Rotary anti-falling manipulator

Abstract

The utility model discloses a rotation anti-disengagement manipulator which comprises anti-disengagement assemblies, a mechanical claw and a connecting base, the mechanical claw is arranged at the front end of the connecting base, and the anti-disengagement assemblies are symmetrically arranged on the two sides of the mechanical claw. The utility model belongs to the technical field of mechanical control. The pneumatic sliding block of the mechanical claw is controlled to move front and back by changing air pressure in the air pressure cavity connected with the base, the pneumatic sliding block can drive the claw arm on the front side to be opened and closed, and the technical effect that the mechanical claw grabs an object is achieved. Pressure in the air pressure cavity is transmitted to a pneumatic valve on the anti-disengaging assembly through a side hole, an electromagnetic sliding block is powered on, the electromagnetic sliding block drives an anti-disengaging clamp to rotate through electromagnetic repulsive force, an elastic head at the bottom of the anti-disengaging clamp clamps an object, the object is prevented from disengaging, and rotation of the anti-disengaging clamp can be changed along with overturning of the mechanical claw. And the object is prevented from falling off from the mechanical claw after being overturned.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical control, in particular to a rotating anti-slip manipulator. Background Art

[0002] During use, the robot arm needs to grasp objects and move them vertically or in a circular motion to transport them to a designated location. When the gripping force of the robot arm is constant, the objects gripped are mostly regular squares or cylinders, and the gripping point of the object is controllable, allowing the robot arm to perform various complex movements smoothly and quickly while gripping the object.

[0003] With the continuous development of the current industrial and manufacturing industries, people will use more and more robots, and the requirements for robots will continue to increase, so that they can complete the handling of various irregular objects. The existing robots in the technology of handling irregular objects mostly increase the gripping force of the robot or increase the contact surface with the object. However, because the external shape of the irregular object itself is uncontrollable, the gripping point and gripping force of the robot on the irregular object cannot be accurate, resulting in the robot grasping the irregular object. The workpiece is prone to falling during the movement. In more complex object flipping conditions, the robot's grip on the object is even less reliable, resulting in the object falling and being damaged. Utility Model Content

[0004] In view of the above situation, in order to overcome the defects of the prior art, the utility model provides a rotating anti-slip manipulator, which effectively solves the above problem.

[0005] The technical solution adopted by the present invention is as follows: The present invention proposes a rotating anti-slip manipulator, including an anti-slip component, a mechanical claw and a connecting base, the mechanical claw is arranged at the front end of the connecting base, and the anti-slip component is symmetrically arranged on both sides of the mechanical claw; the anti-slip component includes an anti-slip clamp, an anti-slip clamp driving member and an anti-slip clamp fixing seat, the anti-slip clamp fixing seat is fixed on the mechanical claw, the anti-slip clamp is rotatably arranged on the anti-slip clamp fixing seat, the front end of the anti-slip clamp is symmetrically provided with elastic rods, the back of the anti-slip clamp is provided with a trapezoidal groove, the anti-slip clamp driving member slides in the anti-slip clamp fixing seat, and the anti-slip clamp driving member is located on the rear side of the anti-slip clamp.

[0006] Furthermore, the anti-slip clamp driving component is provided with a pushing rod, a connecting cross bar and a magnetic slider, the front side of the pushing rod is attached to the trapezoidal groove wall on the back of the anti-slip clamp, the connecting cross bar is symmetrically arranged on the rear side of the pushing rod, and the magnetic slider is arranged at the end of the connecting cross bar.

[0007] Furthermore, the anti-dropout clamp fixing seat is provided with a rotating groove, an electromagnetic slider groove and a metal ball sliding groove, the rotating groove is located on the front side of the anti-dropout clamp fixing seat, the metal ball sliding groove is located on the back of the anti-dropout clamp fixing seat, the electromagnetic slider groove is provided between the rotating groove and the metal ball sliding groove, the anti-dropout clamp rotates in the rotating groove, the push rod slides in the rotating groove, and the magnetic slider slides in the electromagnetic slider groove.

