A robot gripper

Abstract

The application relates to the technical field of robots, in particular to a robot clamp which comprises a moving base, a cooperation mechanical arm arranged above the moving base, a mechanical hand connected to one end of the cooperation mechanical arm away from the moving base, and a remote control system used for controlling the moving base, the cooperation mechanical arm and the mechanical hand; the mechanical hand comprises a plurality of clamping claws, a clamping claw is provided with a clamping interface on the inner wall of one end thereof away from the cooperation mechanical arm, a connecting ring is clamped in the middle of the clamping interface, a connecting sleeve is connected to the middle of the connecting ring, and a writing pen is connected to one end of the connecting sleeve away from the connecting ring; and a plurality of suction cups are fixedly connected to one end of the clamping claw close to the connecting ring. The clamping claws drive the paper surface to turn to one side, when the paper surface turns to a moving angle, the suction cups stop working, and the other two clamping claws hold the turned-up paper surface and push the paper surface to move to the turning side, so that the pages of the book are turned.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a robotic gripper. Background Technology

[0002] With the development of robotics, automatic control, and machine vision technologies, robots are increasingly being applied to scenarios such as text writing, drawing, teaching demonstrations, and document transcription. Automatic writing robots typically use a robotic arm to move a writing pen along a preset trajectory on paper or books to simulate the human writing process. Compared to manual writing, automatic writing robots can continuously complete writing tasks according to pre-set text content, making them highly valuable in repetitive text recording, blackboard writing in education, and batch writing applications.

[0003] The patent with authorization announcement number CN216759890U discloses a remote-assisted teaching robot. Its robotic arm is equipped with a gripping mechanism. After the gripping mechanism holds a writing pen, the robotic arm can drive the writing pen to perform writing, drawing and other operations, thereby enriching the robot's functions and improving its practicality.

[0004] However, when using robots for automated writing, the writing medium is typically a book, notebook, or a recording medium consisting of multiple pages. Once the writable area of ​​the current page is finished, the page needs to be flipped to make the next page writable before writing can continue. Existing robots with writing capabilities usually control a writing pen with a robotic arm to write text or graphics, but the flipping of pages during the writing process still requires manual intervention from the user. When the robot is handling a large amount of content and needs to write multiple pages continuously, the user needs to frequently intervene to flip pages, which not only interrupts the robot's continuous writing process but also increases the amount of manual operation, reduces the continuity and automation of automated writing, and affects overall writing efficiency. Summary of the Invention

[0005] To address the problems in existing technologies, this invention provides a robotic gripper that enables users to write while simultaneously turning pages autonomously, saving learning time and avoiding disruption to their learning flow caused by frequent page turning.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a robot gripper, including a movable seat, a cooperating robotic arm is arranged above the movable seat, and a robotic hand is connected to the end of the cooperating robotic arm away from the movable seat. The movable seat, the cooperating robotic arm and the robotic hand are all controlled by a remote control system. The robotic arm includes a gripper, and there are multiple grippers. The inner wall of the gripper at the end away from the cooperating robotic arm has a locking interface. A connecting ring is locked in the middle of the locking interface. A connecting sleeve is connected to the middle of the connecting ring. A writing pen is connected to the end of the connecting sleeve away from the connecting ring. The clamping gripper is fixedly connected to one end near the connecting ring with multiple suction cups.

[0007] Specifically, the robotic arm also includes a mounting base, the gripper is connected to the end of the mounting base away from the cooperating robotic arm, a connecting platform is hinged to the middle of the gripper, a camera is fixedly connected to the side wall of the gripper away from the connecting platform, a drive motor is fixedly connected to the side of the mounting base away from the connecting platform, the output end of the drive motor rotates through the mounting base, a threaded rod is fixedly connected to the output end of the drive motor, the threaded rod passes through the connecting platform, and the threaded rod is threadedly connected to the connecting platform.

[0008] Specifically, an air pump is installed between the connecting platform and the mounting base. A contact switch is installed on the side of the air pump near the mounting base. An air pipe is fixedly connected to the end of the air pump away from the mounting base. The end of the air pipe away from the air pump is connected to a suction cup.

