Ultrasonic flaw detector convenient to lift and use method thereof

Abstract

The invention relates to the technical field of ultrasonic flaw detector equipment, and discloses a convenient-to-lift ultrasonic flaw detector and a use method thereof.The convenient-to-lift ultrasonic flaw detector comprises a rack and a cross rod, the front end of the rack is rotatably connected with a moving mechanism, the rear end of the rack is fixedly provided with a supporting plate, a rotating shaft is rotatably connected with a driven wheel, and the inner wall of a sliding groove is slidably connected with a fixing mechanism; scanning mechanisms are fixedly mounted at the top ends of the stand columns. The front-mounted driving wheel is attached to the surface of a workpiece, so that the inclination angle of the driving frame is larger than that of the rack, a supporting plate at the rear end of the rack is pulled and dragged, bearing distribution of a bending structure is more reasonable, and the overall device is high in stability; the inner wall of the fixing block is provided with a zigzag clamping groove, so that the connecting pin is slidably connected to the clamping groove and is matched with the spring to elastically connect the probe and the fixing block, a fastener is not needed, and the dismounting operation is convenient and labor-saving.

Description

Technical Field

[0001] The invention relates to the technical field of ultrasonic flaw detector equipment, in particular to an ultrasonic flaw detector which is easy to lift and lower and a use method thereof. Background Art

[0002] Ultrasonic flaw detector is a widely used non-destructive testing equipment. It uses the reflection, refraction and other characteristics of ultrasonic waves when propagating inside the object to detect the physical state and structure of the object. This equipment is widely used in aerospace, automobile manufacturing, petrochemical, electric power industry and other fields, and plays a vital role in ensuring product quality and safety. The main working principle of ultrasonic flaw detector is to emit ultrasonic waves and receive their echoes. When ultrasonic waves encounter the object to be tested, reflection, refraction and diffraction will occur. According to the changes in these phenomena, the internal structure and defect location of the object can be judged. Ultrasonic flaw detector includes several parts such as probe transmitter, receiver, signal processor and display. The advantages of ultrasonic flaw detector are mainly that it can quickly analyze and process a large amount of data, improve the detection efficiency, and the detection results are intuitive and accurate, which can provide strong technical support for decision-making. When in use, the operator usually needs to hold the probe close to the uneven surface of the steel structure workpiece and move it. The operation is time-consuming and labor-intensive, the moving speed is slow, and the flaw detection efficiency is low.

[0003] In the prior art, for example, a conveniently-lifted ultrasonic flaw detector is disclosed in publication number CN 219496264 U. The device controls the flaw detector body to be inside the shell through a storage component, so as to facilitate sealing and protecting the flaw detector body. When it is needed, the shell is held and placed along the surface of the steel structure workpiece so that the roller fits the surface of the workpiece, and the shell is pressed downward. The telescopic component can automatically push the flaw detector body to the outside of the shell through the control rope linkage storage component to perform nondestructive flaw detection on the workpiece. When the flaw detector body moves to a suitable height toward the steel structure workpiece, it is fixed by clamping the side clamping groove of the support leg through the lifting component. After the action height of the flaw detector body is fixed, , pushing the flaw detector body to move along the same height of the workpiece surface, effectively improving the flaw detection effect. However, in actual use, the steel structure workpiece is not a flat surface. When the roller at the bottom of the support leg drives the flaw detector body to move, it cannot continue to move when encountering a surface protrusion, and the operator needs to manually adjust the position of the device. In addition, when the support leg moves upward along the fixed cavity, the device extends to the vertical groove through the control rope through the wire groove, so that the end of the control rope away from the support leg is fixedly connected to the sliding block to lower the flaw detector body. Both ends of the control rope are subjected to force and frequently rub against the inner wall of the wire groove. The middle part is easy to break and has a short service life. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides an ultrasonic flaw detector that is easy to lift and lower and a method for using the same, which has the advantages of strong adaptability to the working environment and convenient and labor-saving operation, and solves the problems that the lifting ultrasonic flaw detector cannot cross the raised surface and the linkage control rope is easy to break.

