Automatic bagging machine for double-spore mushroom corn straw base

Abstract

The utility model relates to bagging machine technical field especially double spore mushroom corn straw base material automatic bagging machine, including pretreatment box, steam softening box, storage box, secondary crushing hopper, refinement crushing box and bagging module, through the combination of the crushing roller of pretreatment box and the refinement blade of secondary crushing hopper, corn straw base material is cut to short fiber, thoroughly solve the problem of uneven bagging, bagging problem caused by too long fiber of traditional equipment, steam softening box through the synergistic effect of heating steam and extrusion plate, lignin is softened and the plasticity of base material is enhanced, the compaction density uniformity is improved by more than 40%, the cooperation of clamping bend frame and oscillation film piece ensures the uniform pressure when the bag is sealed, improves the sealing qualified rate, auger conveyor integrated meter, realizes base material quantitative conveying, guarantees overall bagging effect.

Description

Technical Field

[0001] This utility model relates to the field of bagging machine technology, and in particular to an automatic bagging machine for button mushroom corn stalk substrate. Background Technology

[0002] Button mushroom corn stalk substrate is an edible fungus culture medium made from corn stalks through a fermentation process. It provides carbon, nitrogen and mineral nutrients for the growth of button mushrooms. The automatic bagging machine is an automated equipment designed specifically for the cultivation of edible fungi (such as button mushrooms). Its core function is to quickly and accurately fill the culture medium made from agricultural waste such as corn stalks into mushroom bags.

[0003] Traditional bagging machines feed crushed corn stalks into storage bins via conveyor belts or screw conveyors. Corn stalks have long fibers and a loose texture, making it difficult for the compression mechanism of traditional equipment to compact them evenly. This can easily lead to uneven compaction of the material, forming micropores or breaking the bags, increasing the risk of contamination by miscellaneous bacteria and reducing the bagging effect. Utility Model Content

[0004] In order to overcome the limitations of traditional equipment, the crushed corn stalk base material is fed into the storage bin via a conveyor belt or screw conveyor. Corn stalks have long fibers and a loose texture, making it difficult for the compression mechanism of traditional equipment to compact them evenly, which can easily lead to uneven compaction of the base material. This utility model provides an automatic bagging machine for button mushroom corn stalk base material.

[0005] The technical solution is as follows: An automatic bagging machine for button mushroom corn stalk substrate includes a pretreatment box, a steam softening box, a storage box, a secondary crushing hopper, a fine crushing box, and a bagging module. The pretreatment box is used to pre-crush long sections of button mushroom corn stalk substrate. Below the pretreatment box is a steam softening box for adding appropriate moisture for softening, extruding, crushing, and conveying. Below the steam softening box is a storage box for storing the substrate. Above the outer side of the storage box is a secondary crushing hopper for secondary fine crushing. Below the secondary crushing hopper is a fine crushing box for sonic vibration fine crushing. At the bottom of the fine crushing box is a bagging module for quickly bagging the substrate.

[0006] Furthermore, the bottom of the pretreatment box is equipped with an electromagnetic control valve connected to the steam softening box. The interior of the pretreatment box is symmetrically equipped with crushing rollers. The outer end of the crushing rollers is equipped with several sets of crushing blades in a linear circumferential direction. One end of the crushing rollers is connected to a first drive motor, which drives the crushing rollers to rotate and rotate the crushing blades.

[0007] Furthermore, the steam softening box is symmetrically equipped with extrusion plates inside, and several sets of steam holes are distributed on the extrusion plates. A guide rod is connected to the center of the extrusion plate, and a first cylinder is connected to the end of the guide rod away from the extrusion plate. The first cylinder drives the guide rod to drive the extrusion plate to perform the extrusion operation. The steam softening box is equipped with a steam box that communicates with the steam holes outside, and several sets of ventilation slots are distributed on the steam box.

[0008] Furthermore, the steam box contains an electrically connected air pump, lithium battery pack, wireless module, and heating module, with a display screen externally connected to the heating module.

[0009] Furthermore, the secondary crushing bucket is symmetrically connected with refining rollers inside, and several sets of refining blades are linearly connected to the outer end of the refining rollers in a circumferential direction. One end of the refining roller is connected to a second drive motor, which drives the refining roller to rotate and drive the refining blades. The secondary crushing bucket is connected to an auger conveyor that communicates with the storage box. A conveying box is provided between the auger conveyor and the secondary crushing bucket, and a meter is provided inside the conveying box.

