Industrial inspection and maintenance robot

Abstract

The invention relates to the technical field of industrial robots, in particular to an industrial inspection and maintenance robot which comprises a basic module and two moving modules, the two moving modules are arranged at the top and the bottom of the basic module respectively, four adjusting sliding grooves are formed in each of the top and the bottom of the basic module, and every two adjusting sliding grooves are symmetrically arranged; locking rods of L-shaped structures are slidably installed in the adjusting sliding grooves, first telescopic cylinders of bidirectional structures are fixedly installed in the base module and located between the symmetrically-arranged adjusting sliding grooves, and the telescopic ends of the first telescopic cylinders extend into the corresponding adjusting sliding grooves and are fixedly connected with the locking rods. The base module and the moving modules are designed, the two moving modules fly alternately, the base module can be driven to move in a reciprocating mode between the multiple pieces of channel steel, the base module cannot be blocked by welding points on the channel steel and other obstacles, and the inspection range of the robot is greatly widened.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to an industrial inspection and maintenance robot. Background Art

[0002] In modern industrial production, in order to save labor costs and improve industrial production efficiency, industrial robots are usually used to replace manual inspection and maintenance.

[0003] However, the functions of existing industrial inspection robots are relatively single. Basically, a driving device is used to carry a rotatable or liftable camera unit and detection unit to patrol around industrial pipelines or equipment brackets. The monitoring range is extremely limited, the monitoring means are single, and the number of industrial equipment or pipelines is generally large and there are many corners. The height of conventional robots is limited. Even if there is a lifting structure, the lifting height is also limited, and it cannot cope with the inspection of large industrial pipeline groups or large industrial equipment. Using a drone-like robot cannot ensure the stability of the lens, and the drone-like inspection robot is extremely easy to collide with industrial pipelines or equipment during the inspection process, and the safety factor is relatively low. These situations bring a lot of inconvenience to the use of industrial inspection robots. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems in the background art and propose an industrial inspection and maintenance robot.

[0005] To achieve the above purpose, the present invention adopts the following technical solution: An industrial inspection and maintenance robot includes a base module and a moving module. The base module has a cylindrical structure. There are two moving modules, which are respectively arranged at the top and bottom of the base module. Four adjustment chutes are opened at the top and bottom of the base module, and the adjustment chutes are symmetrically arranged in pairs. An L-shaped locking rod is slidably installed in the adjustment chute. The installation directions of the locking rods in the symmetrically arranged adjustment chutes are opposite to each other. Inside the base module and between the symmetrically arranged adjustment chutes, a double-acting telescopic structure of telescopic cylinder one is fixedly installed. The telescopic end of the telescopic cylinder one extends into the corresponding adjustment chute and is fixedly connected to the locking rod;

[0006] Four locking grooves are opened on one side of the moving module close to the base module. The four locking grooves are symmetrically arranged in pairs. The locking rod is inserted into the corresponding locking groove. The moving module has a diamond structure, and four symmetrically arranged mounting holes are opened on the moving module. A driving module is arranged in the mounting hole.

[0007] In the above-mentioned industrial inspection and maintenance robot, the driving module is composed of a connecting rod and a driving shaft. The connecting rod is arranged in the mounting hole. Connecting shafts are fixedly installed at both ends of the connecting rod. The end of the connecting shaft away from the connecting rod is rotatably connected to the inner wall of the mounting hole. The driving shaft is rotatably installed on the connecting rod, and a spiral blade is fixedly installed on the driving shaft.

[0008] In the above-mentioned industrial inspection and maintenance robot, four winding shafts are installed in the base module. The four winding shafts are arranged symmetrically in pairs. Connecting steel wires are wound on the winding shafts. One end of the connecting steel wire penetrates the base module and is fixedly connected to the corresponding moving module.

[0009] In the above-mentioned industrial inspection and maintenance robot, a circular rotating groove is formed on the moving module. A rotating disc is rotatably installed in the rotating groove. Two symmetrically arranged clamping grooves are formed on the rotating disc. A locking shaft is rotatably installed in the clamping groove. An L-shaped locking frame is fixedly installed on the locking shaft. The installation directions of the two locking frames on the same moving module are opposite to each other.

