Unlocking mechanism of crawler-type power maintenance robot

Abstract

The invention discloses an unlocking mechanism of a crawler-type power maintenance robot, and relates to the technical field of unlocking mechanisms. The crawler-type electric power maintenance robot unlocking mechanism comprises an adjusting unit, a clamping unit and an unlocking unit, the clamping unit is connected to the adjusting unit, the unlocking unit is located on the inner side of the clamping unit, the clamping unit is used for clamping and fixing a lock to be unlocked, the adjusting unit comprises a fixing base and a multi-stage lifting hydraulic rod, and the multi-stage lifting hydraulic rod is located on the fixing base. The multi-stage lifting hydraulic rod is fixedly arranged at the top of the fixed base, the output end of the multi-stage lifting hydraulic rod is fixedly connected with a fixed connecting block, and a transverse adjusting motor is fixedly arranged on the outer side of the fixed connecting block. According to the unlocking mechanism of the crawler-type power maintenance robot, the adjusting unit is arranged and comprises the multi-stage lifting hydraulic rod, the transverse adjusting motor and the longitudinal adjusting motor, the angle of the unlocking mechanism can be conveniently adjusted to adapt to padlocks of various postures, unlocking can be conveniently and rapidly conducted, the manpower requirement is reduced, and the maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unlocking mechanisms, specifically an unlocking mechanism for a crawler-type power maintenance robot. Background Art

[0002] The number of unattended substations is increasing. In these substations, the daily maintenance and fault handling of equipment rely on remote control and automation equipment. Power maintenance robots can serve as a key link and cooperate with other automation equipment to complete the remote maintenance of substation equipment.

[0003] In actual use, since substation equipment is relatively expensive, it often needs to be locked and protected with a padlock. When a power maintenance robot conducts inspection and maintenance, it may encounter situations where it needs to unlock a padlock. The existing unlocking mechanisms of power maintenance robots are relatively simple. When opening a padlock, they cannot effectively clamp and position the padlock, and it is easy for the padlock to shift when inserting the key, resulting in difficulty in inserting the key and reducing the unlocking efficiency. For some padlocks with special angles, the existing unlocking mechanisms of power maintenance robots are difficult to adjust to adapt to them, easily leading to failure to unlock, causing the robot maintenance to fail, requiring manual maintenance, and increasing the maintenance cost.

[0004] The existing power maintenance robots cannot effectively clamp and position the padlock, and it is easy for the padlock to shift when inserting the key, resulting in difficulty in inserting the key, reducing the unlocking speed, and slowing down the maintenance efficiency. The existing unlocking mechanisms of power maintenance robots cannot adapt to padlocks with special angles, easily leading to failure to unlock, causing the robot maintenance to fail, requiring manual maintenance, and increasing the maintenance cost. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides an unlocking mechanism for a crawler-type power maintenance robot, which solves the problems that the existing power maintenance robots cannot effectively clamp and position the padlock, and it is easy for the padlock to shift when inserting the key, resulting in difficulty in inserting the key, reducing the unlocking speed, and slowing down the maintenance efficiency; the existing unlocking mechanisms of power maintenance robots cannot adapt to padlocks with special angles, easily leading to failure to unlock, causing the robot maintenance to fail, requiring manual maintenance, and increasing the maintenance cost.

[0006] To achieve the above object, the present invention is realized through the following technical solutions: A lock-opening mechanism for a crawler-type electric maintenance robot, including an adjustment unit, a clamping unit, and a lock-opening unit. The clamping unit is connected to the adjustment unit, and the lock-opening unit is located inside the clamping unit. The clamping unit is used to clamp and fix the lock to be opened. The adjustment unit includes a fixed base and a multi-stage lifting hydraulic rod. The multi-stage lifting hydraulic rod is fixedly arranged on the top of the fixed base. The output end of the multi-stage lifting hydraulic rod is fixedly connected with a fixed connection block. A lateral adjustment motor is fixedly arranged outside the fixed connection block. The output end of the lateral adjustment motor is sleeved with a lateral adjustment block. A longitudinal adjustment motor is fixedly arranged outside the lateral adjustment block.