[0008] Furthermore, fixed plates are symmetrically provided on both sides of the rotating groove, a rotating column is provided between the fixed plates, the anti-slip clamp rotates on the rotating column, a spring plate is provided in the center of the rotating groove, and a balance spring is symmetrically provided above and below the spring plate, and the balance spring is provided on the connecting cross bar.

[0009] Furthermore, electromagnetic sliders are symmetrically arranged in the upper and lower parts of the electromagnetic slider groove, a second electrode plate is provided on the rear side of the electromagnetic slider, a blocking plate is provided between the two electromagnetic sliders, and the second electrode plate is provided on the inner wall of the front side of the metal ball slide groove.

[0010] Furthermore, the metal ball chute is provided with an electrode plate 1, and the electrode plate 1 is located on the inner wall of the rear side of the metal ball chute. A metal ball is provided inside the metal ball chute, and the metal ball rolls in the metal ball chute.

[0011] Furthermore, a pneumatic valve is provided on the back of the metal ball chute, and a through hole is provided on the side wall where the metal ball chute is connected to the pneumatic valve, and the end of the through hole is located on the back of the electrode plate. A metal valve core and a valve core return spring are provided inside the pneumatic valve, one end of the valve core return spring is provided on the metal valve core, and the other end of the valve core return spring is provided on the outer wall of the metal ball chute. A metal tube wall is provided at the center of the tube wall of the pneumatic valve, and the metal valve core slides on the metal tube wall.

[0012] Furthermore, the mechanical claw includes a pneumatic slider, a claw arm and a connecting piece. The pneumatic slider is symmetrically provided with a single-hole connecting column. The single-hole connecting column is connected to the mounting hole on the outside of the bottom of the claw arm through a connecting piece. A card slot is provided on the middle outside of the claw arm, and the fixing plate is engaged in the card slot on the middle outside of the claw arm.

[0013] Furthermore, a claw arm fixing plate is provided at the front end of the connecting base, and mounting holes are symmetrically provided on the claw arm fixing plate. The mechanical claw is also provided with a second connecting member, and the mounting hole of the claw arm fixing plate is connected to the mounting hole on the inner side of the claw arm through the second connecting member. An air pressure chamber is provided inside the connecting base, and the pneumatic slider slides in the air pressure chamber. Square grooves are provided on both sides of the claw arm fixing plate, and the single-hole connecting column slides in the square groove.

[0014] Furthermore, an air pressure tube is provided on the rear side of the air pressure chamber, and side holes are symmetrically provided on the inner wall of the air pressure tube. A side hole tube is provided outside the side hole, and the side hole tube is connected to the pneumatic valve through a hose. A rotating flange is provided on the rear side of the connecting base.

[0015] The beneficial effects achieved by the utility model using the above structure are as follows:

[0016] 1. The pneumatic tube is connected to the air pump of the robotic arm. The pressure inside the air chamber is changed by the inflation and exhaust of the air pump. Under the action of air pressure, the pneumatic slider is driven to move, and then the claw arms on both sides are driven to open and close, achieving the technical effect of the robotic claw grasping the object.

[0017] 2. The process of the mechanical claw grasping an object is also the process of the pressure in the air pressure chamber increasing from small to large and then tending to stabilize. The pressure in the air pressure chamber is transmitted to the pneumatic valve through the side hole and the hose connected to the outside of the side hole tube. The pressure received by the metal valve core gradually increases, which will compress the valve core return spring, and the front end of the metal valve core gradually approaches the electrode plate one until the pressure stabilizes and the front end of the metal valve core fits with the electrode plate one. At this time, the metal valve core energizes the electrode plate one, and the metal ball under the influence of gravity is at the bottom of the metal ball slide groove, connecting the electrode plate two and the electrode plate one to form a circuit path, and then the electromagnetic slider is energized to generate magnetic force. The magnetic pole generated by the electromagnetic slider is opposite to the magnetic slider below it, which will push the magnetic slider downward, and the magnetic slider drives the anti-clamping drive part to move downward. The push rod of the anti-clamping drive part will press down the trapezoidal groove of the anti-clamping, and then the anti-clamping rotates, and the elastic head at the bottom of the anti-clamping assists the mechanical claw to clamp irregular objects, thereby achieving the technical effect of preventing irregular objects from falling off from below.