[0010] In the above-mentioned industrial inspection and maintenance robot, an installation groove is formed on the locking frame. Two symmetrically arranged driving gears are rotatably installed in the installation groove. A driving belt is sleeved between the two driving gears in the installation groove. A number of rubber bumps are fixedly installed on the outer ring wall of the driving belt. A number of driving tooth grooves evenly distributed along its circumferential direction are formed on the inner ring wall of the driving belt. A limiting plate is fixedly installed on the inner wall of the installation groove. The limiting plate is inserted into the inner ring of the driving belt.

[0011] In the above-mentioned industrial inspection and maintenance robot, a locking plate is slidably installed on the inner wall of the clamping groove. An inclined surface is formed at the top of the locking plate.

[0012] In the above-mentioned industrial inspection and maintenance robot, two symmetrically arranged limiting grooves are formed on one side of each of the two moving modules away from each other. A second telescopic cylinder is fixedly installed in the limiting groove. A contact plate is fixedly installed at the telescopic end of the second telescopic cylinder. A number of auxiliary rollers distributed in a straight line are rotatably installed on the side of the contact plate away from the second telescopic cylinder.

[0013] In the above-mentioned industrial inspection and maintenance robot, an adjustment through groove is formed in the base module. Both ends of the adjustment through groove penetrate the base module. A cylindrical adjustment module is slidably installed on the inner wall of the adjustment through groove. Adjustment discs are rotatably installed at the top and bottom of the adjustment module. A camera unit is fixedly installed on the side of the adjustment disc away from the adjustment module. An auxiliary through groove is formed on the moving module. The auxiliary through groove penetrates the moving module and is communicated with the adjustment through groove.

[0014] Compared with the existing technologies, the advantages of this industrial inspection and maintenance robot are as follows: The present invention designs a basic module and a moving module. Through the alternating flight of the two moving modules, the basic module can be driven to reciprocate between several channel steels, without being blocked by the welding points and other obstacles on the channel steels, greatly improving the inspection range of the robot. At the same time, through the limitation of the channel steels, the stability of the inspection robot during inspection can be improved, and it is not easy to collide during the inspection process, further improving the inspection efficiency and safety of the inspection robot. At the same time, the channel steels can serve as the inspection tracks of the inspection robot, eliminating the need for additional installation of inspection tracks and further reducing the use cost of the inspection robot. Brief Description of the Drawings

[0015] Figure 1 is a schematic three-dimensional structure diagram of the basic module and the moving module in the present invention.

[0016] Figure 2 is a schematic three-dimensional structure diagram of the moving module in the present invention.

[0017] Figure 3 is a schematic three-dimensional structure diagram of the rotating disk in the present invention.

[0018] Figure 4 is a schematic cross-sectional structure diagram of the basic module and the moving module in the present invention.

[0019] Figure 5 is the present invention Figure 4 a partially enlarged structure diagram at position A in the present invention.

[0020] Figure 6 is the present invention Figure 4 a partially enlarged structure diagram at position B in the present invention.

[0021] Figure 7 is a schematic cross-sectional structure diagram of the installation groove in the present invention.

[0022] Figure 8 is a schematic three-dimensional structure diagram of the basic module in the present invention.

[0023] Figure 9 is the present invention Figure 8 a partially enlarged structure diagram at position C in the present invention.

[0024] Figure 10 is a schematic three-dimensional structure diagram of the locking groove in the present invention.

[0025] Figure 11 is a schematic cross-sectional structure diagram of the connecting rod in the present invention.

[0026] Figure 12 is a schematic diagram of the suspended state of the basic module and the moving module in the present invention.