[0009] Specifically, the end of the clamping gripper away from the mounting base is connected to a pen control assembly. The pen control assembly includes a connecting sleeve for inserting a writing pen. The connecting sleeve includes a connecting ball, which is fixedly connected inside a connecting ring. The connecting sleeve is hollow.

[0010] Specifically, a plurality of clamping cylinders are fixedly connected to the inner wall of the connecting sleeve, and a clamping plate is fixedly connected to the telescopic end of the clamping cylinder. One end of the clamping plate is inclined, and the inner wall of the clamping plate is rough.

[0011] Specifically, a support platform is fixedly connected to the middle of the upper surface of the movable seat, a first adjusting motor is fixedly connected to the middle of the support platform, a rotating disk is fixedly connected to the output end of the first adjusting motor, and a support plate is fixedly connected to the side of the rotating disk away from the support platform.

[0012] Specifically, the cooperating robotic arm includes an adjusting spindle frame, one end of which is hinged to the middle of a support plate near the rotating disk, and two connecting heads are rotatably connected to both sides of the end of the adjusting spindle frame away from the rotating disk. The mounting base is fixedly connected between the two connecting heads.

[0013] Specifically, a first electrically controlled push rod is hinged to the middle of the upper surface of the rotating disk, and a sliding bracket is hinged to the telescopic end of the first electrically controlled push rod. The sliding bracket is fixedly connected to the bottom of the adjusting spindle frame, and multiple loudspeakers are connected to both sides of the adjusting spindle frame.

[0014] Specifically, an upper adjusting frame is slidably connected to the upper surface of the adjusting spindle frame near the support plate. A third electrically controlled push rod is hinged to the middle of the upper adjusting frame. The end of the third electrically controlled push rod away from the upper adjusting frame is hinged to the upper surface of the adjusting spindle frame. A second electrically controlled push rod is rotatably connected to the middle of the end of the adjusting spindle frame away from the support plate. The end of the second electrically controlled push rod away from the adjusting spindle frame is rotatably connected to the lower surface of the upper adjusting frame. The outer wall of the connecting head is provided with an arc-shaped hole, and the upper adjusting frame is fixedly connected to two sides near the connecting head with sliding pins, which are movably inserted into the arc-shaped hole.

[0015] The beneficial effects of this invention are: (1) The present invention uses the cooperation of the moving seat and the first adjusting motor to drive the paper surface to one side through the clamping gripper. When the paper is flipped to the moving angle, the suction cup stops working. The other two clamping grippers block the flipped paper surface and push the paper surface to the flipping side to realize the page turning of the book. After the page is completely turned, the clamping gripper can press the paper surface that has just been turned to prevent the paper from automatically flipping back due to its own elasticity. This can help the user to achieve automatic page turning. The speaker can communicate with the user at any time, which is conducive to ensuring that the user can study at the same time and increase the user experience.

[0016] (2) During the writing process, the movable seat can move according to the writing position, thereby increasing the writing range of the writing pen. The output end of the first adjustment motor can slowly rotate to drive the rotating disk to rotate, thereby driving the adjustment spindle to rotate at a certain angle. The movable seat only needs to move in a straight line to realize line changing during the writing process, further increasing the writing range and increasing the adjustment efficiency during the writing process, which is conducive to fast writing.

[0017] (3) The present invention can simultaneously control the moving seat, the robotic arm and the robotic hand to work through the remote control system. The camera can collect and transmit the image information on the learner's side. The gripper can hold the connecting ring. The connecting ring drives the connecting sleeve set in the middle to move. The connecting sleeve can drive the writing pen at the bottom to move, thereby achieving the purpose of writing text on the paper surface. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a diagram showing the connection between the sliding bracket and the first electrically controlled push rod of the present invention; Figure 3 This is a schematic diagram of the three-dimensional structure of the adjustable spindle frame of the present invention; Figure 4 This is a three-dimensional structural diagram of the mounting base of the present invention; Figure 5 This is a schematic diagram of the connection structure between the camera and the clamping gripper in this invention. Figure 6 This is a schematic diagram of the connection platform and the air tube 36 of the present invention. Figure 7 For the present invention Figure 6 Enlarged view of point A in the middle; Figure 8 This is a three-dimensional structural diagram of the connecting sleeve of the present invention; Figure 9 For the present invention Figure 8 Sectional view.

