An intelligent cleaning machine

Abstract

The application belongs to the technical field of cleaning of oil, chemical, food storage tanks or storage pools, and particularly relates to an intelligent cleaning machine. The walking vehicle of the cleaning machine has a support frame, the rear end of a mechanical arm module is connected to the support frame through a driving assembly, and the front end of the mechanical arm module is provided with an intelligent cleaning assembly. The driving assembly comprises a support seat, a lifting oil cylinder and two connecting rod mechanisms, the support seat is vertically arranged on the top surface of the support frame, the fixed end of the lifting oil cylinder is rotationally connected to the support frame, the telescopic end reciprocates along a first direction, the middle part of a first driving rod is connected to the telescopic end of the lifting oil cylinder, the first driving rod extends along a second direction, and the two connecting rod mechanisms are respectively arranged on the two sides of the lifting oil cylinder in the second direction. The application can realize the position adjustment of the mechanical arm module and the intelligent cleaning assembly relative to the support frame by controlling the driving assembly, so as to adapt to the cleaning of oil storage tanks of different specifications and improve the versatility of the cleaning machine.

Description

Technical Field

[0001] This application belongs to the field of cleaning technology for storage tanks or pools, and specifically relates to an intelligent cleaning machine. Background Technology

[0002] Oil storage tanks are core storage and transportation equipment in the oil extraction, storage, transportation, and refining industries, primarily used to store various oil products such as crude oil, heavy oil, and refined oil. During long-term storage, due to the presence of mechanical impurities, silt, heavy metal salts, asphaltenes, gums, paraffin wax, and other heavy components and impurities in the oil, and influenced by factors such as gravity settling, temperature changes, and oil flow, a sludge layer gradually accumulates on the bottom, walls, and internal accessories of the tank. The long-term accumulation of this sludge layer not only affects the normal use of the tank but also poses multiple safety, environmental, and economic risks. Therefore, regular cleaning and maintenance of oil storage tanks is essential to ensure the safety of oil storage and transportation, improve storage and transportation efficiency, and extend the service life of the equipment.

[0003] Among related technologies, the mainstream oil storage tank cleaning technology in the industry is mechanical cleaning, but it has at least the following technical problems: Mechanical cleaning can only clean oil storage tanks of one size and cannot be adapted to cleaning oil storage tanks of different sizes (e.g., different manhole heights and / or different tank depths), leaving room for improvement. Summary of the Invention

[0004] Based on the above-mentioned technical problems, this application provides an intelligent cleaning machine that is designed to be adaptable to the cleaning of oil storage tanks of different specifications.

[0005] This application is achieved through the following technical solution: A smart cleaning machine includes: a walking vehicle with a support frame, the length direction of which is defined as the front-to-back direction; a robotic arm module, a drive assembly, and a smart cleaning component. The rear end of the robotic arm module is connected to the support frame via the drive assembly, and the front end of the robotic arm module is equipped with the smart cleaning component. The drive assembly includes: a support base erected on the top surface of the support frame; a lifting cylinder with a fixed end rotatably connected to the support frame and a telescopic end reciprocating along a first direction, the first direction being the length direction of the support frame; and a first drive rod connected in the middle to the telescopic end of the lifting cylinder, the first drive rod reciprocating along a second direction. Extending in the second direction, the second direction is the width direction of the support frame; two linkage mechanisms are respectively arranged on both sides of the lifting cylinder in the second direction. Each linkage mechanism includes a first link and a second link. The first link is located below the second link. Both the first link and the second link are located in front of the support base. The rear end of the first link is rotatably connected to the support base, the middle part of the first link is rotatably connected to the end of the first drive rod, and the front end of the first link is rotatably connected to the rear end of the robotic arm module. The rear end of the second link is rotatably connected to the support base, and the front end of the second link is rotatably connected to the rear end of the robotic arm module.

[0006] The intelligent cleaning machine provided in this application includes a mobile vehicle, which allows the machine to be moved and fixed near an oil storage tank for convenient cleaning. The machine also includes a robotic arm module, a drive assembly, and an intelligent cleaning component. The rear end of the robotic arm module is connected to the support frame via the drive assembly, and the front end of the robotic arm module is equipped with the intelligent cleaning component. Therefore, the position of the robotic arm module and the intelligent cleaning component relative to the support frame can be adjusted by controlling the drive assembly to adapt to cleaning oil storage tanks of different sizes, thereby improving the versatility of the cleaning machine.

[0007] In some embodiments, in the two linkage mechanisms, at least one first crossbar is connected between the two first links, and at least one second crossbar is connected between the two second links.

[0008] In some embodiments, the robotic arm module includes: a connecting seat, rear-mounted between the two linkage mechanisms, wherein the side portion of the connecting seat in a second direction is rotatably connected to the front end of the first linkage and the front end of the second linkage on the same side; a second drive rod, a third drive rod, and a fourth drive rod, sequentially connected to the connecting seat from back to front; a pitch cylinder, with its fixed end rotatably connected to the second drive rod and its telescopic end reciprocating in a first direction; a third linkage, with its rear end rotatably connected to the telescopic end of the pitch cylinder and its front end rotatably connected to the fourth drive rod; a fourth linkage, with its rear end rotatably connected to the third drive rod; and a support arm, with a first connecting portion and a second connecting portion arranged from back to front at the bottom of its rear end, the first connecting portion rotatably connected to the telescopic end of the telescopic cylinder, the second connecting portion rotatably connected to the front end of the fourth linkage, and the front end of the support arm connected to the intelligent cleaning component.

[0009] In some implementations, the first connecting part is connected to the rear end of the third connecting rod and the telescopic end of the pitch cylinder simultaneously via a fifth connecting shaft; the fourth connecting rod is V-shaped, and the middle part of the fourth connecting rod is wrapped around the bottom of the fourth drive rod.

[0010] In some implementations, the support arm includes a telescopic cylinder, a first arm body, and a second arm body. The fixed end of the telescopic cylinder is connected to the first arm body, and the telescopic end of the telescopic cylinder extends and retracts forward and backward. The telescopic end of the telescopic cylinder is connected to the second arm body to drive the second arm body away from or closer to the first arm body.

