Pressure steel pipe girth welding device

Abstract

The utility model discloses a pressure steel pipe girth welding device, and relates to the field of pressure steel pipe welding. Comprising a bottom plate, a base, a first ring and a second ring, the device further comprises a gear and a servo motor. A connecting piece is further included. The connector is connected with the rear side of the second ring; the connecting piece is connected with a first power cylinder; the tail end of a piston rod of the first power cylinder is connected with a welding gun body; the bottom plate is connected with second power cylinders in front of and behind the second circular ring, and the second power cylinders are vertically arranged; the top ends of piston rods of the second power cylinders are connected with arc-shaped supporting plates. A servo motor and a welding gun body are started, the servo motor drives a gear to rotate through a transmission rod, the gear drives a second circular ring to rotate, and the second circular ring rotates to drive a first power cylinder and the welding gun body to rotate; the welding gun body is used for welding the circular seam of the pressure steel pipe while rotating; in the process, a worker does not need to hold the welding gun to conduct welding operation, and the welding operation efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of pressure steel pipe welding, in particular to a pressure steel pipe girth welding device. Background Art

[0002] In existing hydropower station projects, welding is often used to connect the front and rear sections of the penstock. This involves pre-buried the front section, aligning the head of the rear section with the tail of the front section, and securing the rear section. The junction of the two sections is then manually welded using a handheld welding torch, resulting in a closed, circular weld. This process, inefficient, is performed manually using a handheld torch throughout the penstock circumferential weld.

[0003] Therefore, it is very important to propose a penstock girth welding device that can improve welding operation efficiency. Utility Model Content

[0004] The utility model aims to solve the problem of low welding efficiency in the existing method of manually holding a welding gun to weld the girth seam of a pressure steel pipe.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is: a penstock girth welding device, comprising a bottom plate, a base, a first circular ring, and a second circular ring; the base is placed on the bottom plate; the first circular ring is connected to the base; an annular groove is formed on the inner side of the first circular ring; an arc block is connected to the outer side of the second circular ring, the arc block is clamped in the annular groove, and the inner side of the second circular ring is gear-shaped; the first circular ring and the second circular ring are coaxial;

[0006] The invention also includes a gear and a servo motor; the gear is meshed with the inner side of the second ring; the servo motor is located at the front side of the second ring, the output end of the servo motor is connected to a transmission rod, and the end of the transmission rod away from the servo motor is connected to the center of the gear;

[0007] It also includes a connecting piece; the connecting piece is connected to the rear side of the second ring; the connecting piece is connected to the first power cylinder; the end of the piston rod of the first power cylinder is connected to the welding gun body, the piston rod and the welding gun body are in the same straight line and the welding gun body points to the central axis of the second ring;

[0008] The base plate is connected to the second power cylinder on the front and rear sides of the second circular ring, and the second power cylinder is vertically arranged; the top of the piston rod of the second power cylinder is connected to an arc-shaped support plate; the central axis of the circle where the front and rear arc-shaped support plates are located is in the same vertical plane as the central axis of the second circular ring.

[0009] Furthermore, it also includes a vertical plate and a threaded rod; the vertical plate is connected to the base plate; the rear end of the threaded rod is rotatably connected to the vertical plate, the front end of the threaded rod passes through the base and is connected to a handle; the threaded rod is parallel to the central axis of the second ring.

[0010] Furthermore, the base is connected downwardly with sliders near its left and right sides; two slide grooves are opened on the top surface of the base plate; the two sliders are respectively engaged in the two slide grooves; the two slide grooves are parallel to the central axis of the second ring.