[0020] In the diagram: 1. Movable seat; 11. Support platform; 12. First adjusting motor; 13. Rotary disk; 14. Support plate; 2. Cooperating robotic arm; 21. Adjusting spindle frame; 22. Sliding bracket; 23. First electrically controlled push rod; 24. Megaphone; 25. Second electrically controlled push rod; 26. Upper adjusting frame; 27. Third electrically controlled push rod; 28. Connecting turn head; 3. Robotic arm; 31. Mounting base; 32. Drive motor; 33. Clamping gripper; 331. Card interface; 332. Suction cup; 333. Connecting platform; 34. Camera; 35. Air pump; 36. Air pipe; 6. Pen control assembly; 61. Connecting sleeve; 611. Connecting ball; 613. Clamping cylinder; 614. Clamping plate; 62. Connecting ring; 7. Writing pen. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0022] like Figures 1-9 As shown, a robot gripper of the present invention includes a movable base 1, a cooperating robotic arm 2 is disposed above the movable base 1, and a robotic hand 3 is connected to the end of the cooperating robotic arm 2 away from the movable base 1. The movable base 1, the cooperating robotic arm 2 and the robotic hand 3 are all controlled by a remote control system. The robotic arm 3 includes a gripper 33, and there are multiple grippers 33. The inner wall of the gripper 33 away from the cooperating robotic arm 2 has a locking interface 331. A connecting ring 62 is locked in the middle of the locking interface 331. A connecting sleeve 61 is connected to the middle of the connecting ring 62. A writing pen 7 is connected to the end of the connecting sleeve 61 away from the connecting ring 62. The clamping gripper 33 is fixedly connected to a plurality of suction cups 332 at one end near the connecting ring 62.

[0023] During operation, the remote control system can simultaneously control the mobile seat 1, the robotic arm 2, and the robotic hand 3 to work together. The camera 34 can collect and transmit the image information from the learner's side. When writing is required, the robotic arm 2 and the robotic hand 3 can work together to turn the pages of the book and control the writing pen 7 to write. One of the grippers 33, positioned close to the paper surface, is brought near the paper surface to suck it in through the suction cup 332. Through the cooperation of the movable seat 1 and the first adjusting motor 12, the gripper 33 drives the paper surface to flip to one side. Once the flipped angle is reached, the suction cup 332 stops working, and the other two grippers 33 block the flipped paper surface and push it to the flipped side, thus turning the pages of the book. After the pages are fully turned, the grippers 33 can press down on the flipped paper surface to prevent it from automatically flipping back due to its own elasticity. Specifically, the robotic arm 3 also includes a mounting base 31, and a gripper 33 is connected to the end of the mounting base 31 away from the cooperating robotic arm 2. A connecting platform 333 is hinged to the middle of the gripper 33. A camera 34 is fixedly connected to the side wall of the gripper 33 away from the connecting platform 333. A drive motor 32 is fixedly connected to the side of the mounting base 31 away from the connecting platform 333. The output end of the drive motor 32 rotates through the mounting base 31. A threaded rod is fixedly connected to the output end of the drive motor 32. The threaded rod passes through the connecting platform 333 and is threadedly connected to the connecting platform 333.

[0024] The connecting platform 333 serves as a connector and controls the opening and closing of the clamping gripper 33. The drive motor 32 drives the threaded rod to rotate. During the rotation of the threaded rod, the connecting platform 333, which is sleeved on the outside, moves upward along the outer wall of the threaded rod, causing the clamping gripper 33 to open. When the clamping gripper 33 moves to the preset position, the drive motor 32 is controlled to rotate in the direction of rotation. The clamping gripper 33 can clamp the connecting ring 62. The connecting ring 62 drives the connecting sleeve 61 set in the middle to move. The connecting sleeve 61 can drive the writing pen 7 at the bottom to move, thereby achieving the purpose of writing text on the paper surface.

[0025] Specifically, an air pump 35 is installed between the connecting platform 333 and the mounting base 31. A contact switch is installed on the side of the air pump 35 near the mounting base 31. An air pipe 36 is fixedly connected to the end of the air pump 35 away from the mounting base 31. The end of the air pipe 36 away from the air pump 35 is connected to the suction cup 332.