[0018] 3. The electromagnetic slider drives the anti-unclamping drive part to move through the repulsion of the electromagnetic poles, thereby driving the anti-unclamping to quickly clamp the object. Compared with the electromagnetic suction force, as the distance between the two increases, the repulsive force gradually decreases, which has a certain buffering effect, preventing the anti-unclamping from clamping the object with too much force, causing damage to the object surface.

[0019] 4. When the mechanical claw drives the object to flip, the metal ball will roll quickly in the metal ball chute. When the object flips over by more than 90 degrees, the metal ball will cross the barrier plate under the influence of gravity and roll to the electromagnetic slider on the other side, thereby driving the anti-drop clamp to rotate in the opposite direction, so that the elastic head at the other end of the anti-drop clamp can clamp the object to prevent it from falling off the mechanical claw after flipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a three-dimensional diagram of a rotating anti-slip manipulator proposed in the utility model;

[0021] Figure 2 This is a top view of a rotating anti-slip manipulator proposed in the utility model;

[0022] Figure 3 for Figure 2 A cross-sectional view along the cutting line AA;

[0023] Figure 4 for Figure 3 A cross-sectional view along the cutting line BB;

[0024] Figure 5 for Figure 3 A cross-sectional view along the cutting line CC;

[0025] Figure 6 for Figure 3 A partial enlarged view of part I in FIG.

[0026] Among them, 1. Anti-slip assembly, 11. Anti-slip clip, 12. Anti-slip clip drive, 121. Push rod, 122. Connecting cross bar, 123. Magnetic slider, 13. Anti-slip clip fixing seat, 131. Rotating groove, 1311. Fixed plate, 1312. Rotating column, 1313. Spring plate, 1314. Balance spring, 132. Electromagnetic slider groove, 133. Metal ball slide groove, 1331. Electrode plate 1, 134. Pneumatic valve, 1341. Metal valve Core, 1342, valve core return spring, 1343, metal pipe wall, 14, electromagnetic slider, 141, electrode plate 2, 142, barrier plate, 15, metal ball, 2, mechanical claw, 21, pneumatic slider, 211, single-hole connecting column, 22, claw arm, 23, connector 1, 24, connector 2, 3, connecting base, 31, claw arm fixing plate, 32, air pressure chamber, 33, air pressure tube, 331, side hole, 332, side hole tube, 34, rotating flange.

[0027] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] like Figures 1-6As shown, the utility model proposes a rotating anti-slip manipulator, including an anti-slip component 1, a mechanical claw 2 and a connecting base 3. The mechanical claw 2 is arranged at the front end of the connecting base 3, and the anti-slip component 1 is symmetrically arranged on both sides of the mechanical claw 2; the anti-slip component 1 includes an anti-slip clamp 11, an anti-slip clamp driving member 12 and an anti-slip clamp fixing seat 13. The anti-slip clamp fixing seat 13 is fixed on the mechanical claw 2, and the anti-slip clamp 11 is rotatably arranged on the anti-slip clamp fixing seat 13. The front end of the anti-slip clamp 11 is symmetrically provided with elastic rods, and the back of the anti-slip clamp 11 is provided with a trapezoidal groove. The anti-slip clamp driving member 12 slides in the anti-slip clamp fixing seat 13, and the anti-slip clamp driving member 12 is located on the rear side of the anti-slip clamp 11.

[0030] The anti-slip clamp driving component 12 is provided with a pushing rod 121, a connecting cross bar 122 and a magnetic slider 123. The front side of the pushing rod 121 is attached to the trapezoidal groove wall on the back of the anti-slip clamp 11, the connecting cross bar 122 is symmetrically arranged on the rear side of the pushing rod 121, and the magnetic slider 123 is arranged at the end of the connecting cross bar 122.