[0027] In the figure: 1. Basic module; 2. Moving module; 101. Adjusting chute; 102. Locking rod; 103. First telescopic cylinder; 201. Locking groove; 202. Mounting hole; 3. Driving module; 301. Connecting rod; 302. Driving shaft; 303. Connecting shaft; 104. Rewinding shaft; 105. Connecting steel wire; 203. Rotating groove; 204. Rotating disk; 205. Clamping groove; 206. Locking shaft; 207. Locking frame; 208. Mounting groove; 209. Driving gear; 210. Driving belt; 211. Limiting plate; 212. Locking plate; 213. Limiting groove; 214. Second telescopic cylinder; 215. Resisting plate; 216. Auxiliary roller; 106. Adjusting through groove; 107. Adjusting module; 108. Adjusting disk; 217. Auxiliary through groove. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0029] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0030] Refer to Figures 1 - 12 , an industrial inspection and maintenance robot, including a basic module 1 and a moving module 2. The basic module 1 has a cylindrical structure. There are two moving modules 2, which are respectively arranged at the top and bottom of the basic module 1. Four adjusting chutes 101 are opened at the top and bottom of the basic module 1. The adjusting chutes 101 are symmetrically arranged in pairs. An L-shaped locking rod 102 is slidably installed in the adjusting chute 101. The installation directions of the locking rods 102 in the symmetrically arranged adjusting chutes 101 are opposite to each other. A bidirectional telescopic first telescopic cylinder 103 is fixedly installed in the basic module 1 and between the symmetrically arranged adjusting chutes 101. The telescopic end of the first telescopic cylinder 103 extends into the corresponding adjusting chute 101 and is fixedly connected to the locking rod 102. The basic module 1 is used to install a detection device, and the moving module 2 is used to drive the basic module 1 to move.

[0031] On one side of the moving module 2 close to the base module 1, there are four locking slots 201. The four locking slots 201 are symmetrically arranged in pairs. The locking rods 102 are inserted into the corresponding locking slots 201. The moving module 2 is in a diamond structure. There are four symmetrically arranged mounting holes 202 on the moving module 2. A driving module 3 is arranged in the mounting holes 202. When the base module 1 is attached to the moving module 2, the locking rods 102 will be inserted into the corresponding locking slots 201. At this time, by pushing two corresponding locking rods 102 away from each other through the telescopic cylinder 103, the moving module 2 can be fixedly connected to the base module 1 through a number of locking rods 102. The driving module 3 is used to drive the moving module 2 to fly and move. The telescopic cylinder 103 is an electric telescopic cylinder.

[0032] The driving module 3 is composed of a connecting rod 301 and a driving shaft 302. The connecting rod 301 is arranged in the mounting hole 202. Connecting shafts 303 are fixedly installed at both ends of the connecting rod 301. The ends of the connecting shafts 303 away from the connecting rod 301 are rotatably connected to the inner wall of the mounting hole 202. The driving shaft 302 is rotatably installed on the connecting rod 301. A spiral blade is fixedly installed on the driving shaft 302. The connecting rod 301 is used to fix the driving shaft 302. A driving motor is fixedly installed in the connecting rod 301. The driving motor is fixedly connected to the driving shaft 302. The driving motor cooperates with the driving shaft 302 to drive the spiral blade to rotate at a high speed, driving the moving module 2 to fly and move. The connecting shaft 303 is used to rotatably connect the connecting rod 301 to the inner wall of the mounting hole 202. The connecting shaft 303 is connected to another driving motor. Through the connecting shaft 303, the connecting rod 301, the driving shaft 302 and the spiral blade can be tilted, facilitating the adjustment of the flight direction of the moving module 2.

[0033] Four winding shafts 104 are installed in the base module 1. The four winding shafts 104 are symmetrically arranged in pairs. Connecting steel wires 105 are wound on the winding shafts 104. One end of the connecting steel wire 105 penetrates the base module 1 and is fixedly connected to the corresponding moving module 2. The winding shaft 104 is connected to another driving motor. By rotating the winding shaft 104, the connecting steel wire 105 can be released or wound. Through the connecting steel wire 105, the two moving modules 2 can be separated from the base module 1, and the separated moving modules 2 can also be guided to fit with the base module 1 again.

