Automatic sewage disposal robot for folded plate flocculation basin wall

Abstract

The invention belongs to the field of cleaning robots, and particularly relates to an automatic folded plate flocculation basin wall cleaning robot which comprises a top plate, the top plate is connected with a bottom plate through a connecting piece, the bottom plate is connected with four seat plates, the middle of the bottom plate is provided with a power steering component, one seat plate is provided with a connecting frame, and the other seat plate is provided with a power steering component. A connecting frame is arranged on the base plate, a mechanical arm is arranged on the connecting frame, the output end of the mechanical arm is connected with a high-pressure spray head, a lifting clamping component is arranged on each base plate, a water inlet pipe lifting component is further arranged on the base plate, the top plate is connected with a shell, and a charging head is arranged on the shell. The device can stably move on the partition plate of the partition plate pool, and periodical intelligent automatic cleaning is conducted on the partition plate of the partition plate pool.

Description

Technical Field

[0001] The present invention belongs to the field of cleaning robots, and particularly relates to an automatic wall cleaning robot for a folded plate flocculation tank. Background Art

[0002] In the process of water purification, the flocculation reaction is a very important link, and its perfection directly affects the effects of sedimentation and filtration. The folded plate flocculation tank is a structure that promotes the water flow to complete the flocculation process. In the process of industrial water treatment, since the water source is generally selected from adjacent rivers, it is inevitable to bring various types of garbage, aquatic plants, etc. into the water treatment process. At the same time, the large amount of chemicals added during the flocculation process is itself a nutrient for plant seeds, so it is also easy for plant seeds to take root, germinate and grow on the pool wall. Although such sundries will not cause serious consequences to the water treatment process, they will also reduce the water quality, affect the water treatment efficiency, and seriously affect the sense. Therefore, it is necessary to periodically clean the wall of the folded plate flocculation tank.

[0003] Currently, the commonly used method for cleaning the wall of the folded plate flocculation tank generally adopts manual cleaning. However, due to the special structure of the folded plate flocculation tank, it directly leads to extremely low operation efficiency of manual cleaning, and it is also difficult to ensure the personal safety of the operators.

[0004] Therefore, an automatic wall cleaning robot for a folded plate flocculation tank is designed for the existing folded plate flocculation tank, so as to realize the periodic cleaning of the wall of the folded plate flocculation tank. Summary of the Invention

[0005] The object of the present invention is to address the above problems existing in the prior art and propose: an automatic wall cleaning robot for a folded plate flocculation tank, which can stably move on the partition of the partition tank and perform periodic intelligent automatic cleaning on the partition of the partition tank.

[0006] The object of the present invention can be achieved by the following technical solutions: an automatic wall cleaning robot for a folded plate flocculation tank, including a top plate, the top plate is connected to a bottom plate through a connecting member, four seat plates are connected to the bottom plate, a power steering component is arranged in the middle of the bottom plate, a connecting frame is arranged on one of the seat plates, a robotic arm is arranged on the connecting frame, a high-pressure nozzle is connected to the output end of the robotic arm, a lifting and clamping component is arranged on each seat plate, a water inlet pipe lifting component is also arranged on the bottom plate, the top plate is connected to a housing, and a charging head is arranged on the housing; The lifting and clamping component includes a bottom support frame fixedly arranged on the seat plate. A vertical plate is fixedly arranged on the bottom support frame. A top support frame is arranged on the upper side of the vertical plate. A lead screw is fixedly connected between the bottom support frame and the top support frame. A lead screw slider is drivingly connected to the lead screw. A first driving module for driving the lead screw is arranged on the bottom support frame. First link rods are rotatably arranged on both sides of the lead screw slider. Second link rods are rotatably arranged on both sides of the seat plate through first rotating seats. The second link rods are fixedly connected with third link rods. The second link rods are hinged to the first link rods. One end of the third link rod far away from the second link rod is fixedly connected with a clamping wheel module.

[0007] As a preferred solution of the present invention, the power steering component includes a first driving member, and an output end of the first driving member is connected with a power wheel.

[0008] As a preferred solution of the present invention, the water inlet pipe lifting component includes a second driving member fixedly arranged on the connecting piece. An output end of the second driving member is connected with a reel. A water pipe is wound and connected to the reel. A water pipe joint is arranged on one side of the reel far away from the second driving member. One end of the water pipe is connected to the water pipe joint. The water pipe joint is communicated with a high-pressure spray head. A limiting clip for limiting the water pipe is also fixedly arranged on the connecting piece.