[0011] In some implementations, the support arm further includes an assembly arm and a bellows. The assembly arm is located in front of the first arm body and can extend and retract at the front end of the first arm body. The assembly arm and the first arm body are connected by the bellows, and the assembly arm and the second arm body are fixedly connected. The intelligent cleaning component is assembled on the assembly arm.

[0012] In some implementations, the intelligent cleaning component includes: a mounting component connected to the front end of the robotic arm module; two swing arms connected to the front end of the mounting component in a second direction, the two swing arms being able to swing in opposite directions or towards each other; and nozzles corresponding to the swing arms, with each swing arm having one or more nozzles.

[0013] In some embodiments, the mounting component includes: a first mounting body, wherein two swing arms are connected relative to each other along a second direction via a first rotating shaft at the front end of the first mounting body, a portion of the first rotating shaft being located within the first mounting body; two first gears disposed within the first mounting body, the first gears and the first rotating shafts being arranged in a one-to-one correspondence, the first gears being fitted onto the corresponding first rotating shafts; a first motor connected to the first mounting body, the first motor having a reciprocating telescopic portion, the telescopic portion of the first motor being inserted into the first mounting body and located between the two first gears; and a first drive block, at least partially disposed within the first mounting body and connected to the telescopic portion of the first motor, the first drive block being inserted between the two first gears, the first drive block having first linear teeth on both sides in the width direction, the first linear teeth meshing with the first gear on the same side.

[0014] In some embodiments, the mounting component further includes: a second mounting body, wherein the first mounting body is rotatably connected to the second mounting body via a second rotating shaft, a portion of the second rotating shaft being located within the second mounting body, and the second rotating shaft extending along a first direction; a second gear, disposed within the second mounting body, the second gear being fitted onto the second rotating shaft; a second motor, connected to the second mounting body, the second motor having a reciprocating telescopic portion, the telescopic portion of the second motor being inserted into the second mounting body; and a second drive block, at least partially disposed within the second mounting body and connected to the telescopic portion of the second motor, wherein a second linear tooth is provided on one side in the width direction of the second drive block, the second linear tooth meshing with the second gear.

[0015] In some embodiments, the mounting component further includes: a third mounting body, wherein the second mounting body is rotatably connected to the third mounting body via a third rotating shaft, at least a portion of the third rotating shaft is disposed within the third mounting body, and the third mounting body is connected to the front end of the robotic arm module; a third gear, disposed within the third mounting body, the third gear being fitted onto the third rotating shaft; a third motor, connected to the third mounting body, the third motor having a reciprocating telescopic portion, the telescopic portion of the third motor being inserted into the third mounting body; and a third drive block, at least a portion of which is disposed within the third mounting body and connected to the telescopic portion of the third motor, wherein a third linear tooth is provided on one side in the width direction of the third drive block, the third linear tooth meshing with the third gear. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the structure of the intelligent cleaning machine in one or more embodiments of this application is shown; Figure 2 This diagram shows the assembly of the lifting assembly with the support frame and the support arm module. Figure 3 A schematic diagram of the lifting assembly is shown. Figure 4 It shows Figure 3 Another structural diagram from another perspective; Figure 5 A schematic diagram of the connection assembly of the connecting seat, support arm, and pitch mechanism is shown. Figure 6 It shows Figure 5 Another structural diagram from another perspective; Figure 7 A schematic diagram of the support arm is shown; Figure 8 It shows Figure 7 A cross-sectional schematic diagram; Figure 9 It shows Figure 1 A schematic diagram of the structure of the intelligent cleaning component in the diagram; Figure 10 It shows Figure 9 A frontal view diagram; Figure 11 It shows Figure 9 Internal structure diagram; Figure 12 It shows Figure 11 Another structural diagram from another perspective; Figure 13 An assembly diagram of the first drive block and the first guide block is shown; Figure 14 An assembly diagram of the second drive block and the second guide block is shown; Figure 15 An assembly diagram of the third drive block and the third guide block is shown; Figure 16 An assembly diagram of the intelligent cleaning component and the assembly arm is shown.

[0018] Explanation of reference numerals in the attached figures: 100. Tractor; 110. Support frame; 120. Casters; 130. Tightening assembly; 131. Tightening cylinder; 132. Support block; 140. Mounting base; 200. Robotic arm module; 210. Connecting seat; 211. Side plate; 212. Base plate; 220. Support arm; 221. Connecting plate; 222. First connecting part; 223. Second connecting part; 224. Telescopic cylinder; 225. First arm body; 226. Second arm body; 227. Assembly arm; 2271. U-shaped groove; 2272. Shaft seat; 228. Bellows; 229. Cable chain; 230. Pitch mechanism; 231. Second drive rod; 232. Third drive rod; 233. Fourth drive rod; 234. Pitch cylinder; 2341. Fourth ear plate; 2342. Fifth ear plate; 235. Third connecting rod; 236. Fourth connecting rod; 237. Fifth connecting shaft; 238. Partition plate; 239. Sixth connecting shaft; 300. Lifting assembly; 310. Support base; 320. Lifting cylinder; 321. First ear plate; 322. Second ear plate; 330. First drive rod; 340. Linkage mechanism; 341. First connecting rod; 342. Second connecting rod; 343. Third ear plate; 344. First connecting shaft; 345. Second connecting shaft; 346. Third connecting shaft; 347. Fourth connecting shaft; 348. First crossbar; 349. Second crossbar; 400. Intelligent cleaning component; 410. Mounting element; 411. First mounting body; 412. First drive assembly; 4121. First motor; 4122. First gear; 4123. First drive block; 4124. First linear gear; 4125. First guide groove; 4126. First guide block; 413. First rotating shaft; 414. Second mounting body; 415. Second rotating shaft; 416. Second drive assembly; 4161. Second gear; 4162. Second motor; 4163, second drive block; 4164, second linear gear; 4165, second guide groove; 4166, second guide block; 417, third mounting body; 418, third rotating shaft; 419, third drive assembly; 4191, third gear; 4192, third motor; 4193, third drive block; 4194, third linear gear; 4195, third guide groove; 4196, third guide block; 420, swing arm; 430, nozzle. Detailed Implementation

[0019] To enable those skilled in the art to more clearly understand this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] Figure 1 A schematic diagram of the intelligent cleaning machine in one or more embodiments of this application is shown. (In conjunction with...) Figure 1 The intelligent cleaning machine provided in this application includes a mobile vehicle 100. Therefore, the mobile vehicle 100 can be used to move and fix the cleaning machine near the oil storage tank to facilitate the cleaning of the oil storage tank. In addition, the mobile vehicle 100 has a support frame 110. For ease of description, the length direction of the support frame 110 is defined as the front-to-back direction, and the first direction in the following text is also the front-to-back direction. The second direction is the width direction of the support frame 110, and the third direction is the height direction of the support frame 110.