[0026] When one page is finished writing, the drive motor 32 rotates, causing the threaded rod to rotate, which moves the connecting platform 333 closer to the mounting base 31. This brings the air pump 35 into contact with the mounting base 31, triggering the contact switch. After the air pump 35 starts working, it creates a negative pressure at the suction cup 332 through the air pipe 36, causing one of the gripping claws 33 near the paper surface to approach the paper surface and suck it in. Through the cooperation of the moving base 1 and the first adjusting motor 12, the gripping claw 33 drives the paper surface to flip to one side. When the flipping reaches the desired angle, the suction cup 33 stops working, and the other two gripping claws 33 block the flipped paper surface and push the paper surface to the flipping side to turn the page. After the page is fully turned, the gripping claw 33 can be used to press the just-turned paper surface to prevent the just-turned paper from automatically flipping back due to its own elasticity.

[0027] Specifically, the end of the clamping gripper 33 away from the mounting base 31 is connected to a pen control assembly 6. The pen control assembly 6 includes a connecting sleeve 61 for inserting a writing pen 7. The connecting sleeve 61 includes a connecting ball 611, which is fixedly connected inside the connecting ring 62. The connecting sleeve 61 is hollow.

[0028] The hollow design of the connecting sleeve 61 allows for internal storage and securing.

[0029] Specifically, a plurality of clamping cylinders 613 are fixedly connected to the inner wall of the connecting sleeve 61, and a clamping plate 614 is fixedly connected to the telescopic end of the clamping cylinder 613. One end of the clamping plate 614 is inclined, and the inner wall of the clamping plate 614 is rough.

[0030] When the writing pen 7 is inserted into the connecting sleeve 61, the writing pen 7 can be clamped by the clamping plate 614 and pressed by the clamping cylinder 613, which helps to ensure the stability of the writing pen 7 during the writing process. The inclined shape of one end of the clamping plate 614 helps to guide the insertion of the writing pen 7. The rough inner wall of the clamping plate 614 can prevent the writing pen 7 from shaking during the writing process.

[0031] Specifically, a support platform 11 is fixedly connected to the middle of the upper surface of the movable seat 1, a first adjusting motor 12 is fixedly connected to the middle of the support platform 11, a rotating disk 13 is fixedly connected to the output end of the first adjusting motor 12, and a support plate 14 is fixedly connected to the side of the rotating disk 13 away from the support platform 11.

[0032] The support platform 11 serves to support and install the robot. The first adjusting motor 12 drives the rotating disk 13 to rotate, thereby driving the robotic arm 2 to rotate synchronously.

[0033] Specifically, the cooperating robotic arm 2 includes an adjusting spindle frame 21. The end of the adjusting spindle frame 21 near the rotating disk 13 is hinged to the middle of the support plate 14. Both sides of the end of the adjusting spindle frame 21 away from the rotating disk 13 are rotatably connected to connecting heads 28. The mounting base 31 is fixedly connected between the two connecting heads 28.

[0034] A first electrically controlled push rod 23 is hinged to the middle of the upper surface of the rotating disk 13. The telescopic end of the first electrically controlled push rod 23 is hinged to a sliding bracket 22. The sliding bracket 22 is fixedly connected to the bottom of the adjusting spindle frame 21. Multiple loudspeakers 24 are connected to both sides of the adjusting spindle frame 21.

[0035] The extension and retraction of the first electronically controlled push rod 23 can control the rotation of the main shaft frame 21 along the inner wall of the support plate 14, thereby adjusting the distance between the writing pen 7 and the paper surface. When the writing pen 7 is a pencil-like pen with length consumption, it can ensure that the writing pen 7 is in continuous contact with the paper surface during the writing process, ensuring the continuity of the writing process. The speaker 24 can transmit sound information to the user at all times.

[0036] Specifically, an upper adjusting frame 26 is slidably connected to the upper surface of the adjusting spindle frame 21 near the support plate 14. A third electrically controlled push rod 27 is hinged to the middle of the upper adjusting frame 26. The end of the third electrically controlled push rod 27 away from the upper adjusting frame 26 is hinged to the upper surface of the adjusting spindle frame 21. A second electrically controlled push rod 25 is rotatably connected to the middle of the end of the adjusting spindle frame 21 away from the support plate 14. The end of the second electrically controlled push rod 25 away from the adjusting spindle frame 21 is rotatably connected to the lower surface of the upper adjusting frame 26. The outer wall of the connecting head 28 is provided with an arc-shaped hole, and the upper adjusting frame 26 is fixedly connected to both sides of one end near the connecting head 28 with sliding pins, which are movably inserted into the arc-shaped hole.

