Fork arm type lifting AGV

Abstract

The utility model provides a fork arm type lifting AGV which comprises a machine body, a lifting device, a chassis and a driving device, the machine body is arranged on the chassis, and the driving device is arranged between the machine body and the lifting device; the lifting device comprises a fork arm, the fork arm comprises a fixed end and a free end, the fixed end and the free end are in an L shape, the free end extends outwards in the front direction of the machine body, a limiting groove is formed in the connecting position of the fixed end and the free end, a limiting block is arranged in the position, located in the limiting groove, of the fixed end, and the upper end of the limiting block is higher than the top face of the limiting groove. By means of the structure, the fork arm can be better protected, and meanwhile the phenomenon that a skip car slips off from the fork arm when the fork arm type lifting AGV transports the skip car can be effectively avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of transportation robots, and particularly relates to a fork-arm lifting type AGV. Background Art

[0002] With the rapid development of the global economy, the competition among enterprises is becoming increasingly fierce. Among them, production efficiency and production cost are the key issues in competition. AGV robots play an increasingly significant role in solving the shortage of labor, improving operation and transportation efficiency, and reducing production costs. At the same time, AGV robots also play an increasingly important role in the logistics operation process, and are an important factor leading the development trend of modern logistics industry.

[0003] In the new energy lithium battery industry, the lithium battery pole piece material as a raw material includes a material cylinder and a pole piece coil wound around the material cylinder, and its overall outer diameter is relatively large and the weight is relatively heavy. In order to avoid damaging the material during the loading process, a relatively high loading alignment accuracy of the material is required, and at the same time, the transportation process of the material cannot be collided; at present, for pole piece materials of different sizes, different requirements are imposed on the width between the bearing mechanisms of the AGV.

[0004] For example, Chinese Patent Application No. is 202123314202.8, and the publication date is November 15, 2022. It discloses a fork-type AGV, including a vehicle frame, a traveling mechanism, a lifting mechanism, a bearing mechanism and a sensing mechanism; the vehicle frame is arranged on the traveling mechanism, and the bearing mechanism includes a bearing base, two bearing members symmetrically arranged on the bearing base, and an adjusting module for adjusting the width between the two bearing members; the adjusting module includes an adjusting guide rod, an adjusting screw rod, an adjusting fixing block and a tightening screw rod arranged on the adjusting fixing block; when the distance between the two bearing members needs to be adjusted, the tightening screw rod can be rotated first to increase the width of the longitudinal groove between the two adjusting sub-parts, so that the adjusting screw rod can rotate in the first threaded through hole, and then the sliding frame on the bearing member can be driven by the adjusting screw rod to slide along the adjusting guide rod, so as to conveniently adjust the distance between the two bearing members. At the same time, it is also disclosed that a bearing groove is arranged at the front end of the bearing member, and the bearing groove 322 is used for bearing the material cylinder shaft of the lithium battery pole piece material. However, for the fork-type AGV, when it needs to be docked with the material rack, the material rack is likely to collide with the fork-type AGV. In addition, when transporting the material rack, the material rack is likely to slip off the fork-type AGV. Content of the Utility Model

[0005] The purpose of the utility model is to provide a fork-arm lifting type AGV. By using the structure of the utility model, the fork arms can be better protected, and at the same time, it can effectively avoid the material truck slipping off the fork arms when the fork-arm lifting type AGV transports the material truck.

[0006] In order to achieve the above-mentioned purpose, a fork-arm lifting AGV includes a body, a lifting device, a chassis and a driving device, the body is arranged on the chassis, and the driving device is arranged between the body and the lifting device; the lifting device includes a fork arm, the fork arm includes a fixed end and a free end, the fixed end and the free end are L-shaped, the free end is extended outward along the front direction of the body, a limit groove is provided at the connection between the fixed end and the free end, and a limit block is provided on the fixed end in the limit groove, and the upper end of the limit block is higher than the top surface of the limit groove.

[0007] In the above structure, since a limit block is provided in the limit groove and the height of the limit block is higher than the limit groove, when the material cart is plugged in, the cross bar of the material cart contacts the limit block first to prevent the material cart from hitting the fork arm. When the fork arm is inserted into the material cart and is in place, the material cart is lifted up by the driving device and the lifting device to lift the material cart off the ground. In this process, the material cart can be vertically guided by the side of the limit block to allow the cross bar of the material cart to slide into the limit groove. Therefore, the limit groove can effectively prevent the material cart from slipping off the fork arm.

