an arc rod, the side of the arc rod close to the sliding block is fixedly connected thereto, and the inner wall of the second rotating rod is fixedly connected with a placement block.

[0007] According to the above technical solution, the left and right sides of the top of the placement block are rotatably connected with contact blocks through bearings, and the inner walls of the two groups of contact blocks are provided with moving blocks, and the two groups of moving blocks are slidably connected to the inner walls of the contact blocks.

[0008] According to the above technical solution, the two groups of moving blocks are fixedly connected with movable rods on both sides, the four groups of movable rods are respectively fixedly connected with the two groups of lower pressure plates, and the two groups of moving blocks are fixedly connected with contact rods on the sides away from each other.

[0009] According to the above technical solution, a side of the curved rod away from the sliding block is fixedly connected to a pulling rod, and a side of the pulling rod away from the curved rod is fixedly connected to a pushing ring.

[0010] According to the above technical solution, the side of the third rotating rod close to the curved rod is rotatably connected to the first clamp through the rotating rod, a rotating rod is provided at the connection of the first clamp, the rotating rod is fixedly connected to the lower end of the first clamp, and the rotating rod is rotatably connected to the upper end of the first clamp through a bearing.

[0011] According to the above technical solution, a first pressing plate is fixedly connected to the inner wall of the bottom of the first clamp, a spring is fixedly connected to the bottom of the first pressing plate, a second pressing plate is fixedly connected to the bottom of the spring, a second clamp is arranged at the bottom of the first clamp, a second pressing plate is fixedly connected to the inner wall of the top of the second clamp, a positioning ring is fixedly connected to the side of the second clamp away from the sliding block, a positioning column is fixedly connected to the side of the first clamp away from the sliding block, the positioning column is slidably connected to the positioning ring, the contact rod is fixedly connected to the first clamp, and two groups of the clamping mechanism are arranged, both of which are symmetrically arranged with the middle of the fixed plate as the center.

[0012] According to the above technical scheme, the bottom of the two groups of rotating blocks are fixedly connected with the load-bearing rods through the fixed shaft, the inner walls of the two groups of load-bearing rods are provided with sliding grooves, the groove walls of the two groups of sliding grooves are slidably connected with sliding rods, the inner walls of the two groups of load-bearing rods are provided with pushing blocks, the two groups of sliding rods penetrate the pushing blocks and are fixedly connected with them, the bottoms of the two groups of pushing blocks are fixedly connected with pushing plates, the two groups of pushing blocks are fixedly connected with bending rods on one side close to the rotating block, and the two groups of bending rods are fixedly connected with the rotating block on one side away from the pushing block.

[0013] Compared with the prior art, the present invention provides a stop valve sealing ring automatic assembly robot, which has the following beneficial effects: 1. The present invention can clamp the sealing ring by setting the first clamp and the second clamp. The length difference between the second clamp and the first clamp can make it possible to clamp only the edge of the sealing ring. The second clamp is set to be shorter than the first clamp, and when placing the sealing ring, the first clamp can be moved first and then the second clamp can be moved without touching the sealing ring a second time.

[0014] 2. The present invention sets a first pressing plate so that when the sealing ring is pressed, the first pressing plate is pressed by the pressing ring, and the first pressing plate is forced to move downward, driving the spring to contract, causing the gap between the first clamp and the second clamp to become smaller, thereby further clamping the sealing ring and adjusting the position of the sealing ring when it is placed.

[0015] 3. The present invention provides a pulling rod, so that when the pressing ring presses the sealing ring, the pulling rod pulls the pushing ring to rotate the first clamp and the second clamp. When the first clamp and the second clamp are removed from the sealing ring, the first clamp and the second clamp are rotated again to be in a horizontal state with the second rotating rod, so that the pressing ring can move downward without hindrance when pressing the sealing ring.