[0007] The clamping unit includes a housing and a clamping hydraulic rod. The clamping hydraulic rod is located outside the housing. The tail end and the output end of the clamping hydraulic rod are fixedly connected with a sleeve. An insertion rod is inserted inside the sleeve. The top of the housing is provided with an upper cover. A bolt is inserted into the upper cover. The bolt is used to fixedly connect the upper cover and the housing. A clamping block is fixedly arranged at the bottom of the upper cover.

[0008] Preferably, a longitudinal adjustment block is arranged outside the housing. The longitudinal adjustment block is fixedly connected to one end of the housing. The longitudinal adjustment block is sleeved on the output end of the longitudinal adjustment motor. Fixing kits are fixedly arranged outside the housing. The fixing kits are symmetrically distributed on both sides of the housing. The fixing kits are sleeved outside the insertion rod located at the tail end of the clamping hydraulic rod.

[0009] Preferably, fixing clamping rods are fixedly arranged at the other end of the housing. The fixing clamping rods are symmetrically distributed on the upper and lower sides of the housing. An opening is formed in the housing. The opening and the fixing clamping rods are located at the same end.

[0010] Preferably, a grasping clip is arranged inside the fixing clamping rod. An ear clip is fixedly connected to the outside of the grasping clip. The ear clip is sleeved outside the insertion rod located at the output end of the clamping hydraulic rod. The clamping hydraulic rod is used to control the grasping clip to perform a clamping operation. A rotating rod is inserted inside the grasping clip. The rotating rod is inserted inside the fixing clamping rod. The fixing clamping rod is used to fixedly clamp the grasping clip.

[0011] Preferably, the clamping unit further includes a camera and a lighting lamp. The camera is located directly above the opening. The camera is used for remotely observing the object to be clamped by the clamping unit. The lighting lamps are located on both sides of the opening. The lighting lamps are used for illuminating the object to be clamped.

[0012] Preferably, a cavity is formed inside the clamping unit. The bottom of the cavity is set as an arc-shaped groove. A cylindrical space is formed between the arc-shaped groove and the clamping block.

[0013] Preferably, the unlocking unit includes a telescopic hydraulic rod located inside the cavity. The top of the telescopic hydraulic rod abuts against the lower part of the clamping block, which is used to clamp and fix the telescopic hydraulic rod. A sleeve is fixedly arranged at the output end of the telescopic hydraulic rod. A threaded guide groove is provided on the inner wall of the sleeve. A support rod is inserted into the inner wall of the sleeve. A guiding thread is arranged at the end of the support rod inserted into the sleeve, and the guiding thread is adapted to the threaded guide groove. A chuck is arranged at the other end of the support rod, and the chuck is used to clamp the key to be unlocked.

[0014] Preferably, a threaded sleeve is sleeved outside the chuck, and the threaded sleeve is threadedly connected to the chuck. When the threaded sleeve rotates outward, it drives the chuck to clamp inward.

[0015] Preferably, a first return spring is arranged inside the sleeve. An installation ring is sleeved on the rod body of the support rod, and the installation ring is threadedly connected to the outer wall of the sleeve.

[0016] Preferably, a storage unit is fixedly connected to the multi-stage lifting hydraulic rod. The storage unit includes a support plate fixedly connected to the rod body of the multi-stage lifting hydraulic rod. An arc-shaped storage bin is fixedly installed on the support plate. A storage groove is provided on the upper surface of the arc-shaped storage bin. Two groups of clamping plates are symmetrically arranged on the inner wall of the storage groove. The clamping plates are connected to the storage groove through a second return spring. Wedge-shaped notches are provided on the upper parts of the two clamping plates. A forward and reverse motor is fixedly installed on the upper surface of the arc-shaped storage bin, and a friction wheel is fixedly installed at the output end of the forward and reverse motor.