[0031] The anti-dropout clamp fixing seat 13 is provided with a rotating groove 131, an electromagnetic slider groove 132 and a metal ball slide groove 133. The rotating groove 131 is located on the front side of the anti-dropout clamp fixing seat 13, the metal ball slide groove 133 is located on the back of the anti-dropout clamp fixing seat 13, and the electromagnetic slider groove 132 is provided between the rotating groove 131 and the metal ball slide groove 133. The anti-dropout clamp 11 rotates in the rotating groove 131, the push rod 121 slides in the rotating groove 131, and the magnetic slider 123 slides in the electromagnetic slider groove 132.

[0032] Fixed plates 1311 are symmetrically provided on both sides of the rotating groove 131, and a rotating column 1312 is provided between the fixed plates 1311. The anti-slip clip 11 rotates on the rotating column 1312. A spring plate 1313 is provided in the center of the rotating groove 131. The spring plate 1313 is symmetrically provided with a balance spring 1314 up and down. The balance spring 1314 is provided on the connecting cross bar 122.

[0033] Electromagnetic sliders 14 are symmetrically arranged in the electromagnetic slider groove 132 , and a second electrode plate 141 is provided on the rear side of the electromagnetic slider 14 . A blocking plate 142 is provided between the two electromagnetic sliders 14 . The second electrode plate 141 is provided on the front inner wall of the metal ball sliding groove 133 .

[0034] The metal ball chute 133 is provided with an electrode plate 1331 , which is located on the rear inner wall of the metal ball chute 133 . A metal ball 15 is provided inside the metal ball chute 133 , and the metal ball 15 rolls in the metal ball chute 133 .

[0035] A pneumatic valve 134 is provided on the back of the metal ball chute 133. A through hole is provided on the side wall where the metal ball chute 133 is connected to the pneumatic valve 134. The end of the through hole is located on the back of the electrode plate 1331. A metal valve core 1341 and a valve core return spring 1342 are provided inside the pneumatic valve 134. One end of the valve core return spring 1342 is provided on the metal valve core 1341, and the other end of the valve core return spring 1342 is provided on the outer wall of the metal ball chute 133. A metal tube wall 1343 is provided at the center of the tube wall of the pneumatic valve 134, and the metal valve core 1341 slides on the metal tube wall 1343.

[0036] The mechanical claw 2 includes a pneumatic slider 21, a claw arm 22 and a connecting piece 23. A single-hole connecting column 211 is symmetrically provided on the left and right sides of the pneumatic slider 21. The single-hole connecting column 211 is connected to the mounting hole on the bottom outer side of the claw arm 22 through a connecting piece 23. A card slot is provided on the middle outer side of the claw arm 22, and the fixing plate 1311 is engaged in the card slot on the middle outer side of the claw arm 22.

[0037] A claw arm fixing plate 31 is provided at the front end of the connecting base 3, and mounting holes are symmetrically provided on the claw arm fixing plate 31. The mechanical claw 2 is also provided with a second connecting piece 24. The mounting hole of the claw arm fixing plate 31 is connected to the mounting hole on the inner side of the claw arm 22 through the second connecting piece 24. An air pressure chamber 32 is provided inside the connecting base 3, and the pneumatic slider 21 slides in the air pressure chamber 32. Square grooves are provided on both sides of the claw arm fixing plate 31, and the single-hole connecting column 211 slides in the square groove.

[0038] An air pressure tube 33 is provided on the rear side of the air pressure chamber 32. Side holes 331 are symmetrically provided on the inner wall of the air pressure tube 33. A side hole tube 332 is provided outside the side hole 331. The side hole tube 332 is connected to the pneumatic valve 134 through a hose. A rotating flange 34 is provided on the rear side of the connecting base 3.

[0039] During specific use, the pneumatic tube 33 is connected to the air pump of the robotic arm, and the pressure inside the pneumatic chamber 32 is changed by the inflation and exhaust of the air pump. When exhausting, the pressure inside the pneumatic chamber 32 decreases, thereby driving the pneumatic slider 21 to move backward. The backward movement of the pneumatic slider 21 will drive the claw arms 22 on both sides to open. When inflating, the pressure inside the pneumatic chamber 32 increases, thereby driving the pneumatic slider 21 to move forward. The forward movement of the pneumatic slider 21 will drive the claw arms 22 on both sides to close, completing the grip of the object by the robotic claw 2.