[0016] 4. The present invention sets a sliding rod to drive the bending rod to move synchronously when the rotating block rotates outward, and pulls the pushing block through the bending rod, so that the pushing block pushes the sliding rod to slide in the sliding groove, thereby making the pushing plate move synchronously in the same direction, and the pushing plate can straighten the sealing ring during the movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural cross-sectional view of the present invention; Figure 3 It is a structural schematic diagram of the sliding block of the present invention; Figure 4 It is a structural schematic diagram of the pressing mechanism of the present invention; Figure 5 is a schematic structural diagram of the second rotating rod of the present invention; Figure 6 It is a structural schematic diagram of the clamping mechanism of the present invention; Figure 7 is a schematic structural diagram of a first clamp of the present invention; Figure 8 It is a structural schematic diagram of the righting mechanism of the present invention.

[0018] In the figure: 1, fixed plate; 2, support plate; 3, motor; 4, gear; 5, positioning block; 6, sliding block; 7, threaded rod; 8, pressing mechanism; 801, base; 802, first rotating rod; 803, arc rod; 804, second rotating rod; 805, pressing ring; 806, placing block; 807, movable rod; 808, moving block; 809, contact block; 810, contact rod; 9, clamping mechanism; 901, third rotating rod; 902, curved rod; 903, pulling rod ; 904, push ring; 905, rotating rod; 906, first clamp; 907, second clamp; 908, first pressing plate; 909, spring; 910, second pressing plate; 911, positioning ring; 912, positioning column; 10, straightening mechanism; 1001, shaking plate; 1002, lower pressure plate; 1003, rotating block; 1004, bending rod; 1005, slide groove; 1006, push block; 1007, load-bearing rod; 1008, push plate; 1009, sliding rod. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0021] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, 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.

[0022] Example 1: See Figure 1-Figure 5The present invention provides a technical solution: a stop valve sealing ring automatic assembly manipulator, including a fixed plate 1, two groups of support plates 2 are fixedly connected to the top of the fixed plate 1, a motor 3 is fixedly connected to the side of the two groups of support plates 2 close to each other, and a gear 4 is meshed and connected to the output end of the motor 3, a positioning block 5 is fixedly connected to the bottom of the fixed plate 1, and a threaded rod 7 is arranged on the inner wall of the positioning block 5, the lower two ends of the threaded rod 7 are fixedly connected to the inner wall of the positioning block 5, the upper end of the threaded rod 7 passes through the positioning block 5 and the fixed plate 1, the top of the threaded rod 7 is fixedly connected to the gear 4, and the outer wall of the threaded rod 7 is threadedly connected to the sliding block 6, and also includes: The pressing mechanism 8 includes a base 801, a side of the base 801 close to the fixed plate 1 is fixedly connected to the positioning block 5, the base 801 is rotatably connected to the first rotating rod 802 through a rotating shaft, the side of the first rotating rod 802 away from the base 801 is rotatably connected to the second rotating rod 804 through a rotating shaft, the side of the second rotating rod 804 away from the first rotating rod 802 is fixedly connected to a pressing ring 805, the top of the first rotating rod 802 is fixedly connected to an arc rod 803, the side of the arc rod 803 close to the sliding block 6 is fixedly connected to it, the inner wall of the second rotating rod 804 is fixedly connected to a placement block 806, and the left and right sides of the top of the placement block 806 Both groups of contact blocks 809 are rotatably connected via bearings, and moving blocks 808 are provided on the inner walls of the two groups of contact blocks 809. By providing the moving blocks 808, the moving blocks 808 can be driven to slide by the reverse rotation of the motor 3, thereby driving the straightening mechanism 10, so that the sealing ring will not be offset when the sealing ring is pressed. The two groups of moving blocks 808 are slidably connected to the inner walls of the contact blocks 809, and the two groups of moving blocks 808 are fixedly connected with movable rods 807 on both sides. The four groups of movable rods 807 are respectively fixedly connected to the two groups of lower pressure plates 1002, and the two groups of moving blocks 808 are fixedly connected with contact rods 810 on the sides away from each other.