[0017] The present invention discloses a track-type power maintenance robot unlocking mechanism, and its beneficial effects are as follows: An adjustment unit is provided, including a multi-stage lifting hydraulic rod, a lateral adjustment motor, and a longitudinal adjustment motor, which facilitates the unlocking mechanism to adjust the angle to adapt to padlocks in various postures, facilitates quick unlocking, reduces manpower requirements, and reduces maintenance costs; A clamping unit is provided, including a housing, a clamping hydraulic rod, and a gripper. The clamping hydraulic rod and the gripper are connected to the housing. The clamping hydraulic rod drives the gripper to perform a clamping operation, which facilitates the unlocking mechanism to clamp and position the padlock, facilitates controlling the insertion of the key, improves the unlocking speed, and thus improves the maintenance efficiency, and can quickly respond to unlocking for both traditional locks and padlocks. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 Structural schematic diagram of the present invention;

[0020] Figure 2 Structural schematic diagram of the adjustment unit of the present invention;

[0021] Figure 3 Structural schematic diagram of the clamping unit of the present invention;

[0022] Figure 4 Internal structural schematic diagram of the clamping unit of the present invention;

[0023] Figure 5 Structural schematic diagram of the upper cover of the present invention;

[0024] Figure 6 Exploded structural schematic diagram of the unlocking unit of the present invention;

[0025] Figure 7 Overall structural schematic diagram of the unlocking unit of the present invention;

[0026] Figure 8 Three-dimensional structural schematic diagram of the sleeve of the present invention;

[0027] Figure 9 Installation structural schematic diagram of the storage unit of the present invention;

[0028] Figure 10 Three-dimensional structural schematic diagram of the storage unit of the present invention;

[0029] Figure 11 For the present invention Figure 10 Enlarged structural schematic diagram at position A in the figure.

[0030] In the figure: 1. Adjustment unit; 11. Fixed base; 12. Multi-stage lifting hydraulic rod; 13. Fixed connection block; 131. Transverse adjustment motor; 14. Transverse adjustment block; 141. Longitudinal adjustment motor; 2. Clamping unit; 21. Outer shell; 211. Upper cover; 2111. Bolt; 2112. Clamping block; 212. Longitudinal adjustment block; 213. Fixed kit; 214. Fixed clamping rod; 215. Opening; 22. Clamping hydraulic rod; 221. Sleeve; 222. Insert rod; 23. Gripper; 231. Clamping ear; 232. Rotating rod; 24. Camera; 25. Lighting lamp; 26. Cavity; 3. Unlocking unit; 31. Telescopic hydraulic rod; 32. Sleeve; 33. Threaded guide groove; 34. Support rod; 35. Guide thread; 36. Chuck; 37. Threaded sleeve; 38. First return spring; 39. Installation ring; 4. Storage unit; 41. Support plate; 42. Arc-shaped storage bin; 43. Storage groove; 44. Clamping plate; 45. Second return spring; 46. ​​Forward and reverse motor; 47. Friction wheel. Detailed implementation manners

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] By providing a key unlocking mechanism for a crawler-type power maintenance robot in the embodiments of this application, the problems that existing power maintenance robots cannot effectively clamp and position padlocks, and are prone to padlock displacement when inserting keys, making it difficult to insert the keys, reducing the unlocking speed, and slowing down the maintenance efficiency are solved. The unlocking mechanism of existing power maintenance robots cannot adapt to padlocks at special angles, easily resulting in failure to unlock, causing the robot maintenance to fail, requiring manual maintenance, and increasing the maintenance cost. The purpose of strong adaptability and high efficiency of the maintenance robot for opening padlocks is achieved.

[0033] The present invention discloses a key unlocking mechanism for a crawler-type power maintenance robot.

[0034] Embodiment 1

[0035] According to the attached Figures 1 - 8 As shown in the figure, it includes an adjustment unit 1, a clamping unit 2, and an unlocking unit 3. The clamping unit 2 is connected to the adjustment unit 1, and the unlocking unit 3 is located inside the clamping unit 2. The clamping unit 2 is used to clamp and fix the lock to be opened. The adjustment unit 1 includes a fixed base 11 and a multi-stage lifting hydraulic rod 12. The multi-stage lifting hydraulic rod 12 is fixedly arranged on the top of the fixed base 11. The output end of the multi-stage lifting hydraulic rod 12 is fixedly connected with a fixed connection block 13. A horizontal adjustment motor 131 is fixedly arranged on the outside of the fixed connection block 13. The output end of the horizontal adjustment motor 131 is sleeved with a horizontal adjustment block 14. A vertical adjustment motor 141 is fixedly arranged on the outside of the horizontal adjustment block 14;

[0036] The clamping unit 2 includes a housing 21 and a clamping hydraulic rod 22. The clamping hydraulic rod 22 is located outside the housing 21. The tail end and the output end of the clamping hydraulic rod 22 are fixedly connected with a sleeve 221. A plug rod 222 is inserted inside the sleeve 221. An upper cover 211 is arranged on the top of the housing 21. A bolt 2111 is inserted on the upper cover 211. The bolt 2111 is used to fixedly connect the upper cover 211 and the housing 21. A clamping block 2112 is fixedly arranged at the bottom of the upper cover 211.