[0010] Furthermore, the interior of the crushing chamber is equipped with several sets of ultrasonic oscillating rods, and the outer ends of these ultrasonic oscillating rods are equipped with ultrasonic interaction modules. The ultrasonic interaction modules include an ultrasonic transmitter, an ultrasonic receiver, a lithium battery module, and a wireless module that are electrically connected to each other.

[0011] Furthermore, the bagging module includes a balance disc with a discharge channel at its center. Spring rods are threaded through the bottom sides of the balance disc near their edges. A second cylinder is connected to the top of each spring rod, and a connecting block is fixed to the bottom of the spring rod. The connecting block has a slot for mounting bag clips at its center. A spring rubber damper is located inside the spring rod. A clamping frame is connected to the end of the connecting block away from the spring rod. An oscillating diaphragm is connected to the inner side of the clamping frame, and a wireless module is located inside the oscillating diaphragm. A spring rod is located between the clamping frame and the connecting block, and a spring rubber damper is located inside the spring rod. The second cylinder drives the spring rod to move the clamping frame. An adjusting frame is located below the balance disc.

[0012] Furthermore, a steering rod is provided between the adjusting frame and the balance disc. Both ends of the steering rod are fitted with fixed sleeves that are fixed to the balance disc. One end of the steering rod is connected to a third drive motor, which drives the steering rod to adjust the adjusting frame. The end of the adjusting frame away from the steering rod is connected to a pressure plate. A counterweight plate is connected to the center of the pressure plate, and a pressure sensor is connected to the center of the counterweight plate.

[0013] The beneficial effects are as follows: This utility model achieves the cutting of corn stalk substrate into short fibers through the combination of the crushing roller of the pretreatment box and the fine blade of the secondary crushing bucket, completely solving the problems of uneven bagging and bag puncture caused by excessively long fibers in traditional equipment. The steam softening box softens lignin and enhances the plasticity of the substrate through the synergistic effect of heated steam and extrusion plate, improving the uniformity of compaction density by more than 40%. The clamping bending frame and the vibrating film sheet work together to ensure uniform pressure when sealing the mushroom bags, improving the sealing qualification rate. The auger conveyor integrates a metering device to realize quantitative conveying of substrate and ensure the overall bagging effect. Attached Figure Description

[0014] Figure 1 This is a three-dimensional schematic diagram of the automatic bagging machine for button mushroom corn stalk substrate according to the present invention;

[0015] Figure 2 This is a schematic diagram of the pretreatment box of this utility model;

[0016] Figure 3 This is a schematic diagram of the explosion of the steam softening box of this utility model;

[0017] Figure 4 This is a schematic diagram of the secondary crushing bucket explosion of this utility model;

[0018] Figure 5 This is a schematic diagram of the bagging module of this utility model.

[0019] In the attached diagram, the following are the reference numerals: 1. Pretreatment box; 2. Steam softening box; 3. Storage box; 4. Secondary crushing hopper; 5. Refining crushing box; 6. Bagging module; 101. Electromagnetic control valve; 102. Crushing roller; 103. Crushing blade; 104. First drive motor; 201. Steam box; 202. Ventilation trough; 203. Heating module; 204. Display screen; 205. First cylinder; 206. Extrusion plate; 207. Steam hole; 401. Refining roller; 402. Refining blade; 403. Second drive motor. Motor; 404, Screw Conveyor; 405, Conveyor Box; 406, Meter; 501, Ultrasonic Vibrating Rod; 502, Ultrasonic Interactive Module; 601, Discharge Channel; 602, Connecting Block; 603, Clip Slot; 604, Spring Hanger; 605, Second Cylinder; 606, Steering Rod; 607, Fixing Sleeve; 608, Balance Disc; 609, Third Drive Motor; 610, Adjusting Bending Frame; 611, Clamping Bending Frame; 612, Spring Rod; 613, Pressure Plate; 614, Counterweight Disc. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0021] Button mushroom corn stalk substrate is an edible fungus culture medium made primarily from corn stalks through a specific fermentation process. It provides the essential carbon, nitrogen, and mineral nutrients for the growth of button mushrooms. This substrate has significant value in agricultural production, mainly in the following aspects:

[0022] Raw material characteristics and advantages

[0023] Corn stalks are rich in carbon sources such as monosaccharides, disaccharides, hemicellulose, cellulose, and lignin, which are essential for the growth of edible fungi.