[0005] In order to achieve the purpose of strong adaptability to the above-mentioned working environment and convenient and labor-saving operation, the present invention provides the following technical solutions: an ultrasonic flaw detector that is easy to lift and lower, comprising a frame, a cross bar fixedly installed on the top surface of the frame, a moving mechanism rotatably connected to the front end of the frame, a support plate fixedly installed on the rear end of the frame, a rotating shaft fixedly connected to both ends of the support plate and passing through the surface of the frame, a driven wheel rotatably connected to the rotating shaft, a sliding groove is opened at the center of the support plate, a fixing mechanism is slidably connected to the inner wall of the sliding groove, a column is fixedly installed on the top surface of the support plate and is perpendicular to the top surface of the support plate, a scanning mechanism is fixedly installed on the top of the column, a connecting rod is fixedly installed on the top surface of the support plate and forms an angle with the top surface of the support plate, and the front end of the connecting rod is rotatably connected to the cross bar.

[0006] Preferably, the moving mechanism includes a driving frame, a driving motor and a driving wheel, the front end of the frame is rotatably connected to the driving frame, the inner side of the driving frame is fixedly connected to the driving motor, four groups of driving motors are provided, and the output end of each group of driving motors is fixedly connected to the driving wheel.

[0007] Preferably, the fixing mechanism includes a probe, a connecting pin, a spring, a fixing block and a snap-in groove, the probe is slidably connected to the inner wall of the sliding groove, the connecting pin is fixedly installed on the surface of the probe, the top of the probe is elastically connected to the fixing block through a spring, the inner wall of the fixing block is provided with a snap-in groove, and the inner wall of the snap-in groove is slidably connected to the connecting pin.

[0008] Preferably, the scanning mechanism includes a rotating motor, a rotating shaft, a disk, a rotating block, a scanning track and a movable rod. The rotating motor is fixedly installed on the top of the column, the output end of the rotating motor is fixedly connected to the rotating shaft and is parallel to the top surface of the support plate, the rear end of the rotating shaft is fixedly connected to the disk and is perpendicular to the top surface of the support plate, the back of the disk is fixedly connected to the rotating block, the surface of the rotating block is slidably connected to the scanning track and is perpendicular to the top surface of the support plate, the left and right ends of the scanning track are fixedly connected to movable rods, and the bottom end of the scanning track is fixedly connected to the fixed block.

[0009] Preferably, a limiting rod is fixedly installed on the top surface of the connecting rod and is perpendicular to the top surface of the supporting plate. Two groups of limiting rods are provided. A through hole is opened on the top of each group of limiting rods, and the inner wall of the through hole is slidably connected to the movable rod.

[0010] Preferably, a method for using an ultrasonic flaw detector that is easy to lift comprises the following steps: Step 1: Insert the probe from bottom to top through the sliding groove at the center of the support plate, squeeze the spring inside the fixed block and rotate the probe so that the connecting pin slides and connects to the clamping groove; Step 2: Start the rotating motor, the rotating shaft drives the disc and the rotating block to rotate at a constant speed, so that the surface of the rotating block is slidably connected to the inner wall of the scanning track, driving the movable rods at both ends of the scanning track to move left and right along the through holes of the limit rod, so that the fixed block drives the probe to move left and right along the sliding groove; Step 3: Start the drive motor to drive the four sets of drive wheels to move up and down along the concave and convex surface of the steel structure workpiece, drive the driven wheel connected to the rear end of the frame to move synchronously, and drive the probe connected to the sliding at the center of the support plate to move synchronously in accordance with the surface of the workpiece.

[0011] Preferably, the engaging groove is a zigzag structure, and the height of the bottom end of the probe is the same as the height of the bottom end of the driven wheel.

[0012] Preferably, the height of the rotating shaft is higher than the height of the crossbar, the rotating block is a cylindrical structure, the inner wall of the scanning track is arc-shaped, and the length of the scanning track is the same as the diameter of the disc.

[0013] Preferably, the scanning track axis is perpendicular to and intersects with the axis of the movable rod, and the length of the movable rod is greater than the radius of the disk.

[0014] Preferably, the frame and the driving frame are both curved structures, the length of the frame is greater than the length of the driving frame, and the bending angle of the driving frame is greater than the bending angle of the frame.