[0021] Combination Figure 1 The cleaning machine also includes a robotic arm module 200, a lifting assembly 300, and an intelligent cleaning assembly 400. The rear end of the robotic arm module 200 is connected to the support frame 110 via the lifting assembly 300, and the intelligent cleaning assembly 400 is located at the front end of the robotic arm module 200. Therefore, the position of the robotic arm module 200 and the intelligent cleaning assembly 400 relative to the support frame 110 can be adjusted by controlling the lifting assembly 300 to adapt to the cleaning of oil storage tanks of different specifications, thereby improving the versatility of the cleaning machine. The specific configuration details of the cleaning machine are further described below with reference to the accompanying drawings.

[0022] Combination Figure 1 The support frame 110 is square, and four corners at its bottom are provided with casters 120 for easy movement of the traveling vehicle 100 with the support frame 110. In addition, the casters 120 also have a braking function. When the traveling vehicle 100 moves into position, the casters 120 can be controlled to brake so that the traveling vehicle 100 remains fixed, which facilitates the cleaning machine to clean the oil storage tank.

[0023] Combination Figure 1In some embodiments, the cleaning machine further includes a clamping assembly 130. Two sets of clamping assemblies 130 are provided, each set positioned on one side of the support frame 110 in the width direction. Each set of clamping assemblies 130 includes multiple clamping cylinders 131 spaced apart in the front-rear direction. When the traveling vehicle 100 moves into position, the telescopic portions of the clamping cylinders 131 contact the ground, making the support frame 110 more stably positioned on the ground, facilitating the cleaning of the oil storage tank. For example, each set of clamping assemblies 130 includes two clamping cylinders 131, which are respectively connected to both ends of one side of the support frame 110 in the width direction.

[0024] Combination Figure 1 In some embodiments, the clamping assembly 130 includes a support block 132, and a clamping cylinder 131 is connected to the side of the support frame 110 in the width direction. The telescopic part of the clamping cylinder 131 reciprocates vertically downwards, and the support block 132 is connected to the telescopic part of the clamping cylinder 131. When the cleaning machine moves, the telescopic part of the clamping cylinder 131 retracts to avoid obstructing the movement of the traveling vehicle 100. When the traveling vehicle 100 moves into position, the universal wheel 120 is braked, and the clamping cylinder 131 is activated, causing the telescopic part of the clamping cylinder 131 to extend and drive the support block 132 downwards, so that the support block 132 presses against the ground, improving the stability of the traveling vehicle 100 when cleaning the oil storage tank with the cleaning machine.

[0025] Figure 2 This diagram shows the assembly of the lifting assembly with the support frame and support arm module. Figure 3 A schematic diagram of the lifting assembly is shown. (Combined with...) Figure 2 as well as Figure 3In some embodiments, the lifting assembly 300 includes a support base 310, a lifting cylinder 320, a first drive rod 330, and two linkage mechanisms 340. The support base 310 is erected on the top surface of the support frame 110. The fixed end of the lifting cylinder 320 is rotatably connected to the support frame 110, and the telescopic end of the lifting cylinder 320 reciprocates along a first direction, which is the length direction of the support frame 110. The middle part of the first drive rod 330 is connected to the other end of the lifting cylinder 320, and the first drive rod 330 extends along a second direction, which is the width direction of the support frame 110. The two linkage mechanisms 340 are respectively disposed on the lifting... On both sides of the hydraulic cylinder 320 in the second direction, each linkage mechanism 340 includes a first linkage 341 and a second linkage 342. The first linkage 341 is located below the second linkage 342. Both the first linkage 341 and the second linkage 342 are located in front of the support base 310. The rear end of the first linkage 341 is rotatably connected to the support base 310, the middle part of the first linkage 341 is rotatably connected to the end of the first drive rod 330, and the front end of the first linkage 341 is rotatably connected to the rear end of the robotic arm module 200. The rear end of the second linkage 342 is rotatably connected to the support base 310, and the front end of the second linkage 342 is rotatably connected to the rear end of the robotic arm module 200. When the height of the manhole in the oil storage tank to be cleaned is inconsistent with the preset height of the robotic arm module 200, the lifting cylinder 320 is controlled to move. The extension end of the lifting cylinder 320 drives the first drive rod 330 to move synchronously. Then, the first drive rod 330 drives the first connecting rod 341 and the second connecting rod 342 to rotate around their connection with the support base 310, so as to raise or lower the robotic arm module 200 so that the height of the robotic arm module 200 is consistent with the height of the manhole in the oil storage tank. Then, the traveling vehicle 100 can be controlled to continue moving so that the robotic arm module 200 can pass through the manhole of the oil storage tank, and then the intelligent cleaning component 400 located at the front end of the robotic arm module 200 is located inside the oil storage tank.

[0026] Combination Figure 2 In some embodiments, the support base 310 is erected vertically on the support frame 110, and the support base 310 can be connected to the support frame 110 by means of screws or welding.

