Unmanned aerial vehicle 3D printing concrete equipment

Abstract

The utility model discloses unmanned aerial vehicle 3D printing concrete equipment which comprises a hopper device arranged at the bottom of an unmanned aerial vehicle, a spray head is arranged at the bottom of the hopper device, the hopper device comprises a hopper body and a material stirring and conveying mechanism, and the hopper body is connected with the material stirring and conveying mechanism. A feeding port of the material stirring and conveying mechanism is communicated with the hopper body, and a discharging port of the material stirring and conveying mechanism is communicated with the spray head. Concrete in the hopper device is stirred by the material stirring and conveying mechanism before being extruded, then conveyed to the spray head and extruded out of the spray head, and is uniformly stirred and mixed again by the material stirring and conveying mechanism before being extruded, so that the extruded concrete is in a stage with relatively high fluidity and plasticity; the technical problem that in the prior art, unmanned aerial vehicle 3D printing equipment lacks a stirring mechanism, and concrete entering a hopper cannot be uniformly stirred again before extrusion is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of 3D printing, and in particular to a drone 3D printing concrete equipment. Background Art

[0002] 3D printing is a technology that uses a model's three-dimensional data as a foundation, extruding material through a printer nozzle and printing it layer by layer to create a 3D entity. It's also known as additive manufacturing (AM). 3D printing concrete technology is a new application that combines 3D printing with technologies in the commercial concrete industry. Its key principle is to use a computer to create 3D models and segment the concrete component to produce 3D information. The prepared concrete mix is ​​then extruded through an extruder, mechanically controlled according to a pre-programmed process, and then printed through a nozzle. The resulting concrete component is a result of this process. This method originated in 1997, proposed by American scholar Joseph Pegna as a method for constructing free-form components by depositing cementitious materials layer by layer and selectively solidifying them. It is divided into two processes: "Contour Crafting" and "D-Shape." As a new technology, it reduces costs and labor, eliminates the need for formwork removal and support, and allows for the fabrication of complex structures, improving efficiency and saving materials.

[0003] In recent years, 3D printing technology has flourished in China. However, the traditional 3D printing construction industry has high requirements for site environment and equipment. These large-scale printing systems require a power source, are inflexible, and can only print in fixed locations. Large-scale printing equipment is inadequate for inspection and maintenance tasks or operations in remote, harsh environments. Furthermore, traditional 3D printing equipment is large and difficult to transport and install. Drones offer inherent advantages in these areas. Drones are compact and agile. Under computer control, they can execute complex flight commands without the constraints of traditional motion systems. They can also perform 3D printing operations in locations difficult to reach with larger equipment. Therefore, drone equipment suitable for 3D concrete printing holds significant theoretical significance for 3D printing technology in the construction industry, and holds promising prospects for engineering applications.

[0004] For example, the Chinese patent with publication number CN115520406A discloses a UAV secondary positioning processing platform, processing method and cluster control method, which relates to the field of UAV technology. The UAV secondary positioning processing platform includes: a UAV, a processing platform, a secondary positioning controller and a terminal host, wherein the UAV is provided with a primary positioning controller, a secondary positioning controller and a terminal host. The UAV-based processing method includes the following steps: the terminal host sends target position data to the primary positioning controller, thereby controlling the UAV to fly to the approximate position of the target with an approximate attitude; the terminal host obtains the current position of the UAV and compares it with the primary positioning data; the terminal host sends the secondary positioning data to the secondary positioning receiver to correct the position and attitude deviation of the UAV airflow drift in real time. Through the double positioning of the UAV itself and the secondary positioning control system, the position and attitude deviation of the UAV airflow drift are corrected in real time, thereby achieving precise attitude position control of the UAV working end.