[0037] An adjustment unit 1 is provided, which includes a multi-stage lifting hydraulic rod 12, a lateral adjustment motor 131 and a longitudinal adjustment motor 141, facilitating the adjustment of the angle of the unlocking mechanism to adapt to padlocks in various postures, facilitating quick unlocking, reducing manpower requirements and lowering maintenance costs; a clamping unit 2 is provided, which includes a housing 21, a clamping hydraulic rod 22 and a gripper 23. The clamping hydraulic rod 22 and the gripper 23 are connected to the housing 21, and the clamping hydraulic rod 22 drives the gripper 23 to perform a clamping operation, facilitating the clamping and positioning of the padlock by the unlocking mechanism, facilitating the control of the key insertion, increasing the unlocking speed, and thus improving the maintenance efficiency.

[0038] Furthermore, a longitudinal adjustment block 212 is provided on the outer side of the housing 21. The longitudinal adjustment block 212 is fixedly connected to one end of the housing 21 and is sleeved on the output end of the longitudinal adjustment motor 141. A fixed kit 213 is fixedly provided on the outer side of the housing 21, and the fixed kits 213 are symmetrically distributed on both sides of the housing 21. The fixed kits 213 are sleeved on the outer side of the insertion rod 222 at the tail end of the clamping hydraulic rod 22.

[0039] Furthermore, a fixed clamping rod 214 is fixedly provided at the other end of the housing 21. The fixed clamping rods 214 are symmetrically distributed on the upper and lower sides of the housing 21. An opening 215 is provided on the housing 21, and the opening 215 and the fixed clamping rod 214 are located at the same end.

[0040] Furthermore, a gripper 23 is provided inside the fixed clamping rod 214. A clamping ear 231 is fixedly connected to the outer side of the gripper 23, and the clamping ear 231 is sleeved on the outer side of the insertion rod 222 at the output end of the clamping hydraulic rod 22. The clamping hydraulic rod 22 is used to control the gripper 23 to perform a clamping operation. A rotating rod 232 is inserted inside the gripper 23, and the rotating rod 232 is inserted inside the fixed clamping rod 214. The fixed clamping rod 214 is used to fixedly clamp the gripper 23.

[0041] Specifically disclosed, the clamping unit 2 further includes a camera 24 and a lighting lamp 25. The camera 24 is located directly above the opening 215, and the camera 24 is used for remotely observing the object to be clamped by the clamping unit 2. The lighting lamps 25 are located on both sides of the opening 215, and the lighting lamps 25 are used for illuminating the object to be clamped.

[0042] Specifically disclosed, a cavity 26 is provided inside the clamping unit 2. The bottom of the cavity 26 is provided as an arc-shaped groove, and a cylindrical space is formed between the arc-shaped groove and the block 2112.

[0043] Specifically disclosed, the unlocking unit 3 includes a telescopic hydraulic rod 31. The telescopic hydraulic rod 31 is located inside the cavity 26. The top of the telescopic hydraulic rod 31 abuts against the lower part of the clamping block 2112. The clamping block 2112 is used for clamping and fixing the telescopic hydraulic rod 31. A sleeve 32 is fixedly arranged at the output end of the telescopic hydraulic rod 31. A threaded guide groove 33 is formed in the inner wall of the sleeve 32. A support rod 34 is inserted into the inner wall of the sleeve 32. A guiding thread 35 is arranged at one end of the support rod 34 inserted into the sleeve 32. The guiding thread 35 is adapted to the threaded guide groove 33. A chuck 36 is arranged at the other end of the support rod 34. The chuck 36 is used for clamping the key to be unlocked.