[0027] Combination Figure 3The fixed end of the lifting cylinder 320 is located within the support frame 110. Specifically, a fixed seat 140 is provided within the support frame 110, and a first ear plate 321 is provided at the fixed end of the lifting cylinder 320. The first ear plate 321 is inserted into the fixed seat 140 and rotatably connected to the fixed seat 140, thereby realizing the rotatable connection between the lifting cylinder 320 and the support frame 110 of the traveling vehicle 100. In addition, a second ear plate 322 is provided at the telescopic end of the lifting cylinder 320. The second ear plate 322 is sleeved on the first drive rod 330 to realize the assembly of the lifting cylinder 320 with the first drive rod 330. Furthermore, a third ear plate 343 is provided at the bottom of the first link 341 of each linkage mechanism 340. Both ends of the first drive rod 330 pass through the third ear plate 343 at the same end to realize the connection and assembly of the first drive rod 330 with the first link 341 of each linkage mechanism 340.

[0028] Figure 4 It shows Figure 3 A structural diagram from another perspective. Combined with... Figure 3 as well as Figure 4 In some embodiments, the rear ends of the first links 341 of the two linkages 340 are rotatably connected to the support base 310 via a first connecting shaft 344; the front ends of the first links 341 of the two linkages 340 are rotatably connected to the rear end of the robotic arm module 200 via a second connecting shaft 345; the rear ends of the second links 342 of the two linkages 340 are rotatably connected to the support base 310 via a third connecting shaft 346; and the front ends of the second links 342 of the two linkages 340 are rotatably connected to the rear end of the robotic arm module 200 via a fourth connecting shaft 347. Furthermore, the second links 342 of each linkage 340 can be located directly above the first links 341 and are parallel to the first links 341. Correspondingly, the third connecting shaft 346 is also parallel to the first connecting shaft 344 and above the first connecting shaft 344, and the fourth connecting shaft 347 is also parallel to the second connecting shaft 345.

[0029] Combination Figure 3 as well as Figure 4 In some embodiments, at least one first crossbar 348 is connected between the first links 341 of the two linkages 340, and at least one second crossbar 349 is connected between the two second links 342, so that the first links 341 and the two second links 342 of the two linkages 340 can move synchronously. For example, two first crossbars 348 are connected between the first links 341 of the two linkages 340, and two second crossbars 349 are also connected between the two second links 342.

[0030] In some embodiments, to achieve internal cleaning of the oil storage tank, the robotic arm module 200 of this application can pitch relative to the traveling vehicle 100. When the robotic arm module 200 of the cleaning machine passes through the manhole of the oil storage tank, the robotic arm module 200 is controlled to rotate relative to the traveling vehicle 100. The robotic arm module 200 can perform pitching motion to adjust the position of the intelligent cleaning component 400 located at the front end of the robotic arm module 200, thereby achieving cleaning of different parts of the oil storage tank's interior. The specific structure of how the robotic arm module 200 achieves pitching and rotation relative to the traveling vehicle 100 will now be further described with reference to the accompanying drawings.

[0031] Combination Figure 2 In some embodiments, the robotic arm module 200 includes a connecting seat 210, a support arm 220, and a pitch mechanism 230. The rear side of the connecting seat 210 is disposed between two linkage mechanisms 340, and the second-direction side of the connecting seat 210 is rotatably connected to the front end of the first linkage 341 and the front end of the second linkage 342 on the same side. Figure 5 A schematic diagram showing the connection and assembly of the connecting seat, support arm, and pitch mechanism is provided. Figure 6 It shows Figure 5 A structural diagram from another perspective. Combined with... Figure 2 , Figure 5 as well as Figure 6 The pitch mechanism 230 includes a second drive rod 231, a third drive rod 232, a fourth drive rod 233, a pitch cylinder 234, a third connecting rod 235, and a fourth connecting rod 236. The second drive rod 231, third drive rod 232, and fourth drive rod 233 are sequentially connected to the connecting seat 210 from rear to front. The fixed end of the pitch cylinder 234 is rotatably connected to the second drive rod 231, and the telescopic end of the pitch cylinder 234 reciprocates in a first direction. The rear end of the third connecting rod 235 and the pitch cylinder... The telescopic end of 234 is rotatably connected, the front end of the third link 235 is rotatably connected to the fourth drive rod 233; the rear end of the fourth link 236 is rotatably connected to the third drive rod 232; the bottom of the rear end of the support arm 220 is provided with a first connecting part 222 and a second connecting part 223 from back to front, the first connecting part 222 is rotatably connected to the telescopic end of the telescopic cylinder 224, the second connecting part 223 is rotatably connected to the front end of the fourth link 236, and the front end of the support arm 220 is connected to the intelligent cleaning component 400.

[0032] When the pitch angle of the robotic arm module 200 needs to be adjusted, the telescopic end of the pitch cylinder 234 is controlled to move. The telescopic end of the pitch cylinder 234 drives the support arm 220 to rotate around the third drive rod 232 and the fourth drive rod 233, thereby adjusting the angle of the support arm 220 inside the oil storage tank for cleaning different parts of the oil storage tank. For example, the support arm 220 can be rotated to a fully vertical position so that the intelligent cleaning component 400 can directly face the bottom of the oil storage tank for cleaning the bottom; in other configurations, the support arm 220 can also be rotated to an inclined position so that the cleaning machine faces the side wall or bottom of the oil storage tank for cleaning the side wall or bottom. This application does not limit this.

[0033] Combination Figure 5 as well as Figure 6 In some embodiments, the connecting seat 210 includes two side plates 211 arranged opposite each other along a second direction and a bottom plate 212 connecting the bottom of the two side plates 211, thereby making the connecting seat 210 an integral structure. The two side plates 211 are disposed between two linkage mechanisms 340. The bottom of the two side plates 211 is connected to the front end of the first link 341 of the two linkage mechanisms 340 through the second connecting shaft 345. The top of the two side plates 211 is connected to the front end of the second link 342 of the two linkage mechanisms 340 through the fourth connecting shaft 347, so as to realize the connection and assembly of the connecting seat 210 with the two linkage mechanisms 340. The third drive rod 232 and the fourth drive rod 233 are also connected from back to front between the two side plates 211.