[0037] The third electric push rod 27 and the second electric push rod 25 work together to control the connecting head 28 to rotate at a certain angle, thereby driving the writing pen 7 connected at the bottom to move synchronously, thus achieving the purpose of controlling the movement of the writing pen 7. Through the movement cooperation with the moving seat 1, the writing pen 7 can be controlled to move in any direction. Since there is a movement distance between the robotic arm 3 and the moving seat 1, the moving seat 1 will not crush the writing notes during the writing process of the writing pen 7.

[0038] Working principle: During operation, the remote control system can simultaneously control the mobile base 1, the robotic arm 2, and the robotic hand 3 to work together. The camera 34 can collect and transmit the image information from the learner's side. When writing is required, the mobile base 1 drives the robotic arm 2 and robotic hand 3 connected above to move to the preset position. The drive motor 32 drives the threaded rod to rotate. During the rotation of the threaded rod, the connecting platform 333 on the outside moves upward along the outer wall of the threaded rod, causing the gripper 33 to open. When the gripper 33 moves to the preset position, the drive motor 32 is controlled to rotate in the direction of rotation. The gripper 33 can grip the connecting ring 62. The connecting ring 62 drives the connecting sleeve 61 set in the middle to move. The connecting sleeve 61 can drive the writing pen 7 at the bottom to move, thereby achieving the purpose of writing text on the paper surface.

[0039] During the writing process, the movable seat 1 can move according to the writing position, thereby increasing the writing range of the writing pen 7. The output end of the first adjustment motor 12 can slowly rotate to drive the rotating disk 13 to rotate, thereby driving the adjustment spindle frame 21 to rotate at a certain angle. The movable seat 1 only needs to move in a straight line to realize line changing during the writing process, further increasing the writing range and increasing the adjustment efficiency during the writing process, which is conducive to fast writing.

[0040] The extension and retraction of the first electrically controlled push rod 23 can control the rotation of the main shaft frame 21 along the inner wall of the support plate 14, thereby adjusting the distance between the writing pen 7 and the paper surface. When the writing pen 7 is a pencil-like pen with length consumption, it can ensure that the writing pen 7 is in continuous contact with the paper surface during the writing process, ensuring the continuity of the writing process. The cooperation between the third electrically controlled push rod 27 and the second electrically controlled push rod 25 can control the rotation of the connecting head 28 at a certain angle, thereby driving the writing pen 7 connected at the bottom to move synchronously, achieving the purpose of controlling the movement of the writing pen 7. Through the movement cooperation with the moving seat 1, it is possible to control the movement of the writing pen 7 in any direction. Since there is a movement distance between the robotic arm 3 and the moving seat 1, the moving seat 1 will not crush the writing pen 7 during the writing process.

[0041] When one page is finished writing, the drive motor 32 rotates, causing the threaded rod to rotate, which moves the connecting platform 333 closer to the mounting base 31. This brings the air pump 35 into contact with the mounting base 31, triggering the contact switch. After the air pump 35 starts working, it creates a negative pressure at the suction cup 332 through the air pipe 36, causing one of the gripping claws 33 near the paper surface to approach the paper surface and suck it in. Through the cooperation of the moving base 1 and the first adjusting motor 12, the gripping claw 33 drives the paper surface to flip to one side. When the flipping reaches the desired angle, the suction cup 33 stops working, and the other two gripping claws 33 block the flipped paper surface and push the paper surface to the flipping side to turn the page. After the page is fully turned, the gripping claw 33 can be used to press the just-turned paper surface to prevent the just-turned paper from automatically flipping back due to its own elasticity.