[0011] Furthermore, a front clamping device is provided in front of the second ring and a rear clamping device is provided in the rear thereof, and the front clamping device and the rear clamping device have the same structure;

[0012] The front clamping device includes a mounting box and a third power cylinder; the mounting box is connected to the base plate; the third power cylinder is arranged horizontally and is located in the mounting box, the fixed end of the third power cylinder is connected to the front side plate of the mounting box, and the end of the piston rod of the third power cylinder is connected to the vertical receiving plate; the rear side of the vertical receiving plate is connected to four clamping parts with the same structure in the upper, lower, left and right directions; the clamping part located above includes a first trapezoidal block, a second trapezoidal block, a spring, and a vertical rod; the first trapezoidal block is connected to the rear side of the vertical receiving plate and the hypotenuse of the first trapezoidal block faces upward; the hypotenuse of the second trapezoidal block is fitted with the hypotenuse of the first trapezoidal block, the spring is connected above the second trapezoidal block, and the top of the spring is connected to the top plate of the mounting box; the vertical rod is also connected above the second trapezoidal block, and the vertical rod is connected to a horizontal rod backward, the horizontal rod passes through the rear side plate of the mounting box, and the end of the horizontal rod away from the vertical rod is connected to the arc clamping plate;

[0013] The front side plate of the mounting box is provided with linear through holes in four directions: up, down, left, and right. When the third power cylinder drives the vertical receiving plate to move forward and backward, the vertical receiving plate drives the first trapezoidal block to move forward and backward. The four second trapezoidal blocks, up, down, left, and right, move in the corresponding directions under the action of the corresponding first trapezoidal blocks and springs, thereby driving the horizontal rod to move along the corresponding linear through holes, thereby driving the arc-shaped clamping plate to move in the corresponding directions.

[0014] The four arc-shaped clamping plates of the front clamping device are located on the same cylinder, and the central axis of the cylinder coincides with the central axis of the second ring;

[0015] The four upper, lower, left and right arc-shaped clamping plates of the rear clamping device face the second circular ring, and the central axis of the cylinder where the four upper, lower, left and right arc-shaped clamping plates of the rear clamping device are located also coincides with the central axis of the second circular ring.

[0016] Furthermore, it also includes an L-shaped support plate; the L-shaped support plate is connected to the front side of the base; the front side of the vertical plate of the L-shaped support plate is connected to a horizontal cross plate, and the servo motor is placed on the horizontal cross plate; the transmission rod passes through the vertical plate of the L-shaped support plate.

[0017] Furthermore, the connecting member includes a third circular ring, the third circular ring is located behind the second circular ring, and the central axis of the third circular ring coincides with the central axis of the second circular ring; the third circular ring is connected to the second circular ring through a plurality of fixing rods;

[0018] The connecting member further includes a first L-shaped connecting plate and a second L-shaped connecting plate; the vertical plate of the first L-shaped connecting plate is connected to the third ring; the vertical plate of the second L-shaped connecting plate is connected to the horizontal plate of the first L-shaped connecting plate;

[0019] The fixed end of the first power cylinder is connected to the horizontal plate of the second L-shaped connecting plate, and the piston rod of the first power cylinder passes through the horizontal plate of the first L-shaped connecting plate.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] First, place the front section of the pressure steel pipe on the front curved support plate, and the back section of the pressure steel pipe on the back curved support plate. Operate the second power cylinder to align the front and rear sections of the pressure steel pipe, and make the central axis of the front and rear sections of the pressure steel pipe coincide with the central axis of the second ring. Move the base so that the welding gun body points to the annular seam of the pressure steel pipe. Start the first power cylinder until the first power cylinder drives the welding gun head of the welding gun body to reach the annular seam of the pressure steel pipe. Start the servo motor and the welding gun body. The servo motor drives the gear to rotate through the transmission rod. The gear drives the second ring to rotate. The rotation of the second ring drives the first power cylinder and the welding gun body to rotate. The welding gun body rotates while welding the annular seam of the pressure steel pipe. This process does not require manual hand-held welding guns to perform welding operations, which improves welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram from one angle of the present invention.

[0023] Figure 2 This is a schematic diagram from another angle of the present invention.

[0024] Figure 3 This is a partial structural diagram of the utility model (1).

[0025] Figure 4 This is a partial structural diagram of the utility model (II).

[0026] Figure 5 This is a partial structural diagram of the front clamping device (1).

[0027] Figure 6 This is a partial structural diagram of the front clamping device (2).

[0028] Figure 7 This is a partial structural diagram of the front clamping device (3).