[0034] Combination Figure 5 as well as Figure 6 In some embodiments, the second drive rod 231 connects the rear ends of the two side plates 211. The fixed end of the pitch cylinder 234 is provided with a fourth ear plate 2341, which is sleeved on the second drive rod 231 to achieve the connection and assembly between the pitch cylinder 234 and the second drive rod 231. Two third connecting rods 235 are arranged opposite each other along the second direction, and the rear ends of the two third connecting rods 235 are connected by a fifth connecting shaft 237. The telescopic end of the pitch cylinder 234 is provided with a fifth ear plate 2342, which is sleeved on the fifth connecting shaft 237 to achieve the connection and assembly between the pitch cylinder 234 and the third connecting rods 235.

[0035] Combination Figure 5 as well as Figure 6In some embodiments, a connecting plate 221 is provided on the side of the rear end of the support arm 220 in a second direction. The bottom of the connecting plate 221 protrudes from the bottom of the support arm 220. The two sides of the bottom of the connecting plate 221 in a first direction are respectively configured as a first connecting part 222 and a second connecting part 223. In order to avoid the connecting plate 221 interfering with the rotation of the component, the middle part of the bottom of the connecting plate 221 can be hollowed out.

[0036] Combination Figure 5 as well as Figure 6 In some embodiments, two connecting plates 221 are provided. The two connecting plates 221 are respectively connected to both sides of the rear end of the support arm 220 by bolts or welding. The two connecting plates 221 are respectively provided on both sides of the two third connecting rods 235. The first connecting parts 222 of the two connecting plates 221 are respectively connected to the rear end of the two third connecting rods 235 and the telescopic end of the pitch cylinder 234 through the fifth connecting shaft 237. That is, the first connecting parts 222 are simultaneously connected to the rear end of the third connecting rod 235 and the telescopic end of the pitch cylinder 234 through the fifth connecting shaft 237. Of course, in other configurations, the connection between the first connecting parts 222 and the rear end of the third connecting rod 235 and the connection with the telescopic end of the pitch cylinder 234 can also use different rotating shafts, and this application does not limit this.

[0037] Combination Figure 5 as well as Figure 6 In some embodiments, a partition 238 is provided between the two third links 235 so that the two third links 235 form an integral structure, and the front ends of the two third links 235 are fitted onto the fourth drive rod 233 to realize the assembly connection between the third links 235 and the fourth drive rod 233.

[0038] Combination Figure 5 as well as Figure 6 In some embodiments, the fourth link 236 is V-shaped, with its middle portion wrapped around the bottom of the fourth drive rod 233. Two fourth links 236 are also arranged opposite each other along the second direction, positioned between the two side plates 211 of the connecting seat 210. The rear ends of the two fourth links 236 are fitted onto the third drive rod 232, and the front ends are fitted onto the sixth connecting shaft 239. The two ends of the sixth connecting shaft 239 are respectively connected to the second connecting portions 223 of the two connecting plates 221, thereby connecting the fourth link 236 to the support arm 220.

[0039] In some embodiments, since the depth of oil storage tanks varies, the length of the support arm 220 of this application is adjustable in order to accommodate the cleaning of oil storage tanks at different depths. This allows the length of the support arm 220 to be adjusted according to the different depths of the oil storage tanks, thereby satisfying the need for comprehensive cleaning of the oil storage tanks.

[0040] Figure 7 A schematic diagram of the support arm is shown. Figure 8 It shows Figure 7 A cross-sectional schematic diagram, combined with Figure 7 as well as Figure 8 In some embodiments, the support arm 220 includes a telescopic cylinder 224, a first arm body 225, and a second arm body 226. The fixed end of the telescopic cylinder 224 is connected to the first arm body 225, and the telescopic end of the telescopic cylinder 224 extends and retracts forward and backward. The telescopic end of the telescopic cylinder 224 is connected to the second arm body 226 to drive the second arm body 226 away from or towards the first arm body 225. The distance between the first arm body 225 and the second arm body 226 can be adjusted by adjusting the extension length of the telescopic end of the telescopic cylinder 224 according to the depth of the oil storage tank.

[0041] Combination Figure 7 as well as Figure 8 In specific implementation, the two connecting plates 221 are connected to both sides of the first arm body 225 in the second direction. The top of the two connecting plates 221 protrudes from the top of the first arm body 225. The telescopic cylinder 224 is built into the first arm body 225. The second arm body 226 is located on the top of the first arm body 225 and is partially sandwiched between the two connecting plates 221. In order to limit the telescopic movement direction of the second arm body 226 during the process of using the telescopic cylinder 224 to drive the second arm body 226 to telescopically move on the top of the first arm body 225, the two connecting plates 221 can limit the telescopic movement direction of the second arm body 226.

[0042] Combination Figure 7 as well as Figure 8 In some embodiments, the support arm 220 further includes an assembly arm 227 and a bellows 228. The assembly arm 227 is located in front of the first arm body 225 and can extend and retract at the front end of the first arm body 225. The assembly arm 227 and the first arm body 225 are connected by the bellows 228. The assembly arm 227 and the second arm body 226 are fixedly connected, and the intelligent cleaning component 400 is assembled on the assembly arm 227. When the second arm body 226 is driven to extend and retract relative to the first arm body 225 by the telescopic cylinder 224, the second arm body 226 moves the assembly arm 227 away from or closer to the first arm body 225, thereby adjusting the distance between the intelligent cleaning component 400 and the first arm body 225. Correspondingly, the position of the intelligent cleaning component 400 in the oil storage tank is also adjusted to meet the cleaning needs of oil storage tanks at different depths. In addition, a water pipe used in conjunction with the intelligent cleaning component 400 is arranged on the second arm body 226 and is moved by a cable chain.

[0043] In related technologies, the intelligent cleaning component 400 is fixed to the front end of the support arm 220. When cleaning the inside of the oil storage tank, the oil storage tank can only be thoroughly cleaned by adjusting the length and rotation angle of the support arm 220. However, this cleaning method has the technical problem of limited cleaning range. Based on this, this application improves the intelligent cleaning component 400 to a certain extent to increase the cleaning range of the intelligent cleaning component 400 and ensure the cleaning effect.