[0015] Compared with the prior art, the present invention provides an ultrasonic flaw detector that is easy to lift and lower and a method for using the same, which has the following beneficial effects: 1. The present invention drives the front-driven driving wheel to fit the concave and convex surface of the workpiece through a driving motor, so that the inclination angle of the driving frame is greater than the inclination angle of the frame, and the rear end support plate of the frame is pulled and dragged. The load-bearing distribution of the curved structure is more reasonable, and the stability of the overall device is better. While the fixing mechanism on the top surface of the support plate drives the probe to rise and fall, the scanning mechanism drives the probe to move left and right in a circular motion, always keeping close to the concave and convex surface of the workpiece, and having strong adaptability to the working environment.

[0016] 2. The present invention provides a zigzag snap-in groove on the inner wall of the fixing block through a fixing mechanism, so that the connecting pin on the surface of the probe is slidably connected to the snap-in groove, and the probe and the fixing block are elastically connected with a spring, without the need for fasteners and other parts, and the disassembly and assembly operation is convenient and labor-saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structural frame and support plate of the present invention; Figure 3It is a schematic diagram of the structure moving mechanism of the present invention; Figure 4 This is a plan view of the structural fixing mechanism of the present invention; Figure 5 It is a schematic diagram of the scanning mechanism of the structure of the present invention; Figure 6 It is a side view of the overall structure of the present invention; Figure 7 It is the overall rear view of the structure of the present invention.

[0018] Among them: 1. frame; 2. cross bar; 3. moving mechanism; 4. support plate; 5. driven wheel; 6. fixing mechanism; 7. column; 8. scanning mechanism; 9. connecting rod; 10. driving frame; 11. driving wheel; 12. probe; 13. fixing block; 14. rotating motor; 15. disk; 16. rotating block; 17. scanning track; 18. limit rod. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-7 An ultrasonic flaw detector that is easy to lift includes a frame 1, a cross bar 2 fixedly installed on the top surface of the frame, a moving mechanism 3 is rotatably connected to the front end of the frame 1, a support plate 4 is fixedly installed on the rear end of the frame 1, both ends of the support plate 4 are fixedly connected with rotating shafts and penetrate the surface of the frame 1, and the rotating shaft is rotatably connected to a driven wheel 5. A sliding groove is opened at the center of the support plate 4, and a fixing mechanism 6 is slidably connected to the inner wall of the sliding groove. A column 7 is fixedly installed on the top surface of the support plate 4 and is perpendicular to the top surface of the support plate 4. A scanning mechanism 8 is fixedly installed on the top of the column 7. A connecting rod 9 is fixedly installed on the top surface of the support plate 4 and forms an angle with the top surface of the support plate 4. The front end of the connecting rod 9 is rotatably connected to the cross bar 2.

[0021] Furthermore, the mobile mechanism 3 includes a drive frame 10, a drive motor and a drive wheel 11. The front end of the frame 1 is rotatably connected to the drive frame 10, and the inner side of the drive frame 10 is fixedly connected to the drive motor. The specific model of the drive motor is a 110 three-phase micro stepper motor for electric racing cars. It has a small structural size, high precision, and good front drive performance. Four groups of drive motors are arranged, and the output end of each group of drive motors is fixedly connected to the drive wheel 11, so that the drive wheel 11 drags the drive frame 10 and the frame 1 to move synchronously.

[0022] Furthermore, the fixing mechanism 6 includes a probe 12, a connecting pin, a spring, a fixing block 13 and a snap-in groove. The inner wall of the sliding groove is slidably connected to the probe 12. The specific model of the probe 12 is a single crystal straight probe MB4S. A connecting pin is fixedly installed on the surface of the probe 12. The top of the probe 12 is elastically connected to the fixing block 13 through a spring. The top of the inner wall of the fixing block 13 is fixedly connected to the spring. The elastic characteristic of the spring ensures that the spring plays a buffering role during the ups and downs of the probe 12 following the frame 1, thereby preventing the probe 12 from being damaged after being impacted. A snap-in groove is provided on the inner wall of the fixing block 13. The inner wall of the snap-in groove is slidably connected to the connecting pin. The snap-in groove enables the probe 12 to be snap-connected to the fixing block 13 through the connecting pin. The disassembly and assembly operation is convenient, and no fasteners or other parts are required.