[0008] Furthermore, a guiding inclined surface extending downward and forward from top to bottom is provided on the top surface of the limiting block. When the fork arm moves upward, the guiding inclined surface can guide the cross bar so that the cross bar can better enter the limiting groove.

[0009] Furthermore, a load-bearing inclined plane is provided at the connection between the fixed end and the free end, and an inclined plane matching the load-bearing inclined plane is provided at the lower end of the stop block. With this structure, when the stop block is subjected to downward pressure, under the action of the load-bearing inclined plane and the inclined plane, a component force on the fixed end and a component force on the free end are generated at the position of the inclined plane, so that the force at this position will not be concentrated vertically downward, so that the force on the fork arm is dispersed, which prolongs the service life of the fork arm.

[0010] Furthermore, a receiving groove is provided on the front side of the body, and the lifting device also includes a fixed plate, a fixed block one and a fixed block two. The fixed plate is fixedly arranged in the receiving groove, the fixed block one is fixed on the fixed plate, the fixed block one and the fixed block two are on the same vertical line, the driving device is installed on the fixed block one, and two slide rails are provided on both sides of the fixed block one. The end of the driving device connected to the fixed block one passes through the fixed block one and is fixedly connected to the fixed block two. The driving device drives the lifting device to slide up and down along the slide rail in the receiving groove along the height direction of the receiving groove. Frame arms are respectively provided at both ends of the front side of the chassis, and driven wheels are provided on the frame arms. The space between the frame arms is used to accommodate a material cart.

[0011] With the above settings, by arranging the first fixed block on the fixed plate and making the first fixed block and the second fixed block on the same vertical line, the driving device can be connected to the lifting device through the first fixed block; and by arranging slide rails on both sides of the first fixed block on the fixed plate, the driving device can drive the lifting device to slide up and down in the receiving groove along the slide rails; in addition, by arranging the driving device fixed on the first fixed block, it is convenient for the driving device to pass through the first fixed block and be connected to the second fixed block. In this way, when the driving device pulls the second fixed block to move, the lifting device can be driven to move up and down synchronously, thereby driving the trolley placed on the lifting device to lift stably and realizing the handling of the trolley; by arranging the frame arms at both ends of the front side of the chassis, it is convenient to move the chassis through the driving wheels, so that the trolley can be received between the frame arms, and then the trolley can be parked on the lifting device.

[0012] Furthermore, the receiving groove is arranged along the height of the machine body, and the length of the receiving groove matches the height of the machine body; the bottom of the fixed plate is in contact with the bottom of the receiving groove, and there are intervals between both sides of the fixed plate and both sides of the receiving groove.

[0013] With the above settings, it is convenient to arrange the lifting device in the receiving groove of the machine body and enable it to move up and down in the receiving groove, and when the lifting device moves in the receiving groove, it can avoid the lifting device from colliding with the bottom and both sides of the receiving groove.

[0014] Furthermore, the driving device includes a second driving motor and an electric push rod device. The electric push rod device includes an electric push rod and an electric push rod box body. One end of the second driving motor is located in the receiving groove, the output end of the second driving motor is connected to the electric push rod, and one end of the electric push rod box body is fixedly connected to the connecting block.

[0015] With the above settings, the second driving motor can be used to drive the electric push rod to telescopically move along the height direction of the machine body.

[0016] Furthermore, one end of the electric push rod is telescopically arranged in the electric push rod box body, the other end of the electric push rod passes through the through hole on the second fixed block and is fixedly connected to the second fixed block by screws, and the length of the slide rail is greater than the telescopic stroke of the electric push rod.

[0017] With the above settings, the electric push rod can be fixedly connected to the second fixed block by screws, and then the second fixed block can be driven to move up and down.

[0018] Furthermore, the lifting device further includes a connecting plate and a slider. The fixed end of the fork arm is arranged on the front side of the connecting plate, one end of the slider is fixed on the rear side of the connecting plate, the rear side of the connecting plate is fixedly connected to the second fixed block, the front side of the connecting plate protrudes from the receiving groove, and the other end of the slider is provided with a through groove matching the slide rail, and the slider is slidably connected to the slide rail through the through groove.