[0040] The process of the mechanical claw 2 grasping an object is also the process of the pressure in the air pressure chamber 32 increasing from small to large and then tending to be stable. The pressure in the air pressure chamber 32 is transmitted to the pneumatic valve 134 through the side hole 331 and the hose connected to the outside of the side hole tube 332. The pressure received by the metal valve core 1341 gradually increases, which will compress the valve core return spring 1342. The front end of the metal valve core 1341 gradually approaches the electrode plate 1331 until the pressure stabilizes and the front end of the metal valve core 1341 fits with the electrode plate 1331. The metal tube wall 1343 is connected to the power supply outside, and then the electrode plate 1331 is energized through the metal valve core 1341, and gravity affects The metal ball 15 below is at the bottom of the metal ball slide groove 133, connecting the electrode plate 2 141 and the electrode plate 1 1331 to form a circuit path, and then the electromagnetic slider 14 is energized to generate magnetic force. The magnetic pole generated by the electromagnetic slider 14 is opposite to the magnetic slider 123 below it, which will push the magnetic slider 123 to move downward. The magnetic slider 123 drives the anti-dropping clamp driving part 12 to move downward, and the pushing rod 121 of the anti-dropping clamp driving part 12 will press down the trapezoidal groove of the anti-dropping clamp 11, and then the anti-dropping clamp 11 rotates on the rotating column 1312. The elastic head at the bottom of the anti-dropping clamp 11 assists the mechanical claw 2 to clamp irregular objects to prevent the irregular objects from falling off due to gravity.

[0041] When the mechanical claw 2 drives the object to flip, the metal ball 15 will roll quickly in the metal ball slide 133. When the object rotates by more than 90 degrees, the metal ball 15 will pass over the blocking plate 142 under the influence of gravity and roll to the electromagnetic slider 14 on the other side, thereby driving the anti-slip clamp 11 to rotate. The elastic head at the other end of the anti-slip clamp 11 clamps the object to prevent it from falling off the mechanical claw 2 after flipping.

[0042] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0043] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention.

[0044] The above description of the present invention and its embodiments is non-limiting. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by the above, and does not deviate from the purpose of the present invention, without inventive design, a structure and embodiment similar to the technical solution should fall within the scope of protection of the present invention.

Claims

1. A rotating anti-slip manipulator, characterized by: It comprises an anti-slip component (1), a mechanical claw (2) and a connecting base (3), wherein the mechanical claw (2) is arranged at the front end of the connecting base (3), and the anti-slip component (1) is symmetrically arranged on both sides of the mechanical claw (2); The anti-slip assembly (1) comprises an anti-slip clamp (11), an anti-slip clamp driving member (12) and an anti-slip clamp fixing seat (13), wherein the anti-slip clamp fixing seat (13) is fixed on the mechanical claw (2), the anti-slip clamp (11) is rotatably arranged on the anti-slip clamp fixing seat (13), the front end of the anti-slip clamp (11) is symmetrically provided with elastic rods in the upper and lower parts, the back of the anti-slip clamp (11) is provided with a trapezoidal groove, the anti-slip clamp driving member (12) slides in the anti-slip clamp fixing seat (13), and the anti-slip clamp driving member (12) is located at the rear side of the anti-slip clamp (11).

2. The anti-slip rotating manipulator according to claim 1, characterized in that: The anti-dropout clamp driving member (12) is provided with a push rod (121), a connecting cross bar (122) and a magnetic slider (123); the front side of the push rod (121) is attached to the trapezoidal groove wall on the back of the anti-dropout clamp (11); the connecting cross bar (122) is symmetrically arranged on the rear side of the push rod (121) in an upper and lower manner; and the magnetic slider (123) is arranged at the end of the connecting cross bar (122).