[0023] Furthermore, the scanning mechanism 8 includes a rotating motor 14, a rotating shaft, a disc 15, a rotating block 16, a scanning track 17 and a movable rod. The rotating motor 14 is fixedly installed on the top of the column 7, and the output end of the rotating motor 14 is fixedly connected to the rotating shaft and is parallel to the top surface of the support plate 4. The rear end of the rotating shaft is fixedly connected to the disc 15 and is perpendicular to the top surface of the support plate 4. The back of the disc 15 is fixedly connected to the rotating block 16, ensuring that the disc 15 and the rotating block 16 both rotate at a uniform speed with the rotating shaft as the center. The surface of the rotating block 16 is slidably connected to the scanning track 17 and is perpendicular to the top surface of the support plate 4. The left and right ends of the scanning track 17 are fixedly connected to the movable rod, and the bottom end of the scanning track 17 is fixedly connected to the fixed block 13, so that when the rotating block 16 performs a circular motion with the rotating shaft as the center, the slidingly connected scanning track 17 is driven to cyclically translate left and right, so that the movable rods fixedly connected to the left and right ends of the scanning track 17 and the fixed block 13 fixedly connected to the bottom end are synchronously cyclically translated left and right.

[0024] Furthermore, a limit rod 18 is fixedly installed on the top surface of the connecting rod 9 and is perpendicular to the top surface of the supporting plate 4, so that the limit rod 18 is parallel to the scanning track 17 on the back of the disc 15. Two groups of limit rods 18 are arranged, and a through hole is opened at the top of each group of limit rods 18. The inner wall of the through hole is slidably connected to the movable rod, so that the limit rod 18 vertically supports the scanning track 17 while reserving space for the scanning track 17 to move left and right.

[0025] Furthermore, a method for using an ultrasonic flaw detector that is easy to lift includes the following steps: Step 1: Insert the probe 12 from bottom to top through the sliding groove at the center of the support plate 4, squeeze the internal spring of the fixing block 13 and rotate the probe 12 so that the connecting pin is slidably connected to the clamping groove. The rotating installation operation is convenient and does not require fasteners and other parts, saving time and effort; Step 2, start the rotating motor 14, the rotating shaft drives the disc 15 and the rotating block 16 to rotate at a constant speed, so that the surface of the rotating block 16 is slidably connected to the inner wall of the scanning track 17, driving the movable rods at both ends of the scanning track 17 to move left and right along the through hole of the limit rod 18, so that the fixed block 13 drives the probe 12 to move left and right along the sliding groove. The disc 15, the rotating block 16, the scanning track 17 and the limit rod 18 are parallel to each other. When the rotating block 16 moves in a constant circular motion, it is confined to the vertical scanning track 17. At this time, the centripetal force always points to the rotating shaft, pushing the scanning track 17 to move in a straight line, forming a left and right translation; Step 3, start the driving motor to drive the four sets of driving wheels 11 to move up and down along the uneven surface of the steel structure workpiece, drive the driven wheel 5 connected to the rear end of the frame 1 to move synchronously, drive the probe 12 slidably connected at the center of the support plate 4 to move synchronously in contact with the surface of the workpiece, and when the front-driven driving wheel 11 moves forward close to the uneven surface of the workpiece, it can pull and drag the rear end driven wheel 5 to move synchronously, effectively improving the efficiency of power transmission and having good stability.

[0026] Furthermore, the clamping groove is a zigzag structure, which is conducive to the probe 12 being clamped with the fixing block 13, and cooperates with the spring to buffer the rising and falling of the probe 12 to prevent the connecting pin from slipping out of the clamping groove. The height of the bottom end of the probe 12 is the same as the height of the bottom end of the driven wheel 5, ensuring that the probe 12 is always in close contact with the surface of the workpiece when the driven wheel 5 rises and falls.

[0027] Furthermore, the height of the rotating shaft is higher than the height of the cross bar 2, and a lifting space is reserved for installing the probe 12. The rotating block 16 is a cylindrical structure, and the inner wall of the scanning track 17 is an arc. The length of the scanning track 17 is the same as the diameter of the disk 15, so that the rotating block 16 and the scanning track 17 are closely fitted, which is beneficial for the transmission probe 12 to move left and right in a cycle for ultrasonic scanning.