[0009] As a preferred solution of the present invention, the first driving module includes a third driving member fixedly arranged on the bottom support frame, and an output end of the third driving member is drivingly connected with the lead screw through a toothed belt.

[0010] As a preferred solution of the present invention, the clamping wheel module includes a clamping wheel frame fixedly arranged on the third link rod. Two sliding grooves are symmetrically formed on the clamping wheel frame. A first sliding rod is slidably arranged in each sliding groove. A stop piece is arranged at the top of each first sliding rod. A spring surrounding the first sliding rod is connected below the stop piece. Second rotating seats are respectively fixedly arranged at both ends of the clamping wheel frame. A rotating rod is rotatably arranged on the second rotating seat. One end of the rotating rod is rotatably connected to the bottom of the first sliding rod, and the other end of the rotating rod is rotatably connected to a first clamping wheel.

[0011] As a preferred solution of the present invention, a visual detection and processing center is further arranged on the bottom plate. A camera is fixedly arranged at the end of each seat plate, and the camera transmits the picture to the visual detection and processing center for processing; a distance sensor for detecting the water surface height is arranged on the outer shell near each camera position, and an ultrasonic sensor is arranged on the connecting frame.

[0012] As a preferred solution of the present invention, two omnidirectional wheels are rotatably arranged on each seat plate.

[0013] As a preferred embodiment of the present invention, the clamping wheel module includes a clamping wheel frame fixedly arranged on the third connecting rod. Two sliding grooves are symmetrically formed on the clamping wheel frame. A second sliding rod is slidably arranged in each sliding groove. A thin rod is fixedly arranged at the upper end of the second sliding rod. A sliding outer shell is slidably arranged on the thin rod. The upper end of the thin rod is fixedly connected to a plunger. The upper end of the plunger is fixedly connected to a retaining piece. A spring is connected between the retaining piece and the sliding outer shell. An air passage penetrating to the lower end of the second sliding rod is arranged inside the thin rod. An air hole communicating the air passage with the outside is arranged at the upper end of the thin rod. Second rotating seats are symmetrically arranged at both ends of the clamping wheel frame. A hollow connecting rod is rotatably arranged on each second rotating seat. One end of the hollow connecting rod is rotatably connected to the inside of the bottom end of the air passage. The other end of the hollow connecting rod is rotatably connected to a second clamping wheel. An air cavity is arranged inside the second clamping wheel. The inside of the hollow connecting rod communicates with the air cavity. A plurality of inclined grooves are formed on the second clamping wheel. A scraping plate is slidably and sealingly arranged in each inclined groove. A pressure valve is arranged at one end of the hollow connecting rod extending into the air passage.

[0014] Compared with the prior art, the present invention has the following advantages: This device automatically cleans the partitions in the partition tank, avoiding problems such as low efficiency and insufficient cleaning degree caused by manual cleaning.

[0015] This device can ensure stable movement on the partition tank through the lifting and clamping components, and through the cooperation of the lifting and clamping components, it can perform operations across partitions.

[0016] This device analyzes the images provided by the camera through the vision detection and processing center to automatically locate and clean the dirty positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the present invention on the partition tank; Figure 2 is a perspective view of the present invention; Figure 3 is a front view of the present invention; Figure 4 is a top view of the present invention; Figure 5 is a perspective view of the internal structure of the present invention; Figure 6 is Figure 5 a partial enlarged view at A in Figure 7 is a perspective view of the internal structure of the present invention in another direction; Figure 8 is a front view of the internal structure of the present invention; Figure 9 is a top view of the internal structure of the present invention; Figure 10It is the bottom view of the internal structure of the present invention; Figure 11 It is the schematic structural diagram of the clamping wheel module in the second embodiment.

[0018] In the figure: partition tank 1, charging rack 2, outer shell 3, charging head 4, handle 5, distance sensor 6, camera 7, top plate 8, vertical plate 9, top support frame 11, seat plate 12, bottom support frame 13, lead screw 14, lead screw slider 15, first connecting rod 16, first rotating seat 17, second connecting rod 18, third connecting rod 19, clamping wheel frame 20, sliding groove 21, first sliding rod 22, retaining piece 23, spring 24, second rotating seat 25, rotating rod 26, first clamping wheel 27, connecting frame 28, ultrasonic sensor 29, robotic arm 30, high-pressure nozzle 31, reel 32, second driving member 33, water pipe joint 34, omnidirectional wheel 35, control component 36, first driving member 37, driving wheel 38, bottom plate 39, limit clamp 40, visual inspection and processing center 41, second sliding rod 43, sliding outer shell 44, air hole 45, thin rod 46, air duct 47, pressure valve 48, hollow connecting rod 49, second clamping wheel 50, air cavity 51, inclined groove 52, scraper 53, third driving member 54, toothed belt 55, plunger 56. Detailed implementation manners