[0019] With the above settings, when the driving device drives the second fixed block to move up and down, it can drive the lifting device to move up and down synchronously through the sliding connection between the slider and the slide rail, and further drive the trolley on the fork arm to move up and down.

[0020] Furthermore, the chassis includes a frame, a connecting frame, a steering device, a first driving motor, and driving wheels. The frame is installed on the body, the connecting frame is installed on the frame, the steering device is arranged on the connecting frame, the output shaft of the first driving motor is equipped with driving wheels, and the first driving motor is connected to the steering device through a first motor fixing bracket.

[0021] With the above settings, when the steering device rotates, it can drive the driving wheels to rotate in different directions.

[0022] Furthermore, the steering device includes a third driving motor, a driving gear, a driven gear, a bearing, and a support plate. The third driving motor is fixed on the support plate through a third motor fixing bracket. There is a through hole on the support plate that matches the output shaft end of the third driving motor. The output shaft end of the third driving motor is connected to the driving gear. The driving gear is rotationally connected in an external meshing manner with the driven gear sleeved on the bearing. The driven gear is fixedly connected to one end of the connecting frame. The inner ring of the bearing is fixedly connected to the top of the support plate. The bottom of the support plate is fixedly connected to one end of the connecting member. There is a through hole at the other end of the connecting member. The first driving motor is fixed at the other end of the connecting member through a first motor fixing bracket.

[0023] With the above settings, when the first driving motor drives the driving wheels to rotate, at the same time, the third driving motor can drive the driving gear to rotate, and then drive the driven gear to rotate. Since the driven gear and the connecting member are fixedly connected as a whole through the support plate, and at the same time the driving wheels are arranged on the connecting member, it can drive the driving wheels to rotate in different directions, and further enable the chassis to turn during the walking process.

[0024] The beneficial effects of the present utility model are as follows:

[0025] The driving wheels drive the chassis to rotate so that the trolley is received between the frame arms at both ends of the frame. At the same time, the fork arm can pass through the trolley and make the trolley slide into the limiting groove, so that the trolley is stably parked on the lifting device. Then, the driving device drives the lifting device to move up and down to transport the trolley to different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic structural diagram of the trolley parked on the present utility model.

[0027] Figure 2 Schematic overall structural diagram of the present utility model.

[0028] Figure 3This is a partial explosion diagram of the lifting device in the present utility model.

[0029] Figure 4 This is a partial explosion diagram of the chassis structure in the present utility model.

[0030] Figure 5 This is a partial cross-sectional view of the present utility model.

[0031] Reference numerals in the drawings:

[0032] 01, material truck; 1, body; 11, receiving groove; 12, connecting member; 20, fixing plate; 21, first fixing block; 22, second fixing block; 23, connecting plate; 24, fork arm; 25, slider; 26, limiting groove; 27, limiting block; 211, first slot; 212, second slot; 3, connecting block; 31, driving gear; 32, driven gear; 33, third driving motor; 34, bearing; 35, supporting plate; 333, third motor fixing bracket; 41, slide rail; 52, second driving motor; 53, electric push rod; 54, electric push rod box body; 6, frame; 61, frame arm; 7, connecting frame; 8, first driving motor; 81, first motor fixing bracket; 9, driven wheel; 10, universal wheel; 101, driving wheel; 241, fixed end; 242, free end; 271, guiding inclined surface; 272, bearing inclined surface. Detailed implementation manners

[0033] The following further describes the present utility model in detail with reference to the drawings and specific implementation manners.

[0034] As Figures 1 to 5 shown, a fork-arm type lifting AGV includes a body 1, a lifting device, a chassis and a driving device. The body 1 is arranged on the chassis, and the driving device is arranged between the body 1 and the lifting device; the lifting device includes a fork arm 24, the fork arm 24 includes a fixed end 241 and a free end 242, the fixed end 241 and the free end 242 are in an L shape, the free end 242 extends outward along the front direction of the body 1, a limiting groove 26 is provided at the connection of the fixed end 241 and the free end 242, a limiting block 27 is arranged in the limiting groove 26 on the fixed end 241, and the upper end of the limiting block 27 is higher than the top surface of the limiting groove 26. Since the limiting block 27 is arranged in the limiting groove 26 and the height of the limiting block 27 is higher than that of the limiting groove 26, when inserting the material truck 01, the cross bar of the material truck 01 first contacts the limiting block 27, preventing the material truck 01 from hitting the fork arm 24. When the fork arm 24 is inserted into the material truck 01 in place, the material truck 01 is lifted by the driving device and the lifting device, so that the material truck 01 is separated from the ground. During this process, the material truck 01 can be vertically guided by the side surface of the limiting block 27, and the cross bar of the material truck 01 slides into the limiting groove 26. Therefore, the limiting groove 26 can effectively prevent the material truck 01 from slipping off the fork arm 24.