[0023] The working principle of this embodiment is as follows: when the staff needs to press the sealing ring, the gear 4 is driven to rotate by starting the motor 3, resulting in the gear 4 driving the threaded rod 7 to rotate, and the rotation of the threaded rod 7 causes the sliding block 6 to move downward under the drive of the threaded rod 7, and the downward movement of the sliding block 6 drives the arc rod 803 to move downward, and the downward movement of the arc rod 803 drives the first rotating rod 802 to move downward, and then the first rotating rod 802 drives the second rotating rod 804 to move downward, when the motor 3 is reversed, the threaded rod 7 drives the sliding block 6 to move upward, and also drives the clamping mechanism 9 to move downward, resulting in the clamping mechanism 9 driving the contact rod 810 to move upward, and when the contact rod 810 moves upward, it drives the moving block 808 to move upward synchronously, resulting in the moving block 808 driving the movable rod 807 to move upward, and when the motor 3 rotates forward again, the second rotating rod 804 pushes the pressing ring 805 to move downward during the downward movement, thereby pressing and fixing the sealing ring to complete the work.

[0024] Example 2: Please refer to Figure 6-Figure 7On the basis of the first embodiment, the present invention provides a technical solution: a clamping mechanism 9, the clamping mechanism 9 includes a third rotating rod 901, the third rotating rod 901 is rotatably connected to the base 801 through a rotating shaft, a side of the third rotating rod 901 close to the sliding block 6 is fixedly connected to a curved rod 902, a side of the curved rod 902 away from the third rotating rod 901 is fixedly connected to the sliding block 6, a side of the curved rod 902 away from the sliding block 6 is fixedly connected to a pulling rod 903, and the pulling rod 903 away from the curved rod 9 A push ring 904 is fixedly connected to one side of 02, and the direction of the first clamp 906 and the second clamp 907 can be adjusted by setting a pull rod 903, so that when the sealing ring is placed or pressed, the first clamp 906 and the second clamp 907 can be flexibly used by adjusting the pull rod 903, and will not contact the pressing ring 805, avoiding the phenomenon that the first clamp 906 and the pressing ring 805 contact when the sealing ring is pressed. One side of the curved rod 902 is rotatably connected to a first clamp 906 through a rotating rod, a rotating rod 905 is provided at the connection of the first clamp 906, the rotating rod 905 is fixedly connected to the lower end of the first clamp 906, the rotating rod 905 is rotatably connected to the upper end of the first clamp 906 through a bearing, a first pressing plate 908 is fixedly connected to the inner wall of the bottom of the first clamp 906, a spring 909 is fixedly connected to the bottom of the first pressing plate 908, a second pressing plate 910 is fixedly connected to the bottom of the spring 909, and the first A second clamp 907 is provided at the bottom of the clamp 906, and a second pressing plate 910 is fixedly connected to the inner wall of the top of the second clamp 907, a positioning ring 911 is fixedly connected to the side of the second clamp 907 away from the sliding block 6, a positioning column 912 is fixedly connected to the side of the first clamp 906 away from the sliding block 6, the positioning column 912 is slidably connected to the positioning ring 911, the contact rod 810 is fixedly connected to the first clamp 906, and two groups of clamping mechanisms 9 are provided, both of which are symmetrically arranged with the middle of the fixed plate 1 as the center.

[0025] The working principle of this embodiment is as follows: when the staff needs to assemble the sealing ring, the staff first places the sealing ring between the first clamp 906 and the second clamp 907. When the motor 3 is started and drives the sliding block 6 to slide down, the curved rod 902 is driven to move downward, so that the curved rod 902 drives the pulling rod 903 to move downward when moving downward, so that the pulling rod 903 will exert a pulling force on the pushing ring 904, so that the first clamp 906 and the second clamp 907 are driven to rotate through the rotating rod 905, so that the sealing ring contacts the sealing part of the stop valve, and the pressing ring 805 contacts the first pressing plate 908 and presses it downward, causing the spring 909 to be pressed by the first pressing plate 908, so that the spring 909 The first clamp 906 is moved upwards and the second clamp 907 is moved out of contact with the first clamp 906.