[0005] The disclosed document utilizes the rotation of the extrusion motor to extend the extrusion screw, which in turn drives the extrusion piston to extrude the printed material. The printed material is a cementitious material such as mortar and concrete. For example, for project schedules, a large amount of concrete is typically mixed at once. Concrete typically reaches its initial setting time about two hours after being evenly mixed. To ensure that the concrete's fluidity and plasticity are not affected, the initial setting stage is typically further mixed. However, the extrusion process described in the disclosed document lacks a mixing mechanism. The document merely rapidly extrudes the mixed concrete material. The initial setting stage requires an additional mixer to mix the concrete. The mechanism described in the disclosed document is incapable of mixing the concrete evenly, requiring the use of an additional mixer. Furthermore, the initial setting time of concrete generally varies depending on the type of cement and is generally not uniform, but generally ranges from 2-3 hours. If the initial setting time is miscalculated, using the mechanism described in the disclosed document to directly extrude concrete at this stage can affect the concrete's fluidity and plasticity due to the lack of pre-extrusion mixing, thus compromising the construction strength. There is also the risk of extruding concrete with reduced fluidity and plasticity. Utility Model Content

[0006] In response to the deficiencies in the above-mentioned background technology, the present invention proposes a drone 3D printing concrete equipment, which solves the technical problem that the drone 3D printing equipment in the existing technology lacks a mixing mechanism and cannot mix the concrete that has entered the hopper again before extrusion.

[0007] The technical solution of the present utility model is implemented as follows: a drone 3D printing concrete equipment includes a hopper device arranged at the bottom of the drone, a nozzle is provided at the bottom of the hopper device, the hopper device includes a hopper body and a material stirring and conveying mechanism, the hopper body is connected to the material stirring and conveying mechanism, the feed port of the material stirring and conveying mechanism is connected to the hopper body, the discharge port of the material stirring and conveying mechanism is connected to the nozzle, a flange is connected to the material stirring and conveying mechanism, and the flange is connected to the bottom of the drone.

[0008] Preferably, the UAV includes a UAV fuselage and two landing gears, the two landing gears are symmetrically arranged at the bottom of the UAV fuselage, the hopper device is located between the two landing gears, the landing gears are connected to a connecting plate, and the flange on the hopper device is connected to the landing gear through the connecting plate.

[0009] Preferably, the material stirring and conveying mechanism includes a shell, which is fixedly connected to the middle part of the hopper body, one end of the shell is connected to the flange, and the other end of the shell is extended through the hopper body, the feed port and the discharge port are both arranged on the shell, and the discharge port is located on the bottom surface of the extended end of the shell, an auger is rotatably connected in the shell, a motor is provided on the flange, and the motor is connected to the auger.

[0010] Preferably, a support frame is provided on the top of the flange, the motor is located on the support frame, the top rotating shaft of the auger passes through and extends out of the flange, and the extended end of the auger is connected to the motor.

[0011] Preferably, the vertical height of the landing gear is greater than the distance from the top surface of the motor to the bottom surface of the nozzle.

[0012] Preferably, the drone body is provided with a battery for the drone to fly, and the battery is also connected to the motor; the battery is located at the bottom of the drone body, and the battery is located above the motor.

[0013] Preferably, a fixing rod is fixedly connected to the flange, and the fixing rod is fixedly connected to the connecting plate.

[0014] Preferably, the protruding end of the shell is detachably connected to the nozzle.

[0015] Preferably, the protruding end of the shell is connected to a nozzle flange, and the nozzle is detachably connected to the nozzle flange.

[0016] Preferably, a first limiting groove is provided on the nozzle flange, a second limiting groove is provided on the nozzle, and a U-shaped fixing bracket is provided on the top surface of the nozzle flange. The U-shaped fixing bracket is located above the first limiting groove. The U-shaped fixing bracket is hinged to the bolt through a pin shaft, and the end of the bolt is threadedly connected to the lifting ring. The bolt can pass through the first limiting groove and the second limiting groove in sequence and connect the nozzle to the nozzle flange through the lifting ring.

[0017] The utility model adds a hopper device to the bottom of the drone. The concrete in the hopper device is stirred by the material stirring and conveying mechanism before extrusion and then conveyed to the nozzle and extruded from the nozzle. Before extrusion, the concrete is stirred and mixed evenly again by the material stirring and conveying mechanism, avoiding the direct extrusion of concrete in the initial setting time, which affects the fluidity and plasticity of the concrete. The concrete extruded by the present application is at a stage where the fluidity and plasticity are relatively high, and there is no risk of extruding concrete with reduced fluidity and plasticity. Compared with the public documents, the present application improves the construction strength by comparison, and solves the technical problem in the prior art that the drone 3D printing equipment itself lacks a stirring mechanism and cannot evenly stir the concrete that has entered the hopper again before extrusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a schematic diagram of the present utility model.