[0035] AsFigure 2 and 5 As shown in 5 , a guiding inclined surface 271 extending downward and forward from top to bottom is provided on the top surface of the limiting block 27. When the fork arm 24 moves upward, the cross bar can be guided through the guiding inclined surface 271 to better enter the limiting groove 26. In addition, a bearing inclined surface 272 is provided at the connection between the fixed end 241 and the free end 242, and an inclined surface (not marked in the figure) cooperating with the bearing inclined surface 272 is provided at the lower end of the limiting block 27. When the limiting block 27 is subjected to a downward pressure, under the action of the bearing inclined surface 272 and the inclined surface, a component force on the fixed end 241 and a component force on the free end 242 will be generated at the position of the inclined surface. In this way, the acting force at this position will not be concentrated vertically downward, so that the force on the fork arm 24 is dispersed, and the service life of the fork arm 24 is prolonged.

[0036] As Figure 3 shown in Figure 3 , a receiving groove 11 is provided on the front side of the machine body 1. In this embodiment, the receiving groove 11 is arranged along the height of the machine body 1, and the length of the receiving groove 11 matches the height of the machine body 1. The lifting device includes a fixing plate 20, a first fixing block 21 and a second fixing block 22. The fixing plate 20 is fixedly arranged in the receiving groove 11 by bolts. In this embodiment, the bottom of the fixing plate 20 contacts the bottom of the receiving groove 11, and there are intervals between the two sides of the fixing plate 20 and the two sides of the receiving groove 11. The first fixing block 21 is fixed on the fixing plate 20 by bolts. The first fixing block 21 and the second fixing block 22 are on the same vertical line, and the second fixing block 22 is arranged directly below the first fixing block 21. The driving device is installed above the first fixing block 21 and is fixedly connected to the first fixing block 21 through a connecting block 3. Two symmetrically arranged slide rails 41 are provided on both sides of the first fixing block 21. One end of the driving device connected to the first fixing block 21 passes through the first fixing block 21 and is fixedly connected to the second fixing block 22. The driving device drives the lifting device to slide up and down along the slide rails 41 in the receiving groove 11 along the height direction of the receiving groove 11.

[0037] As Figure 2 、 3 shown in 3 , the driving device includes a second driving motor 52 and an electric push rod device. The electric push rod device includes an electric push rod 53 and an electric push rod box body 54. One end of the second driving motor 52 is located in the receiving groove 11, and the output end of the second driving motor 52 is connected to one end of the electric push rod 53. One end of the electric push rod box body 54 is fixedly connected to the connecting block 4. The other end of the electric push rod 53 is telescopically arranged in the electric push rod box body 54. The other end of the electric push rod 53 passes through a through hole (not marked in the figure) on the second fixing block 22 and is fixedly connected to the second fixing block 22 by screws. In this way, the electric push rod 53 can be fixedly connected to the second fixing block 22 through screws, and then the second fixing block 22 can be driven to move up and down.

[0038] AsFigure 3 As shown, in this embodiment, a first slotted groove 211 with an opening upward along the height direction of the machine body 1 is provided on the first fixed block 21. A through hole matching the electric push rod 53 is provided at the bottom of the first slotted groove 211. The second fixed block 22 is arranged directly below the first fixed block 21. A second slotted groove 212 with an opening downward along the height direction of the machine body 1 is provided on the second fixed block 22. A through hole matching the electric push rod 53 is provided at the top of the second slotted groove 212. The above settings facilitate the electric push rod 53 to pass through the through hole and be fixedly connected to the second fixed block 22.