[0019] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0020] It should be noted here that the upper and lower orientation words involved in this article are defined based on the Figures 1 to 11 position of the components in the figure and the relative positions between the components, only for the sake of clarity and convenience of expressing the technical solution. It should be understood that the orientation words adopted in this article should not limit the scope of protection claimed in this application.

[0021] Embodiment 1: As Figures 1 - 10 shown, an automatic sewage cleaning robot for a folded plate flocculation tank wall includes a top plate 8. The top plate 8 is connected to a bottom plate 39 through a connecting member. Four seat plates 12 are connected to the bottom plate 39. A power steering component is provided in the middle of the bottom plate 39. A connecting frame 28 is provided on one of the seat plates 12. A robotic arm 30 is provided on the connecting frame 28. The output end of the robotic arm 30 is connected to a high-pressure nozzle 31. A lifting and clamping component is provided on each seat plate 12. A water inlet pipe lifting component is also provided on the bottom plate 39. The top plate 8 is connected to an outer shell 3. A charging head 4 is provided on the outer shell 3; The lifting and clamping component includes a bottom support frame 13 fixedly arranged on the seat plate 12. A vertical plate 9 is fixedly arranged on the bottom support frame 13. A top support frame 11 is arranged on the upper side of the vertical plate 9. A lead screw 14 is fixedly connected between the bottom support frame 13 and the top support frame 11. A lead screw slider 15 is drivingly connected to the lead screw 14. A first driving module for driving the lead screw 14 is arranged on the bottom support frame 13. First connecting rods 16 are rotatably arranged on both sides of the lead screw slider 15. Second connecting rods 18 are rotatably arranged on both sides of the seat plate 12 through first rotating seats 17. The second connecting rods 18 are fixedly connected with third connecting rods 19. The second connecting rods 18 are hinged to the first connecting rods 16. One end of the third connecting rod 19 far away from the second connecting rod 18 is fixedly connected with a clamping wheel module. Handles 5 are arranged at the upper ends of two vertical plates 9, and the handles 5 are used to lift the whole device.

[0022] Furthermore, the power steering component includes a first driving member 37, and the output end of the first driving member 37 is connected with a power wheel 38. The first driving member 37 and the power wheel 38 can cooperate to realize omnidirectional driving on a horizontal plane, which is the prior art.

[0023] Furthermore, the water inlet pipe lifting component includes a second driving member 33 fixedly arranged on the connecting piece. The output end of the second driving member 33 is connected with a reel 32. A water pipe is wound and connected to the reel 32. A water pipe joint 34 is arranged on one side of the reel 32 far away from the second driving member 33. One end of the water pipe is connected to the water pipe joint 34, and the water pipe joint 34 is communicated with a high-pressure nozzle 31. A limiting clip 40 for limiting the water pipe is also fixedly arranged on the connecting piece.

[0024] Furthermore, the first driving module includes a third driving member 54 fixedly arranged on the bottom support frame 13. The output end of the third driving member 54 and the lead screw 14 are drivingly connected through a toothed belt 55.

[0025] Furthermore, the clamping wheel module includes a clamping wheel frame 20 fixedly arranged on the third connecting rod 19. Two sliding grooves 21 are symmetrically arranged on the clamping wheel frame 20. A first sliding rod 22 is slidably arranged in each sliding groove 21. A retaining piece 23 is arranged at the top of each first sliding rod 22. A spring 24 arranged around the first sliding rod 22 is connected below the retaining piece 23. Second rotating seats 25 are respectively fixedly arranged at both ends of the clamping wheel frame 20. A rotating rod 26 is rotatably arranged on the second rotating seat 25. One end of the rotating rod 26 is rotatably connected to the bottom of the first sliding rod 22, and the other end of the rotating rod 26 is rotatably connected to a first clamping wheel 27.

[0026] Furthermore, a visual detection and processing center 41 is also arranged on the bottom plate 39. A camera 7 is fixedly arranged at the end of each seat plate 12, and the camera 7 transmits the picture to the visual detection and processing center 41 for processing; a distance sensor 6 for detecting the water surface height is arranged on the shell 3 near each camera 7, and an ultrasonic sensor 29 is arranged on the connecting frame 28.