[0034] The moving module 2 is provided with a rotating groove 203 in a circular structure. A rotating disk 204 is rotatably installed in the rotating groove 203. Two symmetrically arranged clamping grooves 205 are provided on the rotating disk 204. A locking shaft 206 is rotatably installed in the clamping groove 205. An L-shaped locking bracket 207 is fixedly installed on the locking shaft 206. The installation directions of the two locking brackets 207 on the same moving module 2 are opposite to each other. A rotating motor is fixedly installed in the moving module 2. The rotating motor drives the rotating disk 204 to rotate through a rotating gear and a rotating tooth groove provided on the outer wall of the rotating disk 204. An electric telescopic rod is fixedly installed in the rotating disk 204. A rack is fixedly installed at the telescopic end of the electric telescopic rod. One end of the locking shaft 206 extends into the rotating disk 204 and a locking gear is fixedly installed. The rack is meshed with the locking gear. By the push of the electric telescopic rod, the locking shaft 206 and the locking bracket 207 can be driven to rotate. When the locking bracket 207 rotates in a specified direction, it will clamp on the channel steel. At this time, the moving module 2 can be clamped on the channel steel by the two symmetrically arranged locking brackets 207.

[0035] An installation groove 208 is provided on the locking bracket 207. Two symmetrically arranged driving gears 209 are rotatably installed in the installation groove 208. A driving belt 210 is sleeved between the two driving gears 209 in the installation groove 208. A number of rubber bumps are fixedly installed on the outer ring wall of the driving belt 210. A number of driving tooth grooves evenly distributed along its circumferential direction are provided on the inner ring wall of the driving belt 210. A limiting plate 211 is fixedly installed on the inner wall of the installation groove 208. The limiting plate 211 is inserted into the inner ring of the driving belt 210. A moving motor is fixedly installed in the installation groove 208. The driving gears 209 and the driving belt 210 can be driven to rotate by the moving motor. The driving belt 210 can drive the moving module 2 to reciprocate along the channel steel. The limiting plate 211 can make the driving belt 210 fit on the channel steel.

[0036] A locking plate 212 is slidably installed on the inner wall of the clamping groove 205. An inclined surface is provided at the top of the locking plate 212. The locking plate 212 can be lifted and lowered through a corresponding electric telescopic rod. When the locking bracket 207 rotates to a specified position, by raising the locking plate 212, the locking plate 212 can be made to abut against the rotated locking bracket 207. At this time, the position of the locking bracket 207 is fixed and cannot rotate, which can ensure the stability of the locking bracket 207 during movement.

[0037] On one side of the two moving modules 2 away from each other, there are two symmetrically arranged limiting grooves 213. An expansion cylinder two 214 is fixedly installed in the limiting groove 213. The expansion end of the expansion cylinder two 214 is fixedly installed with a contact plate 215. A number of auxiliary rollers 216 distributed in a straight line are rotatably installed on the side of the contact plate 215 away from the expansion cylinder two 214. After the top of the upper moving module 2 abuts against the channel steel, operate the two locking brackets 207 on the upper moving module 2 to rotate and engage with the channel steel. To ensure the smoothness of the rotation of the locking bracket 207, at this time, there is still a certain distance between the two drive belts 210 on the locking bracket 207 and the channel steel. At this time, the expansion cylinder two 214 pushes the contact plate 215 to rise and makes the moving module 2 descend a certain distance. When the moving module 2 descends, it will drive the drive belt 210 to fit on the channel steel. At this time, the moving module 2 can be driven to move through the drive belt 210. The expansion cylinder two 214 is an electric expansion cylinder.

[0038] An adjustment through groove 106 is provided in the basic module 1. Both ends of the adjustment through groove 106 penetrate the basic module 1. A cylindrical adjustment module 107 is slidably installed on the inner wall of the adjustment through groove 106. Adjustment disks 108 are rotatably installed at the top and bottom of the adjustment module 107. A camera unit is fixedly installed on the side of the adjustment disk 108 away from the adjustment module 107. An auxiliary through groove 217 is provided in the moving module 2. The auxiliary through groove 217 penetrates the moving module 2 and is connected to the adjustment through groove 106. A lifting sliding groove is provided on the inner wall of the adjustment through groove 106. An electric slider is slidably installed in the lifting sliding groove. The adjustment module 107 can be driven to reciprocate up and down through the electric slider. An adjustment motor is fixedly installed in the adjustment module 107. The adjustment motor can drive the adjustment disk 108 and the corresponding camera unit to rotate to realize multi-directional inspection.