[0020] Figure 2 This is a schematic diagram of the connection between the hopper and the connecting plate of the utility model.

[0021] Figure 3 It is a partial schematic diagram of the hopper of the utility model.

[0022] Figure 4 It is the front view of the hopper of the utility model.

[0023] Figure 5 for Figure 4 sectional view of .

[0024] Figure 6 This is a schematic diagram of the connection between the nozzle flange and the nozzle of the utility model.

[0025] In the figure, 1-UAV, 2-hopper device, 3-landing gear, 4-sprinkler, 5-fixing rod, 6-feed port, 7-discharge port, 8-flange, 9-hopper body, 10-shell, 11-auger, 12-motor, 13-support frame, 14-UAV fuselage, 16-sprinkler flange, 17-bolt, 18-connecting plate, 20-first limiting groove, 21-second limiting groove, 22-lifting ring, 23-pin, 24-U-shaped fixing frame. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Example 1, as Figure 1 As shown, a drone 3D printing concrete equipment includes a hopper device 2 arranged at the bottom of the drone 1, and a nozzle 4 is provided at the bottom of the hopper device 2. The hopper device 2 includes a hopper body 9 and a material stirring and conveying mechanism. The hopper body 9 is connected to the material stirring and conveying mechanism. The feed port 6 of the material stirring and conveying mechanism is connected to the hopper body 9, and the discharge port 7 of the material stirring and conveying mechanism is connected to the nozzle 4. A flange 8 is connected to the material stirring and conveying mechanism, and the flange 8 is connected to the bottom of the drone 1. The concrete in the hopper device is stirred by the material stirring and conveying mechanism before extrusion and then conveyed to the nozzle and extruded from the nozzle. Before extrusion, the concrete is stirred and mixed evenly again by the material stirring and conveying mechanism, thereby avoiding the direct extrusion of concrete in the initial setting period, which affects the fluidity and plasticity of the concrete. The concrete extruded by the present application is at a stage where the fluidity and plasticity are relatively high, and there is no risk of extruding concrete with reduced fluidity and plasticity. Compared with the public documents, the present application improves the construction strength and solves the technical problem in the prior art that the drone 3D printing equipment itself lacks a stirring mechanism and cannot stir the concrete that has entered the hopper evenly again before extrusion.

[0028] Example 2, a drone 3D printing concrete equipment, based on Example 1, Figure 1 、 Figure 2 and Figure 3 The drone 1 includes a drone body 14 and two landing gears 3. The two landing gears 3 are symmetrically arranged at the bottom of the drone body 14. The hopper device 2 is located between the two landing gears 3. A connecting plate 18 is connected to the landing gears 3. The flange 8 on the hopper device 2 is connected to the landing gears 3 via the connecting plate 18. The connecting plate 18 can be fixed to the landing gears 3 by welding. The flange 8 on the hopper device 2 is connected to the landing gears 3 via the connecting plate 18. This achieves the purpose of fixing the hopper device 2 to the landing gears 3.

[0029] The UAV fuselage 14 is equipped with a flight control system, which serves as the "core" of the flight, controlling the flight attitude and ensuring the stability of the flight. The flight control system of the present invention adopts the KX flight control system. The flight control system controls the flight motor to adjust the flight attitude during the flight according to the program input by the internal chip of the flight control system. The Yunzhuo H12 remote controller equipped with the UAV can provide a human-computer interaction interface, monitor the parameters of the UAV in real time and receive monitoring data at the same time. The Yunzhuo H12 remote controller controls the forward, backward, turning, ascent and landing of the UAV. At the same time, the Yunzhuo H12 remote controller can adjust the parameters of the hopper device 2, that is, the start, shut down and speed of the material mixing and conveying mechanism on the hopper device 2, to ensure the printing effect. This application adds a motion sensor to perform "correction", adds a camera for real-time monitoring at the bottom of the UAV fuselage 14, and cooperates with the radar GPS technology to increase the movement accuracy of the UAV.