[0044] It should be particularly emphasized that a threaded sleeve 37 is sleeved outside the chuck 36. The threaded sleeve 37 is threadedly connected with the chuck 36. When the threaded sleeve 37 rotates outward, the chuck 36 clamps inward.

[0045] It should be particularly emphasized that a first return spring 38 is arranged inside the sleeve 32. An installation ring 39 is sleeved on the rod body of the support rod 34. The installation ring 39 is threadedly connected with the outer wall of the sleeve 32.

[0046] Embodiment 2

[0047] According to the attached Figures 9 - 11 As shown, on the basis of Embodiment 1, a storage unit 4 is further fixedly connected to the multi-stage lifting hydraulic rod 12. The storage unit 4 includes a support plate 41 fixedly connected to the rod body of the multi-stage lifting hydraulic rod 12 through a hoop. And an arc-shaped storage bin 42 is fixedly installed on the support plate 41. At the same time, a storage groove 43 is formed on the upper surface of the arc-shaped storage bin 42. And two groups of clamping plates 44 are symmetrically arranged on the inner wall of the storage groove 43. The clamping plates 44 and the storage groove 43 are fixedly connected through a second return spring 45. And wedge-shaped notches are formed in the upper parts of the two clamping plates 44 to facilitate the insertion of the key. The two clamping plates 44 can firmly clamp the key under the action of the second return spring 45. A forward and reverse motor 46 is fixedly installed on the upper surface of the arc-shaped storage bin 42. A friction wheel 47 is fixedly installed at the output end of the forward and reverse motor 46. When taking or placing the key, the friction wheel 47 is used to rub the threaded sleeve 37 to make the threaded sleeve 37 rotate, so as to achieve the purpose of controlling the chuck 36.

[0048] The two clamping plates 44 in the storage groove 43 are used to clamp the key to realize the storage function of the key. When taking or placing the key, the chuck 36 is driven by the adjusting unit 1 to extend into the corresponding storage groove 43. The chuck 36 is clamped on the key handle. At this time, the threaded sleeve 37 contacts the friction wheel 47. The forward and reverse motor 46 is started to drive the friction wheel 47 to rotate, so that the threaded sleeve 37 rotates outward, thereby clamping and taking out the key.

Claims

1. A crawler-type power maintenance robot unlocking mechanism, comprising an adjusting unit (1), a clamping unit (2) and an unlocking unit (3), wherein the clamping unit (2) is connected to the adjusting unit (1), the unlocking unit (3) is located inside the clamping unit (2), and the clamping unit (2) is used to clamp and fix a padlock to be opened, characterized in that: The adjustment unit (1) comprises a fixed base (11) and a multi-stage lifting hydraulic rod (12); the multi-stage lifting hydraulic rod (12) is fixedly arranged on the top of the fixed base (11); the output end of the multi-stage lifting hydraulic rod (12) is fixedly connected to a fixed connection block (13); a transverse adjustment motor (131) is fixedly arranged on the outside of the fixed connection block (13); the output end of the transverse adjustment motor (131) is sleeved with a transverse adjustment block (14); and a longitudinal adjustment motor (141) is fixedly arranged on the outside of the transverse adjustment block (14); The clamping unit (2) comprises a housing (21) and a clamping hydraulic rod (22), wherein the clamping hydraulic rod (22) is located outside the housing (21), the tail end and the output end of the clamping hydraulic rod (22) are fixedly connected with a sleeve (221), the inner side of the sleeve (221) is plugged with a plug rod (222), an upper cover (211) is arranged on the top of the housing (21), a bolt (2111) is plugged on the upper cover (211), and the bolt (2111) is used to fix the upper cover (211) and the housing (21), and a clamping block (2112) is fixedly arranged on the bottom of the upper cover (211).

2. The crawler-type electric maintenance robot unlocking mechanism according to claim 1, characterized in that: A longitudinal adjustment block (212) is arranged on the outside of the housing (21), the longitudinal adjustment block (212) is fixedly connected to one end of the housing (21), the longitudinal adjustment block (212) is sleeved on the output end of the longitudinal adjustment motor (141), a fixing kit (213) is fixedly arranged on the outside of the housing (21), the fixing kit (213) is symmetrically distributed on both sides of the housing (21), and the fixing kit (213) is sleeved on the outside of the insertion rod (222) located at the tail end of the clamping hydraulic rod (22).