[0029] The meanings of the numbers in the figure are: 1. bottom plate; 2. base; 3. first circular ring; 301. annular groove; 4. second circular ring; 401. arc block; 5. gear; 6. servo motor; 7. second L-shaped connecting plate; 8. first power cylinder; 9. mounting box; 901. third power cylinder; 902. vertical receiving plate; 903. first trapezoidal block; 904. second trapezoidal block; 905. spring; 906. vertical rod; 907. horizontal rod; 908. arc clamping plate; 10. second power cylinder; 11. arc support plate; 12. vertical plate; 13. threaded rod; 14. handle; 15. slider; 16. slide; 17. welding gun body; 18. L-shaped support plate; 19. horizontal cross plate; 20. third circular ring; 21. fixing rod; 22. first L-shaped connecting plate. DETAILED DESCRIPTION

[0030] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings and specific implementation methods. The described embodiment is only one embodiment of the present invention, and the present invention may also have other implementation methods.

[0031] Example:

[0032] See also Figures 1 to 4 The utility model discloses a penstock girth welding device, comprising a base plate 1, a base 2, a first circular ring 3, and a second circular ring 4; the base 2 is placed on the base plate 1; the first circular ring 3 is connected to the base 2; an annular groove 301 is formed on the inner side of the first circular ring 3; an arc block 401 is connected to the outer side of the second circular ring 4, and the arc block 401 is clamped in the annular groove 301; the inner side of the second circular ring 4 is gear-shaped; the first circular ring 3 and the second circular ring 4 are coaxial;

[0033] The invention also includes a gear 5 and a servo motor 6; the gear 5 is meshed with the inner side of the second ring 4; the servo motor 6 is located in front of the second ring 4, the output end of the servo motor 6 is connected to a transmission rod, and the end of the transmission rod away from the servo motor 6 is connected to the center of the gear 5;

[0034] It also includes a connecting member; the connecting member is connected to the rear side of the second ring 4; the connecting member is connected to the first power cylinder 8; the end of the piston rod of the first power cylinder 8 is connected to the welding gun body 17, the piston rod and the welding gun body 17 are in the same straight line and the welding gun body 17 points to the central axis of the second ring 4;

[0035] The base plate 1 is connected to the second power cylinder 10 on the front and rear sides of the second ring 4, and the second power cylinder 10 is vertically arranged; the top end of the piston rod of the second power cylinder 10 is connected to the arc-shaped support plate 11; the central axis of the circle where the front and rear arc-shaped support plates 11 are located is in the same vertical plane as the central axis of the second ring 4.

[0036] In this embodiment, the connecting member can be a variety of different structural forms in the prior art, as long as it can be connected to the second ring 4 and the first power cylinder 8. The servo motor 6 is fixedly connected to the base 2, and can also be fixedly connected to the bottom plate 1. The bottom plate 1 is connected to two second power cylinders 10 in the front and rear of the second ring 4, and the second power cylinders 10 are arranged vertically; the top of the piston rod of the second power cylinder 10 is connected to an arc-shaped support plate 11; the central axis of the circle where the front and rear four arc-shaped support plates 11 are located is in the same vertical plane as the central axis of the second ring 4. The two front arc-shaped support plates 11 can better support the front section of the pressure steel pipe, and the two rear arc-shaped support plates 11 can better support the rear section of the pressure steel pipe.

[0037] First, place the front section of the pressure steel pipe on the front curved support plate 11, and the back section of the pressure steel pipe on the back curved support plate 11. Operate the second power cylinder 10 to align the front and rear sections of the pressure steel pipe, and make the central axis of the front and rear sections of the pressure steel pipe coincide with the central axis of the second ring 4. Move the base 2 so that the welding gun body 17 points to the annular seam of the pressure steel pipe. Start the first power cylinder 8 until the first power cylinder 8 drives the welding gun head of the welding gun body 17 to reach the annular seam of the pressure steel pipe. Start the servo motor 6 and the welding gun body 17. The servo motor 6 drives the gear 5 to rotate through the transmission rod. The gear 5 drives the second ring 4 to rotate. The rotation of the second ring 4 drives the first power cylinder 8 and the welding gun body 17 to rotate. The welding gun body 17 rotates while welding the annular seam of the pressure steel pipe. This process does not require manual hand-held welding guns to perform welding operations, saving physical strength and improving welding efficiency.