[0027] Further, two omnidirectional wheels 35 are rotatably arranged on each seat plate 12. The omnidirectional wheels 35 on the seat plate 12 are used to assist the device in moving stably on the partition board.

[0028] Further, a control component 36 is provided between the bottom plate 39 and the top plate 8. The control component 36 can receive and analyze the signals of the vision detection and processing center 41, the ultrasonic sensor 29, and the distance sensor 6, and control the driving parts in the device to work according to the signal conditions. This is a mature existing technology.

[0029] When the device in this embodiment is working, it runs on the partition board pool 1. The device starts from the charging head 4 at the charging rack 2 and starts to move according to the set working path. During the moving process, when moving on the horizontal partition board, the first driving module in the lifting and clamping components on both sides of the horizontal partition board drives the lead screw 14 to rotate, and lowers the clamping wheel module to closely adhere to both sides of the horizontal partition board. Under the action of the spring 24, the first clamping wheels 27 on both sides tightly clamp the device on the horizontal partition board and cooperate with the driving wheels 38 to move. When encountering a vertical partition board during the moving process, first raise the clamping wheel frame 20 in the lifting and clamping component on the side close to the vertical partition board, and then the device continues to move until the raised clamping wheel frame 20 crosses the vertical partition board. Then control the first driving module to lower the clamping wheel frame 20, and continue to clamp the horizontal partition board through the first clamping wheels 27, and the driving wheels 38 continue to drive the device to move.

[0030] When the device passes through the connection point of the horizontal partition board and the vertical partition board, lower the clamping wheel frames 20 in the two lifting and clamping components in the direction of the vertical partition board to clamp the vertical partition board, so as to adjust the body position of the device by clamping the horizontal partition board and the vertical partition board.

[0031] During the operation process, the vision detection and processing center 41 continuously detects the partition board situation of the partition board pool 1. When detecting that the partition board is covered with dirt, mud, and weeds, stop the movement of the device, start the second driving part 33, drive the reel 32 to move, lower the water pipe into the partition board pool 1 to pump water, adjust the angle of the robotic arm 30, and aim the high-pressure nozzle 31 at the dirty area for high-pressure water flushing.

[0032] When the ultrasonic sensor 29 detects that the device moves to the end point, the device returns to the connection point of the nearest horizontal partition board and vertical partition board, moves along the vertical partition board to the next horizontal partition board for cleaning, and the device adopts a cleaning method of first row and then column. During the overall cleaning process, set the path in advance, move according to the set path, and detect the path inflection points through the ultrasonic sensor 29 to achieve full-coverage mobile cleaning of the partition boards in the partition board pool.

[0033] In the case of insufficient power during the cleaning process, record the current cleaning progress. The device returns to the charging head 4 and waits until the charging is completed, then continues to return to the position where the previous work ended to continue checking the dirt on the partition plate and perform cleaning.

[0034] Embodiment 2: As Figure 11 shown, on the basis of Embodiment 1, the structure of the clamping wheel module is changed. The clamping wheel module includes a clamping wheel frame 20 fixedly arranged on the third connecting rod 19. Two sliding grooves 21 are symmetrically arranged on the clamping wheel frame 20. A second sliding rod 43 is slidably arranged in each sliding groove 21. A thin rod 46 is fixedly arranged at the upper end of the second sliding rod 43. A sliding outer shell 44 is slidably arranged on the thin rod 46. The upper end of the thin rod 46 is fixedly connected to a plunger 56. The upper end of the plunger 56 is fixedly connected to a retaining piece 23. A spring 24 is connected between the retaining piece 23 and the sliding outer shell 44. An air passage 47 penetrating to the lower end of the second sliding rod 43 is arranged inside the thin rod 46. An air hole 45 communicating the air passage 47 with the outside is arranged at the upper end of the thin rod 46. Second rotating seats 25 are symmetrically arranged at both ends of the clamping wheel frame 20. A hollow connecting rod 49 is rotatably arranged on each second rotating seat 25. One end of the hollow connecting rod 49 is rotatably connected to the bottom end inside the air passage 47. The other end of the hollow connecting rod 49 is rotatably connected to a second clamping wheel 50. An air cavity 51 is arranged inside the second clamping wheel 50. The inside of the hollow connecting rod 49 communicates with the air cavity 51. A plurality of inclined grooves 52 are arranged on the second clamping wheel 50. A scraping plate 53 is slidably and sealingly arranged in each inclined groove 52. A pressure valve 48 is arranged at one end of the hollow connecting rod 49 extending into the air passage 47. The setting of the pressure valve 48 ensures that the scraping plate 53 does not protrude from the inclined groove 52 in the normal clamping state and maintains the normal traveling state.