[0028] Furthermore, the axis of the scanning track 17 is perpendicular to and intersects with the axis of the movable rod, thereby realizing synchronous cyclic left and right movement of the scanning track 17 and the movable rod. The length of the movable rod is greater than the radius of the disk 15, thereby preventing the end of the movable rod close to the limit rod 18 from sliding off the inner wall of the through hole when the movable rod is slidably connected to the limit rod 18.

[0029] Furthermore, both the frame 1 and the drive frame 10 are curved structures, the length of the frame 1 is greater than the length of the drive frame 10, and the bending angle of the drive frame 10 is greater than the bending angle of the frame 1, so that the device can fit the concave and convex surface of the workpiece. When the inclination angle of the drive frame 10 is greater than the inclination angle of the frame 1, the load-bearing distribution of the curved structure is more reasonable, the overall device is more stable, and the adaptability to the working environment is strong.

[0030] When in use, the frame 1 and the driving frame 10 are placed horizontally on the surface of the steel structure workpiece, the front end of the frame 1 is flush with the front end of the driving frame 10, the support plate 4 is perpendicular to the horizontal line, the probe 12 is passed through the sliding groove at the center of the support plate 4 from bottom to top, the internal spring of the fixing block 13 is squeezed and the probe 12 is rotated, so that the connecting pin is slidably connected to the clamping groove, and the fixing process of the probe 12 and the fixing block 13 is completed, and the rotating motor 14 is started, and the rotating shaft drives the disc 15 and the rotating block 16 to rotate at a uniform speed, so that the surface of the rotating block 16 is slidably connected to the inner wall of the scanning track 17, and the movable rods at both ends of the scanning track 17 are driven to move left and right along the through hole of the limit rod 18, so that the fixed block 13 fixed at the bottom of the scanning track 17 drives the probe 12 to move left and right along the sliding groove for scanning and flaw detection, and the driving motor is started to drive the four sets of driving wheels 11 It moves along the surface of the steel structure workpiece, driving the driven wheel 5 connected to the rear end of the frame 1 to move synchronously, driving the probe 12 connected to the center of the support plate 4 to move synchronously in contact with the surface of the workpiece. When encountering a concave and convex surface of the steel structure workpiece, the driving motor drives the driving wheel 11 to roll in contact with the concave and convex surface, so that the front end of the driving frame 10 forms an angle with the front end of the frame 1, and the bottom end height of the driving wheel 11 is higher than the bottom end height of the driven wheel 5. The support plate 4 fixedly connected to the rear end of the frame 1 is dragged up and down to move, so that the probe 12 moves forward synchronously in contact with the concave and convex surface of the workpiece, and cooperates with the scanning mechanism 8 fixedly installed on the top surface of the support plate 4 to drive the probe 12 to move left and right for scanning, completing the entire lifting and moving scanning process of the ultrasonic flaw detector.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An ultrasonic flaw detector that is easy to lift, comprising a frame (1) and a crossbar (2) fixedly mounted on the top surface of the frame, characterized in that: The front end of the frame (1) is rotatably connected to a moving mechanism (3), the rear end of the frame (1) is fixedly mounted with a support plate (4), both ends of the support plate (4) are fixedly connected with rotating shafts which penetrate the surface of the frame (1), the rotating shafts are rotatably connected with a driven wheel (5), a sliding groove is provided at the center of the support plate (4), the inner wall of the sliding groove is slidably connected with a fixing mechanism (6), a column (7) is fixedly mounted on the top surface of the support plate (4) and is perpendicular to the top surface of the support plate (4), a scanning mechanism (8) is fixedly mounted on the top of the column (7), a connecting rod (9) is fixedly mounted on the top surface of the support plate (4) and forms an angle with the top surface of the support plate (4), and the front end of the connecting rod (9) is rotatably connected to the cross bar (2).