[0042] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot gripper, characterized in that: Includes a movable seat (1), and a cooperating robotic arm (2) is provided above the movable seat (1). A robotic hand (3) is connected to one end of the cooperating robotic arm (2) away from the movable seat (1). The movable seat (1), the cooperating robotic arm (2) and the robotic hand (3) are all controlled by a remote control system. The robotic arm (3) includes a gripper (33), and there are multiple grippers (33). The inner wall of the gripper (33) away from the cooperating robotic arm (2) has a card interface (331). A connecting ring (62) is connected to the middle of the card interface (331). A connecting sleeve (61) is connected to the middle of the connecting ring (62). A writing pen (7) is connected to the end of the connecting sleeve (61) away from the connecting ring (62). The clamping gripper (33) is fixedly connected to a plurality of suction cups (332) at one end near the connecting ring (62).

2. The robot gripper according to claim 1, characterized in that: The robotic arm (3) also includes a mounting base (31). The gripper (33) is connected to the end of the mounting base (31) away from the cooperating robotic arm (2). A connecting platform (333) is hinged in the middle of the gripper (33). A camera (34) is fixedly connected to the side wall of the gripper (33) away from the connecting platform (333). A drive motor (32) is fixedly connected to the side of the mounting base (31) away from the connecting platform (333). The output end of the drive motor (32) rotates through the mounting base (31). A threaded rod is fixedly connected to the output end of the drive motor (32). The threaded rod passes through the connecting platform (333) and is threadedly connected to the connecting platform (333).

3. A robot gripper according to claim 2, characterized in that: An air pump (35) is installed between the connecting platform (333) and the mounting base (31). A contact switch is installed on the side of the air pump (35) near the mounting base (31). An air pipe (36) is fixedly connected to the end of the air pump (35) away from the mounting base (31). The end of the air pipe (36) away from the air pump (35) is connected to the suction cup (332).

4. A robot gripper according to claim 3, characterized in that: The end of the clamping gripper (33) away from the mounting base (31) is connected to a pen control assembly (6). The pen control assembly (6) includes a connecting sleeve (61) for inserting a writing pen (7). The connecting sleeve (61) includes a connecting ball (611). The connecting ball (611) is fixedly connected inside the connecting ring (62). The connecting sleeve (61) is hollow.

5. A robot gripper according to claim 4, characterized in that: Multiple clamping cylinders (613) are fixedly connected to the inner wall of the connecting sleeve (61). A clamping plate (614) is fixedly connected to the telescopic end of the clamping cylinder (613). One end of the clamping plate (614) is inclined, and the inner wall of the clamping plate (614) is rough.

6. A robot gripper according to claim 2, characterized in that: A support platform (11) is fixedly connected to the middle of the upper surface of the movable seat (1), a first adjusting motor (12) is fixedly connected to the middle of the support platform (11), a rotating disk (13) is fixedly connected to the output end of the first adjusting motor (12), and a support plate (14) is fixedly connected to the side of the rotating disk (13) away from the support platform (11).

7. A robot gripper according to claim 1, characterized in that: The cooperating robotic arm (2) includes an adjusting spindle frame (21), one end of which is hinged to the middle of the support plate (14) near the rotating disk (13), and two connecting heads (28) are rotatably connected to the two ends of the adjusting spindle frame (21) away from the rotating disk (13). The mounting base (31) is fixedly connected between the two connecting heads (28).

8. A robot gripper according to claim 7, characterized in that: The upper surface of the rotating disk (13) is hinged to the middle of the first electrically controlled push rod (23), and the telescopic end of the first electrically controlled push rod (23) is hinged to the sliding bracket (22). The sliding bracket (22) is fixedly connected to the bottom of the adjusting spindle frame (21), and multiple loudspeakers (24) are connected to both sides of the adjusting spindle frame (21).

9. A robot gripper according to claim 8, characterized in that: The upper adjustment frame (26) is slidably connected to the upper surface of the adjustment spindle frame (21) near the support plate (14). A third electric control push rod (27) is hinged in the middle of the upper adjustment frame (26). The end of the third electric control push rod (27) away from the upper adjustment frame (26) is hinged to the upper surface of the adjustment spindle frame (21). A second electric control push rod (25) is rotatably connected to the middle of the end of the adjustment spindle frame (21) away from the support plate (14). The end of the second electric control push rod (25) away from the adjustment spindle frame (21) is rotatably connected to the lower surface of the upper adjustment frame (26). The outer wall of the connecting head (28) is provided with an arc-shaped hole, and the upper adjustment frame (26) is fixedly connected to the two sides of one end near the connecting head (28) with sliding pins, which are movably inserted into the arc-shaped hole.

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