[0030] Example 3, a drone 3D printing concrete equipment, based on Example 2, such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, the material mixing and conveying mechanism includes a shell 10, which is fixedly connected to the middle of the hopper body 9. One end of the shell 10 is connected to the flange 8, and the other end of the shell 10 extends through the hopper body 9. The feed port 6 and the discharge port 7 are both provided on the shell 10, and the discharge port 7 is located on the bottom surface of the extended end of the shell 10. An auger 11 is rotatably connected in the shell 10, and a motor 12 is provided on the flange 8, which is connected to the auger 11. The concrete material in the hopper body 9 enters the shell 10 through the feed port 6 and is extruded by the auger 11. On the one hand, the rotation of the auger 11 is used to mix the concrete material evenly. On the other hand, the rotation of the auger 11 is used to enhance and strengthen the extrusion force of the concrete material along the nozzle 4, which is beneficial to the ejection of the concrete material along the nozzle 4 and facilitates rapid printing.

[0031] Example 4, a drone 3D printing concrete equipment, based on Example 3, such as Figure 3 、 Figure 4 and Figure 5 As shown, a support frame 13 is provided on the top of the flange 8, and the motor 12 is located on the support frame 13. The top rotating shaft of the auger 11 passes through and extends out of the flange 8, and the extended end of the auger 11 is connected to the motor 12. The provision of the support frame 13 facilitates the connection between the output end of the motor 12 and the auger 11, which is conducive to the motor 12 controlling the rotation of the auger 11.

[0032] Example 5, a drone 3D printing concrete equipment, based on Example 4, Figure 1 、 Figure 2 and Figure 3 As shown, the vertical height of the landing gear 3 is greater than the distance from the top surface of the motor 12 to the bottom surface of the nozzle 4. That is, the distance from the top surface of the motor 12 to the bottom surface of the nozzle 4 is less than the vertical height of the landing gear 3, thereby ensuring that the length of the entire hopper device 2 and the nozzle 4 does not affect the normal take-off and landing of the drone.

[0033] Example 6, a drone 3D printing concrete equipment, based on Example 5, Figure 1 As shown, the drone fuselage 14 is equipped with a battery for flight, which is also connected to the motor 12; the battery is located at the bottom of the drone fuselage 14, above the motor 12. The drone fuselage 14 is equipped with two sets of symmetrical arms, each of which is fixedly connected to a flight motor. The output shaft of the flight motor is fixedly connected to a propeller. The flight motor drives the propeller to rotate, thereby providing lift for the drone fuselage. Wires are installed inside the arms, one end of which is connected to the flight motor, and the other end is connected to the flight control system and the battery respectively. The battery provides power to the flight motor and is also connected to the motor 12, providing power for the motor 12 to rotate and mix concrete.

[0034] Example 7, a drone 3D printing concrete equipment, based on Example 2 or 6, such as Figure 1 、 Figure 2 and Figure 3 As shown, the flange 8 is fixedly connected to a fixing rod 5, which is fixedly connected to the connecting plate 18. Four nuts are threadedly connected to the fixing rod 5, and the flange 8 is located between two nuts. The flange 8 is fixedly connected to the fixing rod 5 by the two nuts. At the same time, the flange 8 is fixedly connected to the fixing rod 5 between the other two nuts. The connecting plate 18 and the fixing rod 5 are fixedly connected together by the two nuts.

[0035] Example 8, a drone 3D printing concrete equipment, based on Example 1 or 6, such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown, the extended end of the housing 10 is detachably connected to the nozzle 4. This arrangement facilitates the removal and replacement of the nozzle 4, improves the convenience of component replacement, and shortens maintenance time.

[0036] Example 9, a drone 3D printing concrete equipment, based on Example 8, Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6As shown, the extended end of the housing 10 is connected to a nozzle flange 16, and the nozzle 4 is detachably connected to the nozzle flange 16. The provision of the nozzle flange 16 increases the contact area of ​​the connection between the nozzle 4 and the housing 10, and increases the stability of the connection.