[0024] Contains nitrogen sources such as protein, amino acids, urea, and ammonium sulfate.

[0025] It contains a variety of mineral elements such as potassium, calcium, phosphorus, magnesium, iron, sulfur, and boron.

[0026] Compared to traditional wheat straw, locally sourced corn straw can reduce raw material costs by about 30%.

[0027] Preparation process flow

[0028] Raw material pretreatment: Corn stalks need to be chopped into 30-50cm sections and soaked for pre-wetting treatment.

[0029] Primary fermentation: Pre-wetted straw is piled up with livestock and poultry manure, quicklime and other auxiliary materials in a certain proportion, and fermented for 15 days at an environment of about 80°C.

[0030] Secondary fermentation: Pasteurization is carried out to kill unwanted microorganisms.

[0031] Three fermentations: After inoculation, the mycelium is cultured in a concentrated manner, and the substrate temperature is controlled at 25-28℃.

[0032] Current status of industrial applications

[0033] Enterprises in Fuxin, Liaoning Province, have achieved an annual conversion of 30,000 tons of corn stalks, producing nearly 5,000 tons of button mushrooms annually. A company in Gansu Province with 24 mushroom houses consumes approximately 4,000 tons of stalks annually.

[0034] my country's straw substrate technology is relatively mature and is particularly suitable for the cultivation of varieties such as button mushrooms, oyster mushrooms, and straw mushrooms.

[0035] Traditional automatic bagging machines face the following technical bottlenecks when processing corn stalk substrate:

[0036] Fiber compatibility issues

[0037] Corn stalk fibers are typically 5-10cm long, making them difficult to process effectively with traditional equipment, resulting in uneven bagging.

[0038] The sharp tips of the stems can easily pierce the mushroom bags, resulting in a bag breakage rate as high as 15%-20%.

[0039] The loose nature of the base material results in large fluctuations in compaction density (0.3-0.6 g / cm³). 3 This affects the uniformity of mycelial growth and results in insufficient sealing reliability.

[0040] Fluctuations in the moisture content of corn stalk substrate (65%-70%) make it difficult to stabilize traditional heat sealing parameters.

[0041] Residual fibers at the sealing point affect the sealing quality and increase the mold growth rate by 30%.

[0042] Limitations of automation

[0043] Lack of a real-time monitoring and feedback mechanism for the condition of the base material

[0044] Bagging speed is typically limited to 600-800 bags per hour, which is relatively inefficient.

[0045] Equipment adjustments rely heavily on manual experience, resulting in poor adaptability to production changes.

[0046] Lack of hygiene control

[0047] Open-bag packaging environments are prone to introducing contamination from other microorganisms.

[0048] Lack of dust removal and sterilization measures during the bagging process

[0049] III. Technological Evolution and Innovation Needs

[0050] Industry technology development trends

[0051] Refined raw material pretreatment

[0052] A company in Fuxin, Liaoning Province, has achieved the replacement of wheat straw with corn straw through patented technology.

[0053] Develop direct fermentation technology for whole corn stalks to simplify the pretreatment process.

[0054] Equipment intelligent upgrade

[0055] Introducing sensor technology to monitor the base material status in real time

[0056] Develop adaptive control systems to improve parameter adjustment accuracy

[0057] Production process standardization

[0058] The three-stage fermentation process has been shortened from the traditional 20 days to 15 days, and the pasteurization temperature control accuracy has been improved to ±1℃.

[0059] Production cost composition

[0060] Raw material costs

[0061] The price of locally sourced corn stalks is approximately 200 yuan / ton, which is 400 yuan / ton lower than that of purchased wheat stalks. The comprehensive cost of preparing the base material is approximately 800 yuan / ton.

[0062] Equipment investment

[0063] Traditional bagging machines cost approximately 150,000-200,000 RMB per unit, while automated production lines require an investment of approximately 1,000,000-1,500,000 RMB.

[0064] Operating costs

[0065] Energy consumption: approximately 0.5 kWh / bag

[0066] Manual labor: Automated equipment can reduce labor requirements by 60%.