[0039] As Figure 2 shown, 3 the lifting device further includes a connecting plate 23 and sliders 25. The fixed end of the fork arm 24 is arranged on the front side of the connecting plate 23. In this embodiment, two fork arms 24 are provided, and four sliders 25 are provided. One end of each slider 25 is fixed to the rear side of the connecting plate 23. The rear side of the connecting plate 23 is fixedly connected to one side of the second fixed block 22. The front side of the connecting plate 23 protrudes from the accommodating groove 22. The other end of each slider 24 is provided with a through groove (not marked in the figure) matching the slide rail 41. The sliders 25 are slidably connected to the slide rail 41 through the through grooves. In this way, when the driving device drives the second fixed block 22 to move up and down, the lifting device can be driven to move up and down synchronously through the sliding connection between the sliders 25 and the slide rail 41, and then the material cart 01 on the fork arm 24 can be driven to move up and down. In this embodiment, the length of the slide rail 41 is greater than the telescopic stroke of the electric push rod 53, which can prevent the lifting device from disengaging from the slide rail 41 during the process of the driving device driving the lifting device to move up and down along the slide rail 41.

[0040] As Figure 2 shown, Figure 5 the distance between the fork arms 24 matches the width of the material cart 01. One end of the fork arm 24 is fixed to the front side of the connecting plate 23. The other end of the fork arm 24 is perpendicular to one end of the fork arm 24 and extends outward along the front direction of the machine body 1. A limiting groove 26 is provided at the perpendicular part. A limiting block 27 is provided near one end of the fork arm 24 in the limiting groove 26. In this embodiment, one end of the limiting block 27 is arranged in the limiting groove 26 and matches one end of the limiting groove 26. The other end of the limiting block 27 extends outward along the height direction of the fork arm 24 outside the limiting groove 26. The limiting block 27 is fixed to one end of the fork arm 24 by bolts. Through the dual functions of the limiting groove 26 and the limiting block 27, after the cross bar at the bottom of the material cart 01 slides into the limiting groove 26, the limiting block 26 restricts the moving distance of the material cart 01 in the limiting groove 26 along the longitudinal direction, facilitating the material cart 01 to stay stably on the fork arm 24.

[0041] As Figure 4As shown in the figure, the chassis includes a frame 6, a connecting frame 7, a steering device, a first driving motor 8, and a driving wheel 101. The frame 6 is installed on the body 11, the connecting frame 7 is installed on the frame 6, the steering device is arranged on the connecting frame 7, the output shaft of the first driving motor 8 is equipped with the driving wheel 101, and the first driving motor 8 is connected to the steering device through a first motor fixing bracket 81. At both ends of the front side of the frame 6, there are respectively frame arms 61. One end of the frame arm 61 is fixedly connected to the frame 6, and the other end of the frame arm 61 extends outward along the front direction of the frame 6. The driven wheel 9 is arranged at the extending end of the frame arm 61. Both sides of one end of the connecting frame 7 are fixedly connected to the frame 6, and universal wheels 10 are arranged on both sides of the other end of the connecting frame 7. The steering device includes a third driving motor 33, a driving gear 31, a driven gear 32, a bearing 34, and a support plate 35. The third driving motor 33 is fixed on the support plate 35 through a third motor fixing bracket 333. There is a through hole (not marked in the figure) on the support plate 35 that matches the output shaft end of the third driving motor 33. The output shaft end of the third driving motor 33 is rotatably connected to the driving gear 31. The driving gear 31 is meshed and rotatably connected to the driven gear 32 sleeved on the bearing 34. The driven gear 32 is fixedly connected to one end of the connecting frame 7. The inner ring of the bearing is fixedly connected to the top of the support plate 35. The bottom of the support plate 35 is fixedly connected to one end of the connecting member 12. There is a through hole (not marked in the figure) at the other end of the connecting member 12. The first driving motor 8 is fixed to the other end of the connecting member 12 through the first motor fixing bracket 81. The output shaft end of the first driving motor 8 is rotatably connected to the driving wheel 101. In this way, when the first driving motor 8 drives the driving wheel 101 to rotate, at the same time, the third driving motor 33 can drive the driving gear 31 to rotate, and then drive the driven gear 32 to rotate. Since the driven gear 32 and the connecting member 12 are fixedly connected and integrated through the support plate 35, and at the same time the driving wheel 101 is arranged on the connecting member 12, it can drive the driving wheel 101 to rotate in different directions, and thus the chassis can achieve steering during the walking process.