[0038] As a preferred embodiment, see Figures 1 to 4 , also includes a vertical plate 12 and a threaded rod 13; the vertical plate 12 is connected to the base plate 1; the rear end of the threaded rod 13 is rotatably connected to the vertical plate 12, the front end of the threaded rod 13 passes through the base 2 and is connected to a handle 14 at the front end; the threaded rod 13 is parallel to the central axis of the second ring 4.

[0039] In this embodiment, the threaded rod 13 is also connected to a vertical plate 12 near its front end. The operator rotates the handle 14 to rotate the threaded rod 13, which in turn moves the base 2 forward and backward, allowing the welding gun body 17 to more easily and quickly point to the girth seam of the penstock, preparing for welding.

[0040] As a preferred embodiment, see Figures 1 to 4 The base 2 is connected downwardly with sliders 15 near its left and right sides; two slide grooves 16 are opened on the top surface of the bottom plate 1; the two sliders 15 are correspondingly engaged in the two slide grooves 16; the two slide grooves 16 are parallel to the central axis of the second ring 4.

[0041] In this embodiment, during the forward and backward movement of the base 2 , the slider 15 moves along the slide groove 16 , making the movement of the entire base 2 more stable.

[0042] As a preferred embodiment, see Figures 5 to 7 , a front clamping device is provided in front of the second ring 4, and a rear clamping device is provided in the rear, and the front clamping device and the rear clamping device have the same structure;

[0043] The front clamping device includes a mounting box 9 and a third power cylinder 901; the mounting box 9 is connected to the bottom plate 1; the third power cylinder 901 is arranged horizontally and is located in the mounting box 9, the fixed end of the third power cylinder 901 is connected to the front side plate of the mounting box 9, and the end of the piston rod of the third power cylinder 901 is connected to a vertical receiving plate 902; the rear side of the vertical receiving plate 902 is connected to four clamping components with the same structure on the upper, lower, left and right sides; the clamping component located at the top includes a first trapezoidal block 903, a second trapezoidal block 904, a spring 905, and a vertical rod 906 ; The first trapezoidal block 903 is connected to the rear side of the vertical receiving plate 902 and the hypotenuse of the first trapezoidal block 903 is facing upward; the hypotenuse of the second trapezoidal block 904 is in contact with the hypotenuse of the first trapezoidal block 903, and the second trapezoidal block 904 is connected to the spring 905 above, and the top of the spring 905 is connected to the top plate of the installation box 9; the second trapezoidal block 904 is also connected to the vertical rod 906 above, and the vertical rod 906 is connected to the horizontal rod 907 at the rear, and the horizontal rod 907 passes through the rear side plate of the installation box 9, and the end of the horizontal rod 907 away from the vertical rod 906 is connected to the arc-shaped clamping plate 908;

[0044] The front side plate of the mounting box 9 is provided with straight through holes in four directions: up, down, left, and right. When the third power cylinder 901 drives the vertical receiving plate 902 to move forward and backward, the vertical receiving plate 902 drives the first trapezoidal block 903 to move forward and backward. The four second trapezoidal blocks 904, up, down, left, and right, move in the corresponding directions under the action of the corresponding first trapezoidal blocks 903 and the springs 905, thereby driving the horizontal rods 907 to move along the corresponding straight through holes, thereby driving the arc-shaped clamping plates 908 to move in the corresponding directions.

[0045] The four arc-shaped clamping plates 908 of the front clamping device are located on the same cylinder, and the central axis of the cylinder coincides with the central axis of the second ring 4;

[0046] The four upper, lower, left and right arc-shaped clamping plates 908 of the rear clamping device face the second ring 4 , and the central axis of the cylinder where the four upper, lower, left and right arc-shaped clamping plates 908 of the rear clamping device are located also coincides with the central axis of the second ring 4 .

[0047] In this embodiment, for the front clamping device, when the third power cylinder 901 is activated to drive the vertical receiving plate 902 to move backward, the first trapezoidal blocks 903 in four directions are driven to move backward, thereby abutting the four second trapezoidal blocks 904 in the upper, lower, left and right directions, so that the four second trapezoidal blocks 904 compress the spring 905, thereby driving the horizontal rod 907 to move along the corresponding linear through hole, thereby driving the arc-shaped clamping plate 908 to move in the corresponding direction; at this time, the four arc-shaped clamping plates 908 are in an expanded state, abutting the head of the previous section of the penstock against the rear side of the installation box 9, and then the third power cylinder 901 is used to drive the vertical receiving plate 902 to move forward, so that the four arc-shaped clamping plates 908 are all retracted, thereby clamping the head of the previous section of the penstock. The same operation is used for the rear clamping device to clamp the tail of the next section of the penstock.