[0026] Example 3: Please refer to Figure 8On the basis of the first and second embodiments, the present invention provides a technical solution: a straightening mechanism 10, the straightening mechanism 10 includes two groups of lower pressure plates 1002, the bottoms of the two groups of lower pressure plates 1002 are fixedly connected to the top of the pressing ring 805, the two groups of lower pressure plates 1002 are rotatably connected to the rotating blocks 1003 on the sides away from the pressing ring 805 through the rotating shaft, the tops of the two groups of rotating blocks 1003 are fixedly connected to the shaking plates 1001, the bottoms of the two groups of rotating blocks 1003 are fixedly connected to the load-bearing rods 1007 through the fixed shafts, the inner walls of the two groups of load-bearing rods 1007 are provided with sliding grooves 1005, and the groove walls of the two groups of sliding grooves 1005 are slidably connected There is a sliding rod 1009, and the inner walls of the two groups of load-bearing rods 1007 are both provided with pushing blocks 1006. The two groups of sliding rods 1009 penetrate the pushing blocks 1006 and are fixedly connected to them. The bottoms of the two groups of pushing blocks 1006 are both fixedly connected with pushing plates 1008. By setting the pushing plates 1008, the sealing rings that have been displaced in position can be straightened again, so that accidents can be effectively avoided when the sealing rings are pressed. The two groups of pushing blocks 1006 are both fixedly connected with bending rods 1004 on one side close to the rotating block 1003, and the two groups of bending rods 1004 are fixedly connected to the rotating block 1003 on the other side away from the pushing blocks 1006.

[0027] The working principle of this embodiment is: when the movable rod 807 rotates upward, it drives the shaking plate 1001 to rotate, so that the rotating block 1003 rotates synchronously, thereby pulling the bending rod 1004 to bend upward, thereby pulling the pushing block 1006 to move, so that the pushing block 1006 pushes the sliding rod 1009 to slide in the slide groove 1005, so that the pushing plate 1008 is driven by the pushing block 1006 to move synchronously, so that the pushing plate 1008 drives the displaced sealing ring to be straightened when moving, and the sealing ring is not placed in place, so that the sealing ring fluctuates after being pressed.

[0028] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0029] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A stop valve sealing ring automatic assembly robot, comprising a fixed plate (1), the top of the fixed plate (1) is fixedly connected to two groups of support plates (2), the two groups of support plates (2) are fixedly connected to a motor (3) on the side close to each other, the output end of the motor (3) is meshingly connected to a gear (4), the bottom of the fixed plate (1) is fixedly connected to a positioning block (5), the inner wall of the positioning block (5) is provided with a threaded rod (7), the lower two ends of the threaded rod (7) are fixedly connected to the inner wall of the positioning block (5), the upper end of the threaded rod (7) passes through the positioning block (5) and the fixed plate (1), the top of the threaded rod (7) is fixedly connected to the gear (4), and the outer wall of the threaded rod (7) is threadedly connected to a sliding block (6), characterized in that: Also includes: A pressing mechanism (8), the pressing mechanism (8) comprising a base (801), a side of the base (801) close to the fixed plate (1) being fixedly connected to the positioning block (5), the base (801) being rotatably connected to a first rotating rod (802) via a rotating shaft, a side of the first rotating rod (802) away from the base (801) being rotatably connected to a second rotating rod (804) via a rotating shaft, and a side of the second rotating rod (804) away from the first rotating rod (802) being fixedly connected to a pressing ring (805); A clamping mechanism (9), the clamping mechanism (9) comprising a third rotating rod (901), the third rotating rod (901) being rotatably connected via a rotating shaft base (801), a side of the third rotating rod (901) close to the sliding block (6) being fixedly connected to a curved rod (902), and a side of the curved rod (902) away from the third rotating rod (901) being fixedly connected to the sliding block (6); A straightening mechanism (10), the straightening mechanism (10) comprising two groups of lower pressure plates (1002), the bottoms of the two groups of lower pressure plates (1002) being fixedly connected to the top of the pressing ring (805), the sides of the two groups of lower pressure plates (1002) away from the pressing ring (805) being rotatably connected to a rotating block (1003) via a rotating shaft, and the tops of the two groups of rotating blocks (1003) being fixedly connected to a shaking plate (1001).