[0067] Benefit assessment

[0068] The direct economic benefits include reducing the bag breakage rate from 15% to 2%, saving approximately 500,000 yuan annually (based on a production volume of 5,000 tons), increasing bagging efficiency by 50%, and reducing equipment investment by 30% for the same production capacity.

[0069] Indirect economic benefits: Mycelial growth cycle is shortened by 3-5 days, increasing production by 1-2 batches per year.

[0070] Product quality has improved, with the proportion of high-quality mushrooms increasing by 20%.

[0071] Social and ecological benefits

[0072] Utilizing 10,000 tons of straw can reduce emissions by approximately 15,000 tons.

[0073] This will increase farmers' income by 100 yuan per mu.

[0074] Conclusions and Outlook

[0075] The automatic bagging machine for button mushroom corn stalk substrate is a key piece of equipment connecting the resource utilization of agricultural waste with the industrialized production of edible fungi. Its technological upgrade is of great significance to the development of the industry. Current technological bottlenecks mainly focus on three aspects: fiber processing, sealing reliability, and the degree of automation.

[0076] Future development trends will exhibit the following characteristics:

[0077] Diversified raw material adaptability: Developing specialized equipment adapted to the characteristics of straw in different regions.

[0078] Process equipment integration: achieving full automation of the pretreatment-fermentation-bagging process.

[0079] Intelligent Control: Enhancing Equipment's Autonomous Decision-Making Capabilities by Applying IoT and AI Technologies

[0080] Green production: reducing energy consumption and improving resource utilization.

[0081] Through technological innovation, the automatic bagging machine for button mushroom corn stalk substrate will promote the development of the edible fungi industry towards high efficiency, intelligence, and greenness, and provide strong support for the resource utilization of agricultural waste and rural revitalization.

[0082] like Figures 1-5 As shown, the automatic bagging machine for button mushroom corn stalk substrate includes a pretreatment box 1, a steam softening box 2, a storage box 3, a secondary crushing hopper 4, a fine crushing box 5, and a bagging module 6. The pretreatment box 1 is used to pre-crush long sections of button mushroom corn stalk substrate. Below the pretreatment box 1 is a steam softening box 2 for adding appropriate moisture for softening, extrusion, crushing, and conveying. Below the steam softening box 2 is a storage box 3 for storing the substrate. Above the outer side of the storage box 3 is a secondary crushing hopper 4 for secondary fine crushing. Below the secondary crushing hopper 4 is a fine crushing box 5 for sonic vibration fine crushing. At the bottom of the fine crushing box 5 is a bagging module 6 for quickly bagging the substrate.

[0083] Please see Figures 2-4 In this embodiment, the bottom of the pretreatment box 1 is provided with an electromagnetic control valve 101 connected to the steam softening box 2. The interior of the pretreatment box 1 is symmetrically provided with crushing rollers 102. The outer end of the crushing rollers 102 is provided with a number of crushing blades 103 in a linear circumferential direction. One end of the crushing rollers 102 is connected to a first drive motor 104. The first drive motor 104 drives the crushing rollers 102 to rotate the crushing blades 103. The interior of the steam softening box 2 is symmetrically provided with extrusion plates 206. A number of steam holes 207 are distributed on the extrusion plates 206. A guide rod is connected to the center of the extrusion plates 206. The end of the guide rod away from the extrusion plates 206 is connected to a first cylinder 205. The first cylinder 205 drives the guide rod to extrude the extrusion plates 206. The exterior of the steam softening box 2 is provided with a steam box 201 communicating with the steam holes 207. A number of ventilation slots 202 are distributed on the steam box 201.

[0084] Please see Figures 3-4 In this embodiment, the steam box 201 is equipped with an electrically connected air pressure pump, lithium battery pack, wireless module and heating module 203. The heating module 203 is electrically connected to a display screen 204. The secondary crushing hopper 4 is symmetrically connected with a refining roller 401. The outer end of the refining roller 401 is linearly connected with several sets of refining blades 402. One end of the refining roller 401 is connected to a second drive motor 403. The second drive motor 403 drives the refining roller 401 to rotate and drive the refining blades 402. The secondary crushing hopper 4 is connected to an auger conveyor 404 that communicates with the storage box 3. A conveying box 405 is provided between the auger conveyor 404 and the secondary crushing hopper 4. The conveying box 405 is equipped with a meter 406 inside.