[0048] The front clamping device is used to clamp the front section of the penstock, and the rear clamping device is used to clamp the rear section of the penstock, so that the penstock is more stable during the circumferential seam welding process of the welding gun body 17.

[0049] As a preferred embodiment, see Figures 1 to 4 , also includes an L-shaped support plate 18; the L-shaped support plate 18 is connected to the front side of the base 2; the front side of the vertical plate of the L-shaped support plate 18 is connected to the horizontal cross plate 19, and the servo motor 6 is placed on the horizontal cross plate 19; the transmission rod passes through the vertical plate of the L-shaped support plate 18.

[0050] As a preferred embodiment, see Figures 1 to 4 The connecting member includes a third ring 20, which is located behind the second ring 4. The central axis of the third ring 20 coincides with the central axis of the second ring 4. The third ring 20 is connected to the second ring 4 through a plurality of fixing rods 21.

[0051] The connecting member further includes a first L-shaped connecting plate 22 and a second L-shaped connecting plate 7; the vertical plate of the first L-shaped connecting plate 22 is connected to the third ring 20; the vertical plate of the second L-shaped connecting plate 7 is connected to the horizontal plate of the first L-shaped connecting plate 22;

[0052] The fixed end of the first power cylinder 8 is connected to the horizontal plate of the second L-shaped connecting plate 7 , and the piston rod of the first power cylinder 8 passes through the horizontal plate of the first L-shaped connecting plate 22 .

[0053] The terms "connection", "fixation" and "docking" appearing in the description of this utility model may refer to fixed connection, processing and forming, welding, or mechanical connection. The specific meanings of the above terms in this utility model shall be understood according to the specific circumstances.

[0054] In the description of the present invention, the terms "inside", "upper", "lower", "end", "side", "outer", etc., which indicate the orientation or position relationship, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A penstock girth welding device, characterized by: The invention comprises a bottom plate (1), a base (2), a first circular ring (3), and a second circular ring (4); the base (2) is placed on the bottom plate (1); the first circular ring (3) is connected to the base (2); an annular groove (301) is provided on the inner side of the first circular ring (3); an arc block (401) is connected to the outer side of the second circular ring (4), the arc block (401) is clamped in the annular groove (301), and the inner side of the second circular ring (4) is gear-shaped; the first circular ring (3) and the second circular ring (4) are coaxial; It also includes a gear (5) and a servo motor (6); the gear (5) is meshed with the inner side of the second ring (4); the servo motor (6) is located on the front side of the second ring (4), the output end of the servo motor (6) is connected to a transmission rod, and the end of the transmission rod away from the servo motor (6) is connected to the center of the gear (5); It also includes a connecting piece; the connecting piece is connected to the rear side of the second ring (4); the connecting piece is connected to the first power cylinder (8); the end of the piston rod of the first power cylinder (8) is connected to the welding gun body (17), the piston rod and the welding gun body (17) are in the same straight line, and the welding gun body (17) points to the central axis of the second ring (4); The bottom plate (1) is connected to a second power cylinder (10) at the front and rear sides of the second circular ring (4), and the second power cylinder (10) is arranged vertically; the top end of the piston rod of the second power cylinder (10) is connected to an arc-shaped support plate (11); the central axis of the circle where the front and rear arc-shaped support plates (11) are located is in the same vertical plane as the central axis of the second circular ring (4).

2. A penstock girth welding device according to claim 1, characterized in that: It also includes a vertical plate (12) and a threaded rod (13); the vertical plate (12) is connected to the bottom plate (1); the rear end of the threaded rod (13) is rotatably connected to the vertical plate (12), and the front end of the threaded rod (13) passes through the base (2) and is connected to a handle (14); the threaded rod (13) is parallel to the central axis of the second ring (4).