[0037] Example 10, a drone 3D printing concrete equipment, based on Example 9, Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown, the nozzle flange 16 is provided with a first limiting groove 20, the nozzle 4 is provided with a second limiting groove 21, and a U-shaped fixing bracket 24 is provided on the top surface of the nozzle flange 16. The U-shaped fixing bracket 24 is located above the first limiting groove 20. The U-shaped fixing bracket 24 is hinged to the bolt 17 via a pin 23. The end of the bolt 17 is threadedly connected to the lifting ring 22. The bolt 17 can sequentially pass through the first limiting groove 20 and the second limiting groove 21 and abut the nozzle 4 against the nozzle flange 16 through the lifting ring 22. The bolt 17 can be rotated into the first limiting groove 20. The end of the bolt 17 is threadedly connected to the lifting ring 22. When installing the nozzle 4, the first limiting groove 20 is aligned with the second limiting groove 21, and then the bolt 17 is rotated so that the bolt 17 passes through the first limiting groove 20 and the second limiting groove 21 at the same time. The lifting ring 22 abuts against the outer surface of the nozzle 4, thereby achieving abutment between the nozzle flange 16 and the nozzle 4.

[0038] The nozzle 4 and hopper body 9 can both be made of lightweight materials. These materials are made using alkali-resistant glass fiber as reinforcement, sulfoaluminate low-alkalinity cement as a binder, and a suitable aggregate as a base material. These materials are manufactured through processes such as spraying, vertical mold casting, extrusion, and slurrying. These materials can replace gravel, sand, and other materials, significantly reducing weight. Using lightweight materials for the nozzle 4 and hopper body 9 reduces the impact of their own weight on the drone's load, facilitating the increase in the weight of the concrete loaded by the drone.

[0039] When implementing Example 10, the model data is prepared by the computer, and then the model parameters are transmitted to the Yunzhuo H12 remote control through the USB interface. The Yunzhuo H12 remote control converts the model data into a printing trajectory code that can be recognized by the drone through software. Then the entire hopper device 2 is installed and fixed to the connecting plate 18 through nuts and fixing rods 5. The nozzle 4 is then abutted against the nozzle flange 16 of the hopper device 2, and then concrete is loaded into the hopper body 9; the operation is started through the Yunzhuo H12 remote control, and the battery first supplies power to the flight motor through the wire. The flight motor drives the rotor to rotate to provide lift, and the printing origin is selected on the display screen of the Yunzhuo H12 remote control through the GPS positioning system; press the start switch on the Yunzhuo H12 remote control, and the Yunzhuo H12 remote control directly controls the start of the auger 11, that is, the battery supplies power to the motor 12, and the motor 12 After receiving the signal from the Yunzhuo H12 remote control, the controller activates motor 12, which drives auger 11 to stir and extrude the concrete. During this process, the flight control system maintains stable and slow flight, following a predetermined trajectory. Hopper device 2 extrudes concrete through auger 11. A camera is mounted on the bottom of the drone to monitor the printing process, while internal motion sensors correct the drone's flight attitude and monitor flight status. A flight platform is equipped for real-time parameter viewing. The drone's trajectory can be set using the Yunzhuo H12 remote control's display, or the flight can be manually controlled. Data from the printed model is transmitted via the Yunzhuo H12 remote control's transmission interface, allowing precise planning of the drone's flight path, setting the drone's flight attitude and printing parameters, and transmitting this data to the flight control system. The chip within the flight control system receives the data and uses it to control the aircraft's precise flight.

[0040] Before the implementation of Example 10, it is necessary to mix and stir in advance to prepare concrete materials, which include PII42.5 silicate cement, machine-made sand, tap water, high-efficiency polycarboxylate water-reducing agent, and thickening rheological agent.

[0041] A formulated amount of silicate cement and machine-made sand are added to a mixer for premixing to obtain a mixture A. A formulated amount of a water reducer is then added to a formulated amount of water and stirred for a predetermined period of time to obtain a mixture B. After mixing the mixtures A and B, a formulated amount of a thickening rheological agent is added, and stirring is continued to obtain a concrete material. The obtained concrete material is added to the hopper 505 of the concrete printing device of the present application, and printing of the concrete building layer is started.