Claims

1. A fork-arm lifting AGV, comprising a machine body, a lifting device, a chassis and a driving device, wherein the machine body is arranged on the chassis, and the driving device is arranged between the machine body and the lifting device; the lifting device comprises a fork arm, the fork arm comprises a fixed end and a free end, the fixed end and the free end are L-shaped, and the free end is arranged to extend outward along the front of the machine body, characterized in that: A limiting groove is arranged at the connection between the fixed end and the free end, and a limiting block is arranged in the limiting groove on the fixed end, wherein the upper end of the limiting block is higher than the top surface of the limiting groove.

2. A fork-arm lifting AGV according to claim 1, characterized in that: A guiding inclined surface extending downward and forward from top to bottom is arranged on the top surface of the limiting block.

3. A fork-arm lifting AGV according to claim 1, characterized in that: A load-bearing inclined surface is arranged at the connection between the fixed end and the free end, and an inclined surface matching with the load-bearing inclined surface is arranged at the lower end of the limiting block.

4. The fork-arm lifting AGV according to claim 1, characterized in that: The front side of the machine body is provided with a receiving groove, and the lifting device also includes a fixing plate, a fixing block 1 and a fixing block 2. The fixing plate is fixedly arranged in the receiving groove, the fixing block 1 is fixed on the fixing plate, the fixing block 1 and the fixing block 2 are on the same vertical line, the driving device is installed on the fixing block 1, and two slide rails are provided on both sides of the fixing block 1. One end of the driving device connected with the fixing block 1 passes through the fixing block 1 and is fixedly connected with the fixing block 2. The driving device drives the lifting device to slide up and down along the slide rail in the receiving groove along the height direction of the receiving groove. Frame arms are respectively provided at both ends of the front side of the chassis, and driven wheels are provided on the frame arms. The space between the frame arms is used to accommodate a material cart.

5. The fork-arm lifting AGV according to claim 4, characterized in that: The receiving groove is arranged along the height of the machine body and the length of the receiving groove matches the height of the machine body; the bottom of the fixing plate contacts the bottom of the receiving groove, and the two sides of the fixing plate are spaced from the two sides of the receiving groove.

6. The fork-arm lifting AGV according to claim 1, characterized in that: The driving device includes a second driving motor and an electric push rod device, the electric push rod device includes an electric push rod and an electric push rod box, one end of the second driving motor is located in the accommodating groove, the output end of the second driving motor is connected to the electric push rod, and one end of the electric push rod box is fixedly connected to the fixing block one.

7. The fork-arm lifting AGV according to claim 6, characterized in that: One end of the electric push rod is telescopically arranged in the electric push rod box, and the other end of the electric push rod passes through the through hole on the fixed block 2 and is fixedly connected to the fixed block 2 by screws. The length of the slide rail is greater than the telescopic stroke of the electric push rod.

8. The fork-arm lifting AGV according to claim 1, characterized in that: The lifting device also includes a connecting plate and a slider. The fixed end of the fork arm is arranged on the front side of the connecting plate, one end of the slider is fixed to the rear side of the connecting plate, the rear side of the connecting plate is fixedly connected to the second fixed block, the front side of the connecting plate is provided with a protruding accommodating groove, the other end of the slider is provided with a through groove matching the slide rail, and the slider is slidably connected to the slide rail through the through groove.

9. The fork-arm lifting AGV according to claim 1, characterized in that: The chassis includes a frame, a connecting frame, a steering device, a drive motor and a drive wheel. The frame is installed on the body, the connecting frame is installed on the frame, the steering device is arranged on the connecting frame, the output shaft of the drive motor is installed with a drive wheel, and the drive motor is connected to the steering device through a motor fixing frame.

10. The fork-arm lifting AGV according to claim 9, characterized in that: The steering device includes a driving motor three, a driving gear, a driven gear, a bearing and a support plate. The driving motor three is fixed on the support plate through a motor fixing frame three. The support plate is provided with a through hole matching the output shaft end of the driving motor three. The output shaft end of the driving motor three is connected to the driving gear. The driving gear is externally meshed and rotatably connected to the driven gear sleeved on the bearing. The driven gear is fixedly connected to one end of the connecting frame. The inner ring of the bearing is fixedly connected to the top of the supporting plate. The bottom of the supporting plate is fixedly connected to one end of the connecting piece. The other end of the connecting piece is provided with a through hole. The driving motor one is fixed to the other end of the connecting piece through a motor fixing frame one.

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