[0039] The following is a detailed explanation of the specific working principle and usage method of the present invention: When in use, first operate the basic module 1 together with the two moving modules 2 to take off and fly. Operate the basic module 1 and the two moving modules 2 to fly below the channel steel. The top of the moving module 2 is fixedly installed with an induction unit. Through the induction unit, operate the moving module 2 to move to the designated position and align with the channel steel. At the same time, operate the rotating disk 204 to rotate so that the corresponding two locking frames 207 are aligned with the channel steel. At this time, operate the basic module 1 and the two moving modules 2 to rise vertically. When the top of the upper moving module 2 fits against the bottom of the channel steel, operate the two locking frames 207 on the upper moving module 2 to rotate and latch onto the channel steel. To ensure the smoothness of the rotation of the locking frame 207, at this time, there is still a certain distance between the two drive belts 210 on the locking frame 207 and the channel steel. At this time, push the contact plate 215 upward through the second telescopic cylinder 214 and make the moving module 2 descend a certain distance. When the moving module 2 descends, it will drive the drive belt 210 to fit against the channel steel. At this time, the moving module 2 can be driven to move through the drive belt 210;

[0040] While the upper moving module 2 is latched onto the channel steel, operate the adjustment module 107 to descend, extend the camera unit below the adjustment module 107 out of the adjustment through slot 106 and the corresponding auxiliary through slot 217, and at the same time, rotate the camera unit in cooperation with the rotation of the adjustment disk 108 to achieve a large-range inspection. Operate the drive belt 210 to drive the moving module 2 and the basic module 1 to reciprocate along the channel steel, which can further increase the inspection range of the camera unit. And when the inspection range of the camera unit is blocked, operate the corresponding winding shaft 104 to rotate and release the corresponding connecting wire 105. At the same time, operate the corresponding locking rod 102 to disengage from the corresponding locking slot 201. At this time, the upper moving module 2 is still latched onto the channel steel, while the basic module 1 and the lower moving module 2 automatically fall under the action of gravity and are in a suspended state. The basic module 1 in the suspended state can further increase the inspection range of the camera unit;

[0041] When the movement of the moving module 2 on a single channel steel is blocked, release the basic module 1 and the moving module 2 according to the above steps. After operating the basic module 1 and the moving module 2 to descend to the designated height, operate the spiral blades on the lower moving module 2 to rotate at high speed, drive the basic module 1 to be suspended in the air, and at the same time, operate the connecting rod 301 to rotate to drive the lower moving module 2 to flip. At this time, the basic module 1 is located below the suspended moving module 2;

[0042] After the moving module 2 is suspended and completes the flipping, operate the corresponding moving module 2 to fly under another channel steel and snap the moving module 2 onto another channel steel according to the previous fixing steps. At this time, the moving module 2 fixed in the first operation step disengages from the corresponding channel steel and completes the flipping through the spiral blade. The flipped moving module 2 can be attached to the lower part of the base module 1 again under the guidance of the corresponding connecting wire 105 under the action of its own flight. At this time, operate to fix the base module 1 and the attached moving module 2. At this time, the base module 1 and the moving module 2 can start the mobile inspection again on another channel steel. Through the reciprocating alternation of the two moving modules 2, the base module 1 can be driven to move on several channel steels, greatly facilitating the inspection range of the robot.

[0043] Further explanation, for the above-mentioned fixed connection, unless otherwise clearly specified and limited, it should be understood in a broad sense. For example, it can be welding, gluing, or integrally formed setting, etc., which are common means well-known to those skilled in the art.