[0085] Please see Figures 4-5In this embodiment, several sets of ultrasonic oscillating rods 501 are arranged inside the refined crushing box 5. An ultrasonic interaction module 502 is provided at the outer end of each set of ultrasonic oscillating rods 501. The ultrasonic interaction module 502 includes an ultrasonic transmitter, an ultrasonic receiver, a lithium battery module, and a wireless module that are electrically connected to each other. The bagging module 6 includes a balance disc 608. A discharge channel 601 is opened in the center of the balance disc 608. Spring hanging rods 604 are threaded through the bottom sides of the balance disc 608 near the edge. A second cylinder 605 is connected to the top of the spring hanging rod 604. A connecting block 602 is fixedly connected to the bottom of the spring hanging rod 604. A buckle groove 603 for installing a bag hanging clip is opened in the center of the connecting block 602. A spring rubber damper is provided inside the spring hanging rod 604. A clamping bend 611 is connected to the end of the connecting block 602 away from the spring hanging rod 604. An oscillating diaphragm is connected to the inner side of 11. A wireless module is installed inside the oscillating diaphragm. A spring rod 612 is installed between the clamping bending frame 611 and the connecting block 602. A spring rubber damper is installed inside the spring rod 612. The second cylinder 605 drives the spring hanger 604 to move the clamping bending frame 611. An adjusting bending frame 610 is installed under the balance plate 608. A steering rod 606 is installed between the adjusting bending frame 610 and the balance plate 608. Both ends of the steering rod 606 are fitted with fixing sleeves 607 that are fixed to the balance plate 608. A third drive motor 609 is connected to one end of the steering rod 606. The third drive motor 609 drives the steering rod 606 to adjust the adjusting bending frame 610. A pressure plate 613 is connected to the end of the adjusting bending frame 610 away from the steering rod 606. A counterweight plate 614 is connected to the center of the pressure plate 613. A pressure sensor is connected to the center of the counterweight plate 614.

[0086] Corn stalk substrate enters the pretreatment box 1, where symmetrically arranged crushing rollers 102 (200 r / min) cut it into 30-50 mm segments by circumferential crushing blades 103. A solenoid valve controls the feeding speed. The crushed substrate falls into the steam softening box 2, where an extrusion plate 206 (0.5 MPa) pressurizes the substrate under cylinder drive, while saturated steam (0.1 MPa) is ejected from steam holes 207, causing the fibers to expand and soften, facilitating subsequent refining. The softened substrate is then conveyed by an auger conveyor 404 into the secondary crushing hopper 4, where refining blades 402 (500 r / min) further cut it to 10-20 mm. The measuring device 406 monitors the conveying volume in real time and feeds it back to the control system. The ultrasonic oscillating rod 501 (power 500W) in the fine crushing box 5 generates high-frequency vibration to disperse the fibers into 5-10mm particles to avoid clumping. The base material enters the mushroom bag through the discharge channel 601. The pressure sensor (Honeywell FSG15N1A) at the bottom of the balance plate 608 monitors the bag weight. The spring hanger 604 adjusts the downward stroke (accuracy ±1mm) according to the feedback data to ensure consistent tightness. The clamping bending frame 611 is driven by the second cylinder 605 and applies pressure to the bag opening in conjunction with the oscillating diaphragm (frequency 50Hz). The pressure sensor (TE Connectivity MS5837-30BA) controls the heat sealing temperature (150-180℃) to avoid overpressure or leakage. The data is transmitted to the PLC (such as Siemens S7-1200) via a wireless module to adjust parameters such as the speed of the crushing roller 102, steam pressure, and bagging speed in real time, forming a fully automated closed loop.

[0087] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic bagging machine for button mushroom corn stalk substrate, comprising a pretreatment box (1), characterized in that: It also includes a steam softening box (2), a storage box (3), a secondary crushing hopper (4), a fine crushing box (5), and a bagging module (6); a pretreatment box (1) is used to pre-crush long sections of button mushroom corn stalk substrate. The pretreatment box (1) is connected to a steam softening box (2) for adding appropriate water for softening, extrusion, crushing, and conveying. The steam softening box (2) is connected to a storage box (3) for storing substrate. The storage box (3) is located on the outside of the storage box (3) and above it. The storage box (3) is connected to a secondary crushing hopper (4) for secondary fine crushing. The storage box (4) is connected to a fine crushing box (5) for sonic oscillation fine crushing. The bottom of the fine crushing box (5) is connected to a bagging module (6) for quickly bagging the substrate.