[0035] During the cleaning process of the partition plate tank 1, when the lifting and clamping component performs clamping, the clamping wheel frame 20 is lowered through the lead screw 14. At this time, the second clamping wheel 50 is pressed towards the clamping wheel frame 20 direction, driving the second sliding rod 43 to move in the sliding groove 21 until the sliding outer shell 44 contacts the clamping wheel frame 20. At this time, in the normal clamping situation, the second clamping wheel 50 clamps the partition plate and moves it.

[0036] When the partition thickness is abnormal, such as when the sludge and weeds on the front side of the partition in the moving direction that have not been cleaned are seriously covered, due to the dirt attached to the contacted partition, the thickness increases, and the second clamping wheel 50 is pressed more deeply. The thin rod 46 is driven to move through the second sliding rod 43, thereby driving the plunger 56 to move inside the sliding housing 44. Thus, the gas inside the sliding housing 44 is pressed into the air passage 47 through the air hole 45, and then enters the air cavity 51 through the hollow connecting rod 49, and then enters the inclined groove 52, pushing out the scraper 53, inserting the scraper 53 into the sludge layer, and scraping the sludge. At the same time, when the equipment stops spraying water for cleaning, the scraper 53 inserted into the surface soil can also increase the clamping stability of the equipment on the partition layer, avoiding the situation where the ordinary clamping wheel may clamp on the sludge surface (such as clamping on the wet mud surface, which is likely to cause slipping). In this case, it may lead to insufficient clamping force during the subsequent high-pressure nozzle flushing process, resulting in equipment shaking or even tipping over. The method of driving the scraper 53 to push out by air pressure enables it to clean the sludge on the moving path of the second clamping wheel 50 first. When it is blocked and unable to scrape (such as when the attached sludge and stones are dried and hardened), the scraper 53 can also retract under pressure to avoid damage. By cooperating the lifting clamping assembly with the clamping wheel module in this embodiment, it can ensure that the equipment travels stably on the partition layer while enhancing the stability during the cleaning process. In response to abnormal partition thickness (dirt, soil, and weed attachment conditions) during the traveling process, it can further ensure the reliability of the equipment during the partition cleaning process.

[0037] When the partition thickness returns to the normal state, the second clamping wheel 50 returns to the normal state, and the scraper 53 retracts back into the inclined groove 52 again.

[0038] The above are only the preferred embodiments of the present application. Although the present application has been disclosed above with preferred embodiments, it is not intended to limit the present application. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present application, or modify it into an equivalent embodiment with equivalent changes, without departing from the scope of the technical solution of the present application. Therefore, any simple modification, equivalent change, and modification made to the above embodiments according to the technical essence of the present application without departing from the content of the technical solution of the present application still fall within the scope of the protection of the technical solution of the present application.

Claims

1. An automatic cleaning robot for the wall of a folding plate flocculation tank, characterized in that: The invention comprises a top plate (8), wherein the top plate (8) is connected to a bottom plate (39) through a connecting piece, and four seat plates (12) are connected to the bottom plate (39), and a power steering component is provided in the middle of the bottom plate (39), and a connecting frame (28) is provided on one of the seat plates (12), and a mechanical arm (30) is provided on the connecting frame (28), and an output end of the mechanical arm (30) is connected to a high-pressure nozzle (31), and each seat plate (12) is provided with a lifting clamping component, and a water inlet pipe lifting component is also provided on the bottom plate (39), and the top plate (8) is connected to a shell (3), and a charging head (4) is provided on the shell (3); The lifting and clamping component comprises a bottom support frame (13) fixedly arranged on a seat plate (12), a vertical plate (9) fixedly arranged on the bottom support frame (13), a top support frame (11) arranged on the upper side of the vertical plate (9), a lead screw (14) fixedly connected between the bottom support frame (13) and the top support frame (11), a lead screw slider (15) being transmission-connected to the lead screw (14), a first driving module for driving the lead screw (14) being arranged on the bottom support frame (13), first connecting rods (16) being rotatably arranged on both sides of the lead screw slider (15), second connecting rods (18) being rotatably arranged on both sides of the seat plate (12) through a first rotating seat (17), a third connecting rod (19) being fixedly connected to the second connecting rod (18), the second connecting rod (18) being hinged to the first connecting rod (16), and a clamping wheel module being fixedly connected to one end of the third connecting rod (19) away from the second connecting rod (18).