3. The penstock girth welding device according to claim 2, characterized in that: The base (2) is connected downwardly with sliders (15) near its left and right sides; the top surface of the bottom plate (1) is provided with two slide grooves (16); the two sliders (15) are correspondingly engaged in the two slide grooves (16); the two slide grooves (16) are parallel to the central axis of the second ring (4).

4. The penstock girth welding device according to claim 1, characterized in that: A front clamping device is provided in front of the second ring (4), and a rear clamping device is provided in the rear, and the front clamping device and the rear clamping device have the same structure; The front clamping device comprises a mounting box (9) and a third power cylinder (901); the mounting box (9) is connected to the bottom plate (1); the third power cylinder (901) is arranged in a horizontal direction and is located in the mounting box (9); the fixed end of the third power cylinder (901) is connected to the front side plate of the mounting box (9); the end of the piston rod of the third power cylinder (901) is connected to a vertical receiving plate (902); the rear side of the vertical receiving plate (902) is connected to four clamping components with the same structure in the upper, lower, left and right directions; the clamping component located at the top comprises a first trapezoidal block (903), a second trapezoidal block (904), a spring (905), and a vertical rod (906); the first The trapezoidal block (903) is connected to the rear side of the vertical receiving plate (902) and the oblique side of the first trapezoidal block (903) faces upward; the oblique side of the second trapezoidal block (904) is in contact with the oblique side of the first trapezoidal block (903); the upper side of the second trapezoidal block (904) is connected to the spring (905), and the top end of the spring (905) is connected to the top plate of the installation box (9); the upper side of the second trapezoidal block (904) is also connected to the vertical rod (906), and the vertical rod (906) is connected to the horizontal rod (907) at the rear, and the horizontal rod (907) passes through the rear side plate of the installation box (9), and the end of the horizontal rod (907) away from the vertical rod (906) is connected to the arc-shaped clamping plate (908); The front side plate of the mounting box (9) is provided with straight through holes in four directions, namely, up, down, left, and right. When the third power cylinder (901) drives the vertical receiving plate (902) to move forward and backward, the vertical receiving plate (902) drives the first trapezoidal block (903) to move forward and backward, and the four second trapezoidal blocks (904) in the upper, lower, left, and right directions move in the corresponding directions under the action of the corresponding first trapezoidal blocks (903) and the spring (905), thereby driving the horizontal rod (907) to move along the corresponding straight through holes, thereby driving the arc-shaped clamping plate (908) to move in the corresponding directions. The four arc-shaped clamping plates (908) of the front clamping device, the upper and lower and the left and right, are located on the same cylinder, and the central axis of the cylinder coincides with the central axis of the second ring (4); The four upper, lower, left, and right arc-shaped clamping plates (908) of the rear clamping device face the second circular ring (4), and the central axis of the cylinder where the four upper, lower, left, and right arc-shaped clamping plates (908) of the rear clamping device are located also coincides with the central axis of the second circular ring (4).

5. The penstock girth welding device according to claim 1, characterized in that: It also includes an L-shaped support plate (18); the L-shaped support plate (18) is connected to the front side of the base (2); the front side of the vertical plate of the L-shaped support plate (18) is connected to the horizontal cross plate (19), and the servo motor (6) is placed on the horizontal cross plate (19); the transmission rod passes through the vertical plate of the L-shaped support plate (18).

6. The penstock girth welding device according to claim 1, characterized in that: The connecting member comprises a third circular ring (20), the third circular ring (20) is located at the rear side of the second circular ring (4), and the central axis of the third circular ring (20) coincides with the central axis of the second circular ring (4); the third circular ring (20) is connected to the second circular ring (4) via a plurality of fixing rods (21); The connecting member further comprises a first L-shaped connecting plate (22) and a second L-shaped connecting plate (7); the vertical plate of the first L-shaped connecting plate (22) is connected to the third ring (20); the vertical plate of the second L-shaped connecting plate (7) is connected to the horizontal plate of the first L-shaped connecting plate (22); The fixed end of the first power cylinder (8) is connected to the horizontal plate of the second L-shaped connecting plate (7), and the piston rod of the first power cylinder (8) passes through the horizontal plate of the first L-shaped connecting plate (22).

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