2. The automatic bagging machine for button mushroom corn stalk substrate according to claim 1, characterized in that, The bottom of the pretreatment box (1) is equipped with an electromagnetic control valve (101) connected to the steam softening box (2). The pretreatment box (1) is symmetrically equipped with crushing rollers (102). The outer end of the crushing rollers (102) is provided with several sets of crushing blades (103) in a linear circumferential direction. One end of the crushing rollers (102) is connected to a first drive motor (104). The first drive motor (104) drives the crushing rollers (102) to rotate the crushing blades (103).

3. The automatic bagging machine for button mushroom corn stalk substrate according to claim 1, characterized in that, The steam softening box (2) is symmetrically provided with extrusion plates (206) inside. Several sets of steam holes (207) are distributed on the extrusion plates (206). A guide rod is connected to the center of the extrusion plate (206). A first cylinder (205) is connected to the end of the guide rod away from the extrusion plate (206). The first cylinder (205) drives the guide rod to drive the extrusion plate (206) to perform extrusion operation. The steam softening box (2) is provided with a steam box (201) outside the steam softening box (2) that communicates with the steam holes (207). Several sets of ventilation slots (202) are distributed on the steam box (201).

4. The automatic bagging machine for button mushroom corn stalk substrate according to claim 3, characterized in that, The steam box (201) is equipped with an electrically connected air pump, lithium battery pack, wireless module and heating module (203), and the heating module (203) is electrically connected to a display screen (204).

5. The automatic bagging machine for button mushroom corn stalk substrate according to claim 1, characterized in that, The secondary crushing bucket (4) is symmetrically connected with a refining roller (401). The outer end of the refining roller (401) is circumferentially linearly connected with several sets of refining blades (402). One end of the refining roller (401) is connected to a second drive motor (403). The second drive motor (403) drives the refining roller (401) to rotate the refining blades (402). The secondary crushing bucket (4) is connected to an auger conveyor (404) that communicates with the storage box (3). A conveying box (405) is provided between the auger conveyor (404) and the secondary crushing bucket (4). A meter (406) is provided inside the conveying box (405).

6. The automatic bagging machine for button mushroom corn stalk substrate according to claim 1, characterized in that, The interior of the fine crushing box (5) is provided with several sets of ultrasonic oscillating rods (501), and the outer ends of the several sets of ultrasonic oscillating rods (501) are provided with ultrasonic interaction modules (502). The ultrasonic interaction modules (502) include an ultrasonic transmitter, an ultrasonic receiver, a lithium battery module and a wireless module that are electrically connected to each other.

7. The automatic bagging machine for button mushroom corn stalk substrate according to claim 1, characterized in that, The bagging module (6) includes a balance disc (608), a discharge channel (601) is provided in the center of the balance disc (608), spring rods (604) are threaded through the bottom two sides of the balance disc (608) near the edge, a second cylinder (605) is connected to the top of the spring rods (604), a connecting block (602) is fixed to the bottom of the spring rods (604), a buckle groove (603) for installing bag hanging clips is provided in the center of the connecting block (602), and a spring rubber damper is provided inside the spring rods (604). A clamping frame (611) is connected to the end of the connecting block (602) away from the spring rod (604). An oscillating diaphragm is connected to the inner side of the clamping frame (611). A wireless module is provided inside the oscillating diaphragm. A spring rod (612) is provided between the clamping frame (611) and the connecting block (602). A spring rubber damper is provided inside the spring rod (612). The second cylinder (605) drives the spring rod (604) to move the clamping frame (611). An adjusting frame (610) is provided under the balance disc (608).

8. The automatic bagging machine for button mushroom corn stalk substrate according to claim 7, characterized in that, A steering rod (606) is provided between the adjusting bending frame (610) and the balance disc (608). Both ends of the steering rod (606) are fitted with fixing sleeves (607) that are fixed to the balance disc (608). One end of the steering rod (606) is connected to a third drive motor (609). The third drive motor (609) drives the steering rod (606) to drive the adjusting bending frame (610) to adjust. The end of the adjusting bending frame (610) away from the steering rod (606) is connected to a pressure plate (613). The center of the pressure plate (613) is connected to a counterweight disc (614). The center of the counterweight disc (614) is connected to a pressure sensor.

Images