2. The automatic cleaning robot for the wall of a folding plate flocculation tank according to claim 1 is characterized in that: The power steering component comprises a first driving member (37), and an output end of the first driving member (37) is connected to a power wheel (38).

3. The automatic cleaning robot for the wall of a folding plate flocculation tank according to claim 1 is characterized in that: The water inlet pipe lifting component comprises a second driving member (33) fixedly arranged on the connecting member, the output end of the second driving member (33) is connected to a reel (32), a water pipe is wound around the reel (32), a water pipe joint (34) is provided on the side of the reel (32) away from the second driving member (33), one end of the water pipe is connected to the water pipe joint (34), the water pipe joint (34) is connected to the high-pressure nozzle (31), and a limiting clamp (40) for limiting the position of the water pipe is also fixedly arranged on the connecting member.

4. The automatic cleaning robot for the wall of a folded plate flocculation tank according to claim 1 is characterized in that: The first driving module comprises a third driving member (54) fixedly arranged on the bottom support frame (13), and the output end of the third driving member (54) is connected to the lead screw (14) via a toothed belt (55).

5. The automatic cleaning robot for the wall of a folded plate flocculation tank according to claim 1 is characterized in that: The clamping wheel module comprises a clamping wheel frame (20) fixedly arranged on a third connecting rod (19), the clamping wheel frame (20) being symmetrically provided with two sliding grooves (21), a first sliding rod (22) being slidably arranged in each of the sliding grooves (21), a blocking piece (23) being arranged on the top of each of the first sliding rods (22), a spring (24) arranged around the first sliding rod (22) being connected below the blocking piece (23), second rotating seats (25) being fixedly arranged at both ends of the clamping wheel frame (20), a rotating rod (26) being rotatably arranged on the second rotating seat (25), one end of the rotating rod (26) being rotatably connected to the bottom of the first sliding rod (22), and the other end of the rotating rod (26) being rotatably connected to the first clamping wheel (27).

6. The automatic cleaning robot for the wall of a folded plate flocculation tank according to claim 1 is characterized in that: A visual detection processing center (41) is also provided on the bottom plate (39), and a camera (7) is fixedly provided at the end of each seat plate (12), and the camera (7) transmits the image to the visual detection processing center (41) for processing; a distance sensor (6) for detecting the water surface height is provided on the upper portion of the housing (3) near each camera (7), and an ultrasonic sensor (29) is provided on the connecting frame (28).

7. The automatic cleaning robot for the wall of a folding plate flocculation tank according to claim 1 is characterized in that: Two omnidirectional wheels (35) are rotatably arranged on each seat plate (12).

8. The automatic cleaning robot for the wall of a folded plate flocculation tank according to claim 1 is characterized in that: The clamping wheel module comprises a clamping wheel frame (20) fixedly arranged on the third connecting rod (19), the clamping wheel frame (20) being symmetrically provided with two sliding grooves (21), a second sliding rod (43) being slidably arranged in each of the sliding grooves (21), a thin rod (46) being fixedly arranged at the upper end of the second sliding rod (43), a sliding shell (44) being slidably arranged on the thin rod (46), the upper end of the thin rod (46) being fixedly connected to a plunger (56), the upper end of the plunger (56) being fixedly connected to a baffle (23), a spring (24) being connected between the baffle (23) and the sliding shell (44), an air passage (47) penetrating to the lower end of the second sliding rod (43) being arranged inside the thin rod (46), the upper end of the thin rod (46) being provided with a connecting air passage (47) 7) and the external air hole (45), the second rotating seats (25) are symmetrically arranged at both ends of the clamping wheel frame (20), and a hollow connecting rod (49) is rotatably arranged on each of the second rotating seats (25), one end of the hollow connecting rod (49) is rotatably connected to the bottom end of the air duct (47), and the other end of the hollow connecting rod (49) is rotatably connected to the second clamping wheel (50), and an air cavity (51) is arranged inside the second clamping wheel (50), and the interior of the hollow connecting rod (49) is connected with the air cavity (51), and a plurality of inclined grooves (52) are opened on the second clamping wheel (50), and a scraper (53) is arranged in each of the inclined grooves (52) for sliding sealing, and a pressure valve (48) is arranged at one end of the hollow connecting rod (49) extending into the air duct (47).

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