[0044] Figure 9 It shows Figure 1 A schematic diagram of the structure of the intelligent cleaning component in the diagram. Figure 10 It shows Figure 9 A frontal view diagram. Combined with... Figure 9 as well as Figure 10 The intelligent cleaning component 400 of this application includes a mounting member 410, a swing arm 420, and a nozzle 430. The mounting member 410 is connected to the front end of the robotic arm module 200. Two swing arms 420 are provided, and the two swing arms 420 are connected to the front end of the mounting member 410 in a second direction. The two swing arms 420 can swing in opposite directions or towards each other. The nozzles 430 are correspondingly provided with the swing arms 420, and each swing arm 420 is provided with one or more nozzles 430. When it is necessary to clean the inside of the oil storage tank, the two swing arms 420 are controlled to swing in opposite directions or towards each other, which in turn drives the two nozzles 430 to swing in opposite directions or towards each other, thereby increasing the cleaning range of the nozzles 430 and ensuring the cleaning effect.

[0045] Figure 11 It shows Figure 9 Internal structure diagram. Figure 12 It shows Figure 11 A structural diagram from another perspective. Combined with... Figure 9 , Figure 11 as well as Figure 12To enable the two swing arms 420 to swing in opposite directions or towards each other, the mounting component 410 provided in this application includes a first mounting body 411 and a first drive assembly 412. The two swing arms 420 are connected to the front ends of the first mounting body 411 via a first rotating shaft 413, with a portion of the first rotating shaft 413 located within the first mounting body 411. The first drive assembly 412 includes a first motor 4121, a first gear 4122, and a first drive block 4123. Two first gears 4122 are disposed within the first mounting body 411, and each first gear 4122 corresponds to a first rotating shaft 413. The first gear 4122 is fitted onto the corresponding drive block 4123. The first rotating shaft 413; the first motor 4121 is connected to the first mounting body 411, the first motor 4121 has a reciprocating telescopic part, the telescopic part of the first motor 4121 is inserted into the first mounting body 411 and is located between two first gears 4122; the first drive block 4123 is at least partially disposed in the first mounting body 411 and connected to the telescopic part of the first motor 4121, the first drive block 4123 is inserted between two first gears 4122, and first linear meshing teeth 4124 are provided on both sides of the width direction of the first drive block 4123, the first linear meshing teeth 4124 mesh with the first gear 4122 on the same side. When it is necessary to control the two swing arms 420 to swing in opposite directions or towards each other, the first motor 4121 is started. The telescopic part of the first motor 4121 drives the first drive block 4123 to reciprocate between the two first gears 4122. The first linear meshing teeth 4124 on the first drive block 4123 drive the first gear 4122 on the same side to rotate, thereby driving the corresponding first rotating shaft 413 and the swing arm 420 to rotate, thus realizing the two swing arms 420 swinging in opposite directions or towards each other.

[0046] In specific implementation, the first rotating shaft 413 extends along the first direction, the first motor 4121 is connected to the outside of the first mounting body 411, and the telescopic part of the first motor 4121 telescopically extends along a third direction perpendicular to the first and second directions.

[0047] Figure 13 This shows an assembly diagram of the first drive block and the first guide block. (Combined with...) Figure 13In some embodiments, the first drive block 4123 is provided with a first guide groove 4125, which extends along the telescopic portion of the first motor 4121. The first drive assembly 412 also includes a first guide block 4126, which is fixedly connected to the first mounting body 411 and moves within the first guide groove 4125 to guide the movement direction of the first drive block 4123 through the cooperation of the first guide block 4126 and the first guide groove 4125. For example, the first drive block 4123 is provided with first guide grooves 4125 on both sides along the first direction, and correspondingly, two first guide blocks 4126 are provided. The two first guide blocks 4126 are disposed opposite to each other on both sides of the first drive block 4123 and can be fixedly connected to the first mounting body 411 by bolts. In other configurations, the first guide block 4126 and the first guide groove 4125 may only be provided on one side of the first drive block 4123, and this application does not limit this.

[0048] Combination Figure 9 , Figure 11 as well as Figure 12 In some embodiments, the mounting component 410 further includes a second mounting body 414. The first mounting body 411 is rotatably connected to the second mounting body 414 via a second rotating shaft 415. The second rotating shaft 415 extends along a first direction, and a portion of the second rotating shaft 415 is located within the second mounting body 414. That is, the first mounting body 411 can rotate around the second rotating shaft 415, thereby driving the nozzle 430 on the swing arm 420 to rotate around the second rotating shaft 415. At the same time, the two swing arms 420 swing in opposite directions or towards each other to further ensure the cleaning range of the intelligent cleaning component 400 and ensure the cleaning effect.

[0049] To enable the first mounting body 411 to rotate relative to the second mounting body 414, the mounting component 410 of this application further includes a second drive assembly 416. The second drive assembly 416 includes a second gear 4161, a second motor 4162, and a second drive block 4163. The second gear 4161 is disposed within the second mounting body 414 and is fitted onto the second rotating shaft 415. The second motor 4162 is connected to the second mounting body 414 and has a reciprocating telescopic portion, which is inserted into the second mounting body 414. The second drive block 4163 is at least partially disposed within the second mounting body 414 and connected to the telescopic portion of the second motor 4162. A second linear tooth 4164 is provided on one side of the second drive block 4163 in the width direction, and the second linear tooth 4164 meshes with the second gear 4161. When it is necessary to control the rotation of the first mounting body 411 relative to the second mounting body 414, the second motor 4162 is started. The telescopic part of the second motor 4162 drives the second drive block 4163 to reciprocate within the second mounting body 414, and the second linear meshing teeth 4164 on the second drive block 4163 drive the second gear 4161 to rotate, thereby driving the corresponding second rotating shaft 415 and the first mounting body 411 to rotate, thus realizing the rotation of the first mounting body 411 relative to the second mounting body 414.

[0050] In practice, the second rotating shaft 415 extends along the first direction, the second motor 4162 is connected to the outside of the second mounting body 414, and the telescopic part of the second motor 4162 extends and retracts along the second direction.