[0042] Observation results: The concrete material of Example 10 can support continuous printing without collapsing or flowing, and can be printed anywhere in the area. The prepared concrete material is loaded into the hopper body 9 and the operation can be carried out.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A drone 3D printing concrete equipment, characterized in that: The invention comprises a hopper device (2) arranged at the bottom of an unmanned aerial vehicle (1), wherein a nozzle (4) is provided at the bottom of the hopper device (2), and the hopper device (2) comprises a hopper body (9) and a material stirring and conveying mechanism, wherein the hopper body (9) is connected to the material stirring and conveying mechanism, wherein a feed port (6) of the material stirring and conveying mechanism is communicated with the hopper body (9), and a discharge port (7) of the material stirring and conveying mechanism is communicated with the nozzle (4), and a flange (8) is connected to the material stirring and conveying mechanism, and the flange (8) is connected to the bottom of the unmanned aerial vehicle (1).

2. The UAV 3D printing concrete equipment according to claim 1, characterized in that: The UAV (1) comprises a UAV fuselage (14) and two landing gears (3), wherein the two landing gears (3) are symmetrically arranged at the bottom of the UAV fuselage (14), the hopper device (2) is located between the two landing gears (3), the landing gears (3) are connected with a connecting plate (18), and the flange (8) on the hopper device (2) is connected to the landing gear (3) via the connecting plate (18).

3. The UAV 3D printing concrete equipment according to claim 2, characterized in that: The material stirring and conveying mechanism includes a shell (10), which is fixedly connected to the middle of the hopper body (9), one end of the shell (10) is connected to the flange (8), and the other end of the shell (10) extends through the hopper body (9), the feed port (6) and the discharge port (7) are both provided on the shell (10), and the discharge port (7) is located on the bottom surface of the extended end of the shell (10), an auger (11) is rotatably connected in the shell (10), a motor (12) is provided on the flange (8), and the motor (12) is connected to the auger (11).

4. The UAV 3D printing concrete equipment according to claim 3, characterized in that: A support frame (13) is provided on the top of the flange (8), and the motor (12) is located on the support frame (13). The top rotating shaft of the auger (11) passes through and extends out of the flange (8), and the extended end of the auger (11) is connected to the motor (12).

5. The UAV 3D printing concrete equipment according to claim 4, characterized in that: The vertical height of the landing gear (3) is greater than the distance from the top surface of the motor (12) to the bottom surface of the nozzle (4).

6. The UAV 3D printing concrete equipment according to claim 5, characterized in that: The drone body (14) is provided with a battery for the drone to fly, and the battery is also connected to the motor (12); the battery is located at the bottom of the drone body (14), and the battery is located above the motor (12).

7. The UAV 3D printing concrete equipment according to claim 2 or 6, characterized in that: A fixing rod (5) is fixedly connected to the flange (8), and the fixing rod (5) is fixedly connected to the connecting plate (18).

8. The UAV 3D printing concrete equipment according to claim 3 or 6, characterized in that: The extended end of the shell (10) is detachably connected to the nozzle (4).

9. The UAV 3D printing concrete equipment according to claim 8, characterized in that: The extended end of the shell (10) is connected to a nozzle flange (16), and the nozzle (4) is detachably connected to the nozzle flange (16).

10. The UAV 3D printing concrete equipment according to claim 9, characterized in that: The nozzle flange (16) is provided with a first limiting groove (20), the nozzle (4) is provided with a second limiting groove (21), a U-shaped fixing frame (24) is provided on the top surface of the nozzle flange (16), the U-shaped fixing frame (24) is located above the first limiting groove (20), the U-shaped fixing frame (24) is hinged to the bolt (17) through the pin (23), the end of the bolt (17) is threadedly connected to the lifting ring (22), the bolt (17) can pass through the first limiting groove (20) and the second limiting groove (21) in sequence and abut the nozzle (4) against the nozzle flange (16) through the lifting ring (22).

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