[0044] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An industrial inspection and maintenance robot, comprising a basic module (1) and a mobile module (2), characterized in that: The basic module (1) is of cylindrical structure, two mobile modules (2) are provided and are respectively arranged at the top and bottom of the basic module (1), four adjusting slots (101) are provided at the top and bottom of the basic module (1), the adjusting slots (101) are symmetrically arranged in pairs, and locking rods (102) of L-shaped structure are slidably installed in the adjusting slots (101), and the installation directions of the locking rods (102) in the symmetrically arranged adjusting slots (101) are arranged in opposite directions to each other, and a telescopic cylinder (103) of a bidirectional telescopic structure is fixedly installed in the basic module (1) and between the symmetrically arranged adjusting slots (101), and the telescopic end of the telescopic cylinder (103) extends into the corresponding adjusting slot (101) and is fixedly connected to the locking rod (102); The mobile module (2) is provided with four locking grooves (201) on a side close to the base module (1), the four locking grooves (201) are symmetrically arranged in pairs, the locking rods (102) are inserted into the corresponding locking grooves (201), the mobile module (2) is in a diamond-shaped structure, the mobile module (2) is provided with four symmetrically arranged mounting holes (202), and the driving module (3) is arranged in the mounting hole (202).

2. An industrial inspection and maintenance robot according to claim 1, characterized in that: The driving module (3) is composed of a connecting rod (301) and a driving shaft (302); the connecting rod (301) is arranged in the mounting hole (202); connecting shafts (303) are fixedly mounted at both ends of the connecting rod (301); one end of the connecting shaft (303) away from the connecting rod (301) is rotatably connected to the inner wall of the mounting hole (202); the driving shaft (302) is rotatably mounted on the connecting rod (301); and a spiral blade is fixedly mounted on the driving shaft (302).

3. The industrial inspection and maintenance robot according to claim 1, characterized in that: Four reeling shafts (104) are installed in the basic module (1), and the four reeling shafts (104) are symmetrically arranged in pairs. A connecting steel wire (105) is wound on the reeling shaft (104), and one end of the connecting steel wire (105) passes through the basic module (1) and is fixedly connected to the corresponding mobile module (2).

4. The industrial inspection and maintenance robot according to claim 1, characterized in that: The mobile module (2) is provided with a rotating groove (203) of a circular structure, a rotating disk (204) is rotatably mounted in the rotating groove (203), the rotating disk (204) is provided with two symmetrically arranged clamping grooves (205), a locking shaft (206) is rotatably mounted in the clamping groove (205), an L-shaped locking frame (207) is fixedly mounted on the locking shaft (206), and the installation directions of the two locking frames (207) on the same mobile module (2) are arranged to face each other.

5. The industrial inspection and maintenance robot according to claim 4, characterized in that: The locking frame (207) is provided with a mounting groove (208), and two symmetrically arranged driving gears (209) are rotatably mounted in the mounting groove (208). A driving belt (210) is sleeved in the mounting groove (208) and located between the two driving gears (209). A plurality of rubber protrusions are fixedly mounted on the outer ring wall of the driving belt (210), and a plurality of driving tooth grooves are evenly distributed along the circumference of the driving belt (210) are provided on the inner ring wall of the driving belt (210). A limiting plate (211) is fixedly mounted on the inner wall of the mounting groove (208), and the limiting plate (211) is inserted into the inner ring of the driving belt (210).

6. The industrial inspection and maintenance robot according to claim 4, characterized in that: A locking plate (212) is slidably mounted on the inner wall of the clamping groove (205), and an inclined surface is provided on the top of the locking plate (212).

7. The industrial inspection and maintenance robot according to claim 1, characterized in that: Two symmetrically arranged limiting grooves (213) are provided on the sides of the two moving modules (2) that are away from each other, a second telescopic cylinder (214) is fixedly installed in the limiting groove (213), a contact plate (215) is fixedly installed at the telescopic end of the second telescopic cylinder (214), and a plurality of auxiliary rollers (216) distributed in a straight line are rotatably installed on the side of the contact plate (215) away from the second telescopic cylinder (214).

8. The industrial inspection and maintenance robot according to claim 1, characterized in that: The basic module (1) is provided with an adjustment slot (106), both ends of the adjustment slot (106) pass through the basic module (1), an adjustment module (107) of a cylindrical structure is slidably mounted on the inner wall of the adjustment slot (106), an adjustment disk (108) is rotatably mounted on the top and bottom of the adjustment module (107), a camera unit is fixedly mounted on the side of the adjustment disk (108) away from the adjustment module (107), and an auxiliary slot (217) is provided on the mobile module (2), the auxiliary slot (217) passes through the mobile module (2) and is connected to the adjustment slot (106).

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