[0051] Figure 14 This shows an assembly diagram of the second drive block and the second guide block. (Combined) Figure 14 In some embodiments, the second drive block 4163 is provided with a second guide groove 4165, which extends along the telescopic portion of the second motor 4162. The second drive assembly 416 also includes a second guide block 4166, which is fixedly connected to the second mounting body 414 and moves within the second guide groove 4165 to guide the movement direction of the second drive block 4163 through the cooperation of the second guide block 4166 and the second guide groove 4165. Exemplarily, the second drive block 4163 has second guide grooves 4165 on both sides along the second direction, and correspondingly, two second guide blocks 4166 are provided, which are disposed opposite to each other on both sides of the second drive block 4163 and can be fixedly connected to the second mounting body 414 by bolts. In other configurations, the second drive block 4166 and the second guide groove 4165 may only be provided on one side of the second drive block 4163; this application does not limit this.

[0052] Combination Figure 9, Figure 11 as well as Figure 12 In some embodiments, the mounting component 410 further includes a third mounting body 417, and the second mounting body 414 is rotatably connected to the third mounting body 417 via a third rotating shaft 418. At least a portion of the third rotating shaft 418 is disposed within the third mounting body 417, and the third rotating shaft 418 extends along a second direction, that is, the second mounting body 414 can rotate around the third rotating shaft 418, thereby driving the first mounting body 411 and the nozzle 430 on the swing arm 420 of the first mounting body 411 to rotate around the third rotating shaft 418. At the same time, the swing arm 420 can also rotate around the second rotating shaft 415, and the two swing arms 420 can swing in opposite directions or towards each other, so as to further ensure the cleaning range of the intelligent cleaning component 400 and ensure the cleaning effect.

[0053] Combination Figure 9 , Figure 11 as well as Figure 12 To enable the second mounting body 414 to rotate relative to the third mounting body 417, the mounting component 410 of this application further includes a third drive assembly 419. The third drive assembly 419 includes a third gear 4191, a third motor 4192, and a third drive block 4193. The third gear 4191 is disposed inside the third mounting body 417 and is fitted onto the third rotating shaft 418. The third motor 4192 is connected to the third mounting body 417 and has a reciprocating telescopic part, which is inserted into the third mounting body 417. The third drive block 4193 is at least partially disposed inside the third mounting body 417 and connected to the telescopic part of the third motor 4192. A third linear meshing tooth 4194 is provided on one side of the third drive block 4193 in the width direction, and the third linear meshing tooth 4194 meshes with the third gear 4191. When it is necessary to control the rotation of the second mounting body 414 relative to the third mounting body 417, the third motor 4192 is started. The telescopic part of the third motor 4192 drives the third drive block 4193 to reciprocate within the third mounting body 417, and the third linear meshing tooth 4194 on the third drive block 4193 drives the third gear 4191 to rotate, thereby driving the corresponding third rotating shaft 418 and the second mounting body 414 to rotate, thus realizing the rotation of the second mounting body 414 relative to the third mounting body 417.

[0054] In practice, the third rotating shaft 418 extends along the second direction, the third motor 4192 is connected to the outside of the third mounting body 417, and the telescopic part of the third motor 4192 extends and retracts along the first direction.

[0055] Figure 15 This shows an assembly diagram of the third drive block and the third guide block. (Combined with...) Figure 15In some embodiments, the third drive block 4193 is provided with a third guide groove 4195, which extends along the telescopic portion of the third motor 4192. The third drive assembly 419 also includes a third guide block 4196, which is fixedly connected to the third mounting body 417 and moves within the third guide groove 4195 to guide the movement direction of the third drive block 4193 through the cooperation of the third guide block 4196 and the third guide groove 4195. For example, the third drive block 4193 is provided with third guide grooves 4195 on both sides along the third direction. Correspondingly, two third guide blocks 4196 are also provided, which are disposed opposite to each other on both sides of the third drive block 4193 and can be fixedly connected to the third mounting body 417 by bolts. In other configurations, a third guide block 4196 and a third guide groove 4195 that cooperate with each other may be provided only on one side of the third drive block 4193. This application does not limit this.

[0056] Figure 16 An assembly diagram of the intelligent cleaning component and assembly arm is shown. (Combined with...) Figure 16 In some embodiments, the third mounting body 417 is connected to the front end of the robotic arm module 200 to achieve the assembly of the entire intelligent cleaning component 400 with the robotic arm module 200. In a specific implementation, the third mounting body 417 is located on one side of the front end of the assembly arm 227 in a second direction. The front end of the assembly arm 227 has a U-shaped groove 2271, and part of the third rotating shaft 418 is disposed in the U-shaped groove 2271. The second mounting body 414 is rotatably connected to the U-shaped groove 2271 through the third rotating shaft 418.

[0057] Combination Figure 16 In specific implementation, one side of the U-shaped groove 2271 in the second direction protrudes from the other side, the third mounting block is fitted to the outside of one side of the U-shaped groove 2271 in the second direction, the other side of the U-shaped groove 2271 in the second direction is connected to a bearing seat 2272, one end of the third rotating shaft 418 is connected to the bearing seat 2272, and the other end of the third rotating shaft 418 passes through one side of the U-shaped groove 2271 in the second direction and is located in the third mounting block.

[0058] It should be noted that the two swing arms 420 can move in opposite directions or towards each other, the first mounting block can rotate relative to the second mounting block, and the second mounting block can rotate relative to the third mounting block simultaneously, or one or both of them can be selected to operate. The specific logic can be set according to the cleaning part, and this application does not impose any restrictions on this.

[0059] The intelligent cleaning machine provided in this application first uses a traveling vehicle 100 to move the cleaning machine to the oil storage tank to be cleaned. According to the height of the manhole of the oil storage tank, the height of the support arm 220 module is adjusted by the drive component so that the support arm 220 module can pass smoothly through the manhole. Then, the pitch cylinder 234 is used to adjust the angle and posture of the support arm 220 module inside the oil storage tank, and with the help of the intelligent cleaning component 400, a comprehensive cleaning of the inside of the oil storage tank is achieved.

[0060] It should be noted that the intelligent cleaning machine provided in this application is not only suitable for cleaning oil storage tanks or pools, but also for cleaning storage tanks or pools in the chemical or food industries.