3. The anti-slip rotating manipulator according to claim 2, characterized in that: The anti-dropout clamp fixing seat (13) is provided with a rotation groove (131), an electromagnetic slider groove (132) and a metal ball slide groove (133), wherein the rotation groove (131) is located at the front side of the anti-dropout clamp fixing seat (13), the metal ball slide groove (133) is located at the back of the anti-dropout clamp fixing seat (13), the electromagnetic slider groove (132) is located between the rotation groove (131) and the metal ball slide groove (133), the anti-dropout clamp (11) rotates in the rotation groove (131), the push rod (121) slides in the rotation groove (131), and the magnetic slider (123) slides in the electromagnetic slider groove (132).

4. The anti-slip rotating manipulator according to claim 3, characterized in that: Fixed plates (1311) are symmetrically provided on both sides of the rotating groove (131), a rotating column (1312) is provided between the fixed plates (1311), the anti-dropping clip (11) rotates on the rotating column (1312), a spring plate (1313) is provided at the center of the rotating groove (131), and a balancing spring (1314) is symmetrically provided on the upper and lower sides of the spring plate (1313), and the balancing spring (1314) is provided on the connecting cross bar (122).

5. The anti-slip rotating manipulator according to claim 4, characterized in that: Electromagnetic sliders (14) are symmetrically arranged in the upper and lower parts of the electromagnetic slider groove (132), and a second electrode plate (141) is provided on the rear side of the electromagnetic slider (14). A blocking plate (142) is provided between the two electromagnetic sliders (14), and the second electrode plate (141) is provided on the inner wall of the front side of the metal ball slide groove (133).

6. The anti-slip rotating manipulator according to claim 5, characterized in that: The metal ball chute (133) is provided with an electrode plate 1 (1331), and the electrode plate 1 (1331) is located on the inner wall of the rear side of the metal ball chute (133). A metal ball (15) is provided inside the metal ball chute (133), and the metal ball (15) rolls in the metal ball chute (133).

7. The anti-slip rotating manipulator according to claim 6, characterized in that: A pneumatic valve (134) is provided on the back of the metal ball chute (133), a through hole is provided on the side wall of the metal ball chute (133) connected to the pneumatic valve (134), the end of the through hole is located on the back of the electrode plate (1331), a metal valve core (1341) and a valve core return spring (1342) are provided inside the pneumatic valve (134), one end of the valve core return spring (1342) is provided on the metal valve core (1341), and the other end of the valve core return spring (1342) is provided on the outer wall of the metal ball chute (133), a metal tube wall (1343) is provided at the center of the tube wall of the pneumatic valve (134), and the metal valve core (1341) slides on the metal tube wall (1343).

8. The anti-slip rotating manipulator according to claim 7, characterized in that: The mechanical claw (2) comprises a pneumatic slider (21), a claw arm (22) and a connecting piece (23). The pneumatic slider (21) is symmetrically provided with a single-hole connecting column (211). The single-hole connecting column (211) is connected to the mounting hole on the outer side of the bottom of the claw arm (22) via the connecting piece (23). A slot is provided on the middle outer side of the claw arm (22), and the fixing plate (1311) is engaged in the slot on the middle outer side of the claw arm (22).

9. The anti-slip rotating manipulator according to claim 8, characterized in that: The front end of the connecting base (3) is provided with a claw arm fixing plate (31), and the claw arm fixing plate (31) is symmetrically provided with mounting holes. The mechanical claw (2) is also provided with a second connecting piece (24), and the mounting hole of the claw arm fixing plate (31) is connected to the mounting hole on the inner side of the claw arm (22) through the second connecting piece (24). The inside of the connecting base (3) is provided with an air pressure chamber (32), and the pneumatic slider (21) slides in the air pressure chamber (32). Square grooves are provided on both sides of the claw arm fixing plate (31), and the single-hole connecting column (211) slides in the square grooves.

10. The anti-slip rotating manipulator according to claim 9, characterized in that: An air pressure tube (33) is provided on the rear side of the air pressure chamber (32), and a side hole (331) is symmetrically provided on the inner wall of the air pressure tube (33). A side hole tube (332) is provided outside the side hole (331), and the side hole tube (332) is connected to the pneumatic valve (134) through a hose. A rotating flange (34) is provided on the rear side of the connecting base (3).

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