2. The automatic assembly robot for the stop valve sealing ring according to claim 1 is characterized in that: The top of the first rotating rod (802) is fixedly connected to an arc rod (803), a side of the arc rod (803) close to the sliding block (6) is fixedly connected thereto, and the inner wall of the second rotating rod (804) is fixedly connected to a placement block (806).

3. The automatic assembly robot for the stop valve sealing ring according to claim 2 is characterized in that: The left and right sides of the top of the placement block (806) are rotatably connected to contact blocks (809) via bearings, and the inner walls of the two groups of contact blocks (809) are provided with moving blocks (808), and the two groups of moving blocks (808) are slidably connected to the inner walls of the contact blocks (809).

4. The automatic assembly robot for the stop valve sealing ring according to claim 3 is characterized by: The two groups of movable blocks (808) are fixedly connected to movable rods (807) on both the front and rear sides, the four groups of movable rods (807) are respectively fixedly connected to the two groups of lower pressure plates (1002), and the two groups of movable blocks (808) are fixedly connected to contact rods (810) on the sides away from each other.

5. The automatic assembly robot for the stop valve sealing ring according to claim 4 is characterized in that: A pulling rod (903) is fixedly connected to the side of the curved rod (902) away from the sliding block (6), and a pushing ring (904) is fixedly connected to the side of the pulling rod (903) away from the curved rod (902).

6. The automatic assembly robot for the stop valve sealing ring according to claim 5 is characterized by: A side of the third rotating rod (901) close to the curved rod (902) is rotatably connected to a first clamp (906) via a rotating rod, a rotating rod (905) is provided at the connection of the first clamp (906), the rotating rod (905) is fixedly connected to the lower end of the first clamp (906), and the rotating rod (905) is rotatably connected to the upper end of the first clamp (906) via a bearing.

7. The automatic assembly robot for the stop valve sealing ring according to claim 6 is characterized by: A first pressing plate (908) is fixedly connected to the inner wall at the bottom of the first clamp (906), a spring (909) is fixedly connected to the bottom of the first pressing plate (908), a second pressing plate (910) is fixedly connected to the bottom of the spring (909), a second clamp (907) is arranged at the bottom of the first clamp (906), a second pressing plate (910) is fixedly connected to the inner wall at the top of the second clamp (907), a positioning ring (911) is fixedly connected to the side of the second clamp (907) away from the sliding block (6), a positioning column (912) is fixedly connected to the side of the first clamp (906) away from the sliding block (6), the positioning column (912) is slidably connected to the positioning ring (911), the contact rod (810) is fixedly connected to the first clamp (906), and the clamping mechanism (9) is arranged in two groups, both of which are symmetrically arranged with the middle of the fixed plate (1) as the center.

8. The automatic assembly robot for the stop valve sealing ring according to claim 1 is characterized in that: The bottoms of the two groups of rotating blocks (1003) are fixedly connected to load-bearing rods (1007) via fixed shafts, the inner walls of the two groups of load-bearing rods (1007) are provided with sliding grooves (1005), the groove walls of the two groups of sliding grooves (1005) are slidably connected to sliding rods (1009), the inner walls of the two groups of load-bearing rods (1007) are provided with pushing blocks (1006), the two groups of sliding rods (1009) penetrate the pushing blocks (1006) and are fixedly connected thereto, the bottoms of the two groups of pushing blocks (1006) are fixedly connected to pushing plates (1008), the sides of the two groups of pushing blocks (1006) close to the rotating blocks (1003) are fixedly connected to bending rods (1004), and the sides of the two groups of bending rods (1004) away from the pushing blocks (1006) are fixedly connected to the rotating blocks (1003).

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