2. The ultrasonic flaw detector that is easy to lift according to claim 1 is characterized in that: The moving mechanism (3) comprises a driving frame (10), a driving motor and a driving wheel (11); the front end of the frame (1) is rotatably connected to the driving frame (10); the inner side of the driving frame (10) is fixedly connected to the driving motor; four groups of driving motors are provided; the output end of each group of driving motors is fixedly connected to the driving wheel (11).

3. The ultrasonic flaw detector that is easy to lift according to claim 2 is characterized in that: The fixing mechanism (6) comprises a probe (12), a connecting pin, a spring, a fixing block (13) and a snap-in groove, the inner wall of the sliding groove being slidably connected to the probe (12), the connecting pin being fixedly mounted on the surface of the probe (12), the top end of the probe (12) being elastically connected to the fixing block (13) via a spring, the inner wall of the fixing block (13) being provided with a snap-in groove, and the inner wall of the snap-in groove being slidably connected to the connecting pin.

4. The ultrasonic flaw detector that is easy to lift according to claim 3 is characterized in that: The scanning mechanism (8) comprises a rotating motor (14), a rotating shaft, a disc (15), a rotating block (16), a scanning track (17) and a movable rod. The rotating motor (14) is fixedly mounted on the top of the column (7). The output end of the rotating motor (14) is fixedly connected to the rotating shaft and is parallel to the top surface of the support plate (4). The rear end of the rotating shaft is fixedly connected to the disc (15) and is perpendicular to the top surface of the support plate (4). The back of the disc (15) is fixedly connected to the rotating block (16). The surface of the rotating block (16) is slidably connected to the scanning track (17) and is perpendicular to the top surface of the support plate (4). The left and right ends of the scanning track (17) are fixedly connected to the movable rods. The bottom end of the scanning track (17) is fixedly connected to the fixed block (13).

5. The ultrasonic flaw detector that is easy to lift according to claim 4 is characterized in that: A limiting rod (18) is fixedly mounted on the top surface of the connecting rod (9) and is perpendicular to the top surface of the supporting plate (4). Two groups of limiting rods (18) are provided. A through hole is formed at the top of each group of limiting rods (18). The inner wall of the through hole is slidably connected to the movable rod.

6. The method for using the ultrasonic flaw detector that is easy to lift according to claim 5 comprises the following steps: Step 1: Insert the probe (12) from bottom to top through the sliding groove at the center of the support plate (4), squeeze the internal spring of the fixing block (13) and rotate the probe (12) so that the connecting pin is slidably connected to the clamping groove; Step 2, start the rotating motor (14), the rotating shaft drives the disc (15) and the rotating block (16) to rotate at a constant speed, so that the surface of the rotating block (16) is slidably connected to the inner wall of the scanning track (17), driving the movable rods at both ends of the scanning track (17) to move left and right along the through hole of the limit rod (18), so that the fixed block (13) drives the probe (12) to move left and right along the sliding groove; Step 3: Start the drive motor to drive the four sets of drive wheels (11) to move up and down along the concave and convex surface of the steel structure workpiece, drive the driven wheel (5) connected to the rear end of the frame (1) to move synchronously, and drive the probe (12) connected to the center of the support plate (4) to move synchronously in contact with the workpiece surface.

7. The ultrasonic flaw detector that is easy to lift according to claim 6 is characterized in that: The clamping groove is a zigzag structure, and the height of the bottom end of the probe (12) is the same as the height of the bottom end of the driven wheel (5).

8. The ultrasonic flaw detector that is easy to lift according to claim 7 is characterized in that: The height of the rotating shaft is higher than the height of the crossbar (2); the rotating block (16) is a cylindrical structure; the inner wall of the scanning track (17) is arc-shaped; and the length of the scanning track (17) is the same as the diameter of the disc (15).

9. The ultrasonic flaw detector that is easy to lift and lower according to claim 8, characterized in that: The axis of the scanning track (17) is perpendicular to and intersects with the axis of the movable rod, and the length of the movable rod is greater than the radius of the disk (15).

10. The ultrasonic flaw detector that is easy to lift and lower according to claim 9, characterized in that: The frame (1) and the driving frame (10) are both curved structures; the length of the frame (1) is greater than the length of the driving frame (10); and the bending angle of the driving frame (10) is greater than the bending angle of the frame (1).

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