3. The crawler-type electric maintenance robot unlocking mechanism according to claim 1, characterized in that: A fixing clamp rod (214) is fixedly provided at the other end of the shell (21), and the fixing clamp rod (214) is symmetrically distributed on the upper and lower sides of the shell (21). An opening (215) is provided on the shell (21), and the opening (215) and the fixing clamp rod (214) are located at the same end.

4. The crawler type electric maintenance robot unlocking mechanism according to claim 3, characterized in that: A gripping clamp (23) is arranged on the inner side of the fixed clamp rod (214); a clamping ear (231) is fixedly connected to the outer side of the gripping clamp (23); the clamping ear (231) is sleeved on the outer side of an insertion rod (222) located at the output end of a clamping hydraulic rod (22); the clamping hydraulic rod (22) is used to control the gripping clamp (23) to perform a clamping operation; a rotating rod (232) is inserted into the inner side of the gripping clamp (23); the rotating rod (232) is inserted into the inner side of the fixed clamp rod (214); the fixed clamp rod (214) is used to fix the gripping clamp (23).

5. The crawler type electric maintenance robot unlocking mechanism according to claim 1, characterized in that: The clamping unit (2) further comprises a camera (24) and a lighting lamp (25); the camera (24) is located directly above the opening (215); the lighting lamp (25) is located on both sides of the opening (215); and the lighting lamp (25) is used to illuminate the object to be clamped.

6. The crawler type electric maintenance robot unlocking mechanism according to claim 1, characterized in that: A cavity (26) is provided on the inner side of the clamping unit (2), and the bottom of the cavity (26) is arranged as an arc-shaped groove, and a cylindrical space is formed between the arc-shaped groove and the clamping block (2112).

7. The crawler type electric maintenance robot unlocking mechanism according to claim 1, characterized in that: The unlocking unit (3) comprises a telescopic hydraulic rod (31), the telescopic hydraulic rod (31) is located inside the cavity (26), the top of the telescopic hydraulic rod (31) abuts against the bottom of a clamping block (2112), the clamping block (2112) is used to clamp and fix the telescopic hydraulic rod (31), a sleeve (32) is fixedly provided at the output end of the telescopic hydraulic rod (31), a threaded guide groove (33) is provided on the inner wall of the sleeve (32), a support rod (34) is inserted into the inner wall of the sleeve (32), a guide thread (35) is provided at one end of the support rod (34) inserted into the sleeve (32), the guide thread (35) is matched with the threaded guide groove (33), and a clamp (36) is provided at the other end of the support rod (34), and the clamp (36) is used to clamp a key to be unlocked.

8. The crawler-type electric maintenance robot unlocking mechanism according to claim 7, characterized in that: A threaded sleeve (37) is sleeved on the outside of the chuck (36), and the threaded sleeve (37) is threadedly connected to the chuck (36). When the threaded sleeve (37) rotates outward, it drives the chuck (36) to clamp inward.

9. The crawler type electric maintenance robot unlocking mechanism according to claim 7, characterized in that: A return spring (38) is arranged inside the sleeve (32), a mounting ring (39) is sleeved on the rod body of the support rod (34), and the mounting ring (39) is threadedly connected to the outer wall of the sleeve (32).

10. The crawler type electric maintenance robot unlocking mechanism according to claim 1, characterized in that: The multi-stage lifting hydraulic rod (12) is fixedly connected to a storage unit (4), and the storage unit (4) includes a support plate (41) fixedly connected to the rod body of the multi-stage lifting hydraulic rod (12), and an arc-shaped storage bin (42) is fixedly installed on the support plate (41), and a storage groove (43) is provided on the upper surface of the arc-shaped storage bin (42), and two groups of clamping plates (44) are symmetrically arranged on the inner wall of the storage groove (43), and the clamping plates (44) are connected to the storage groove (43) by a second reset spring (45), and the upper parts of the two clamping plates (44) are both provided with a wedge-shaped notch, and a forward and reverse motor (46) is fixedly installed on the upper surface of the arc-shaped storage bin (42), and a friction wheel (47) is fixedly installed at the output end of the forward and reverse motor (46).

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