[0061] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0062] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0063] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0064] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified. Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An intelligent cleaning machine, characterized in that, The cleaning machine includes: A traveling vehicle has a support frame, wherein the length direction of the support frame is defined as the front-to-back direction; The robotic arm module, drive assembly, and intelligent cleaning assembly are provided. The rear end of the robotic arm module is connected to the support frame via the drive assembly, and the front end of the robotic arm module is equipped with the intelligent cleaning assembly. The drive assembly includes: A support base is erected on the top surface of the support frame; The lifting cylinder has a fixed end that is rotatably connected to the support frame, and a telescopic end that reciprocates along a first direction, which is the length direction of the support frame. The first drive rod is connected to the telescopic end of the lifting cylinder in the middle. The first drive rod extends along the second direction, which is the width direction of the support frame. Two linkage mechanisms are respectively arranged on both sides of the lifting cylinder in a second direction. Each linkage mechanism includes a first link and a second link. The first link is located below the second link, and both the first link and the second link are located in front of the support base. The rear end of the first link is rotatably connected to the support base, the middle part of the first link is rotatably connected to the end of the first drive rod, and the front end of the first link is rotatably connected to the rear end of the robotic arm module. The rear end of the second link is rotatably connected to the support base, and the front end of the second link is rotatably connected to the rear end of the robotic arm module.

2. The intelligent cleaning machine according to claim 1, characterized in that, In the two linkage mechanisms, at least one first crossbar is connected between the two first links, and at least one second crossbar is connected between the two second links.

3. The intelligent cleaning machine according to claim 1, characterized in that, The robotic arm module includes: A connecting seat is disposed on the rear side between the two linkage mechanisms, and the second side of the connecting seat is rotatably connected to the front end of the first linkage and the front end of the second linkage on the same side. The second drive rod, the third drive rod, and the fourth drive rod are connected to the connecting seat in sequence from back to front; The pitch cylinder has a fixed end that is rotatably connected to the second drive rod, and a telescopic end that reciprocates in a first direction. The third link is rotatably connected at its rear end to the telescopic end of the pitch cylinder and rotatably connected at its front end to the fourth drive rod. The fourth link is rotatably connected to the third drive link at its rear end; The support arm has a first connecting part and a second connecting part at the bottom of the rear end, which are arranged from back to front. The first connecting part is rotatably connected to the telescopic end of the telescopic cylinder, and the second connecting part is rotatably connected to the front end of the fourth connecting rod. The front end of the support arm is connected to the intelligent cleaning component.

4. The intelligent cleaning machine according to claim 3, characterized in that, The first connecting part is connected to the rear end of the third connecting rod and the telescopic end of the pitch cylinder simultaneously via the fifth connecting shaft; The fourth link is V-shaped, and its middle part is wrapped around the bottom of the fourth drive rod.

5. The intelligent cleaning machine according to claim 3, characterized in that, The support arm includes a telescopic cylinder, a first arm body, and a second arm body. The fixed end of the telescopic cylinder is connected to the first arm body, and the telescopic end of the telescopic cylinder extends and retracts forward and backward. The telescopic end of the telescopic cylinder is connected to the second arm body to drive the second arm body away from or closer to the first arm body.

6. The intelligent cleaning machine according to claim 5, characterized in that, The support arm also includes an assembly arm and a bellows. The assembly arm is located in front of the first arm body and can extend and retract at the front end of the first arm body. The assembly arm and the first arm body are connected by the bellows. The assembly arm and the second arm body are fixedly connected. The intelligent cleaning component is assembled on the assembly arm.

7. A smart cleaning machine according to any one of claims 1-6, characterized in that, The intelligent cleaning component includes: Mounting component, connected to the front end of the robotic arm module; Two swing arms are connected to the front end of the mounting component in a second direction, and the two swing arms can swing in opposite directions or towards each other. The nozzles are provided corresponding to the swing arms, and each swing arm is provided with one or more nozzles.

8. The intelligent cleaning machine according to claim 7, characterized in that, The mounting component includes: A first mounting body, wherein two swing arms are connected relative to each other along a second direction via a first pivot, and a portion of the first pivot is located within the first mounting body; Two first gears are disposed in the first mounting body, and the first gears and the first rotating shafts are respectively configured to correspond one-to-one, with the first gears being fitted onto the corresponding first rotating shafts; A first motor is connected to the first mounting body. The first motor has a reciprocating telescopic part, which is inserted into the first mounting body and located between the two first gears. The first drive block is at least partially disposed in the first mounting body and connected to the telescopic part of the first motor. The first drive block is inserted between the two first gears. The first drive block has first linear teeth on both sides in the width direction, and the first linear teeth mesh with the first gear on the same side.

9. The intelligent cleaning machine according to claim 8, characterized in that, The mounting component also includes: The second mounting body is rotatably connected to the first mounting body via a second rotating shaft, a portion of the second rotating shaft is located within the second mounting body, and the second rotating shaft extends along a first direction. The second gear is disposed in the second mounting body and is fitted onto the second rotating shaft; A second motor is connected to the second mounting body. The second motor has a reciprocating telescopic part, which is inserted into the second mounting body. The second drive block is at least partially disposed in the second mounting body and connected to the telescopic part of the second motor. A second linear tooth is provided on one side of the second drive block in the width direction, and the second linear tooth meshes with the second gear.

10. A smart cleaning machine according to claim 9, characterized in that, The mounting component also includes: A third mounting body is provided, wherein the second mounting body is rotatably connected to the third mounting body via a third rotating shaft, at least a portion of the third rotating shaft is disposed within the third mounting body, and the third mounting body is connected to the front end of the robotic arm module; The third gear is disposed in the third mounting body and is fitted onto the third rotating shaft; A third motor is connected to the third mounting body. The third motor has a reciprocating telescopic part, which is inserted into the third mounting body. A third drive block is at least partially disposed in the third mounting body and connected to the telescopic part of the third motor. A third linear tooth is provided on one side of the third drive block in the width direction, and the third linear tooth meshes with the third gear.

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