CN115476334A

CN115476334A - Automatic book taking and returning robot for library

Info

Publication number: CN115476334A
Application number: CN202211253409.5A
Authority: CN
Inventors: 李东炜; 章树鸿; 陈东; 王胤; 刘林锋; 胡昊
Original assignee: Guangzhou University
Current assignee: Guangzhou University
Priority date: 2022-10-13
Filing date: 2022-10-13
Publication date: 2022-12-16
Anticipated expiration: 2042-10-13

Abstract

The invention discloses an automatic book taking and returning robot for a library, which comprises a book clamping module, a book placing module, an automatic charging module and a chassis, wherein the book clamping module is used for clamping books; the utility model discloses a book reading device, including a book clamping module, a book placing module, a wheel group, a chassis, a front end, a line patrol camera, a book clamping module, an automatic charging module, a wheel group, a line patrol camera, a line patrol sensor and a power supply, the book clamping module is fixed in the front end at chassis top, the automatic charging module is fixed in the other end on chassis, the book placing module sets up between book clamping module and the automatic charging module, the book placing module is fixed in the chassis top, the chassis bottom is provided with the wheel group, the wheel group includes first wheel, second wheel, third wheel and fourth wheel, one side on chassis is provided with first ultrasonic sensor, the opposite side on chassis is provided with second ultrasonic sensor, the front end on chassis is provided with the line patrol camera.

Description

Automatic book taking and returning robot for library

Technical Field

The invention belongs to the field of robots, and particularly relates to an automatic book taking and returning robot for a library.

Background

The arrangement of borrowing and returning of a great number of books in a library is a long-standing problem, and in order to meet the demand of borrowing and returning of books in the library, various unnecessary personnel contact is reduced to the greatest extent, efficient operation of work tasks in the library is promoted, and meanwhile the time-consuming and labor-consuming situation of manual book management can be relieved, a robot for automatically fetching and returning books needs to be designed.

The existing library robot at home and abroad at present has the following main problems:

1. the whole library needs redesign, construction and development, for example, a high-cost bookshelf is transformed, the whole process period is long, the cost is high, the existing library is not well utilized, and the waste is huge.

2. Most robot devices for clamping books on the market are provided with guide rails, and then a motor drives the guide rails to rotate so as to enable the mechanical arms to reach preset positions. This solution takes up more space, resulting in a bulky whole robot.

3. The function is simple, and the system is mainly applied to providing consultation and checking book services.

4. At present, a robot for clamping books basically clamps a whole box of books, and a specific book can be clamped in the closely arranged books.

Disclosure of Invention

In view of the above defects of the prior art, the present invention provides an automatic book picking and returning robot for a library, which comprises a book clamping module, a book placing module, an automatic charging module and a chassis; the utility model discloses a book reading device, including a book clamping module, a book placing module, a wheel group, a chassis, a front end, a line patrol camera, a book clamping module, an automatic charging module, a wheel group, a line patrol camera, a line patrol sensor and a power supply, the book clamping module is fixed in the front end at chassis top, the automatic charging module is fixed in the other end on chassis, the book placing module sets up between book clamping module and the automatic charging module, the book placing module is fixed in the chassis top, the chassis bottom is provided with the wheel group, the wheel group includes first wheel, second wheel, third wheel and fourth wheel, one side on chassis is provided with first ultrasonic sensor, the opposite side on chassis is provided with second ultrasonic sensor, the front end on chassis is provided with the line patrol camera.

Preferably, the book clamping module comprises a first mechanical arm rotating platform, a first stepping motor is arranged at the bottom of the first mechanical arm rotating platform, a first motor support is fixedly connected to the top of the first mechanical arm rotating platform, a second stepping motor is fixedly connected to the first motor support, the power output end of the second stepping motor is connected with the first mechanical arm, a second mechanical arm is further rotatably connected to the first motor support, the first mechanical arm and the second mechanical arm are connected through a hard shaft, a third stepping motor is fixedly arranged on the first mechanical arm and the second mechanical arm, and a chain is sleeved at the power output end of the third stepping motor, the chain is still overlapped and is located on the hard axle, it is connected with third arm and fourth arm to rotate on the hard axle, the first steering wheel of one end fixedly connected with of third arm and fourth arm, the power take off end of first steering wheel is connected with second motor support, fixedly connected with fourth step motor on the second motor support, fourth step motor's power take off end is connected with the lead screw, sliding connection has the push pedal on the lead screw, one side rigid coupling of push pedal has first wedge, the opposite side rigid coupling of push pedal has the second wedge, first wedge and second wedge symmetry set up.

Furthermore, a second steering engine is fixedly connected to the second motor support, and a power output end of the second steering engine is rotatably connected with a simulation finger.

Furthermore, the bottom of the second motor support is fixedly connected with a bottom plate, a first track groove and a second track groove are symmetrically formed in the bottom plate, the first wedge-shaped plate is connected to the first track groove in a sliding mode, and the second wedge-shaped plate is connected to the second track groove in a sliding mode.

Preferably, the book placing module comprises a rotary table and a first motor, the rotary table is rotatably connected to a power output end of the first motor, and the rotary table is of a spoke structure.

Preferably, the book clamping module is arranged as a clamping device, the clamping device comprises a second mechanical arm rotary table, the second mechanical arm rotary table is rotatably connected to the front end of the chassis, a second motor for driving is arranged at the bottom of the second mechanical arm rotary table, a third motor for driving the mechanical arm is arranged at one end of the second mechanical arm rotary table, a power output end of the third motor is connected with a seventh mechanical arm, the seventh mechanical arm is sequentially connected with a fifth mechanical arm and an eighth mechanical arm, a fourth motor for driving the mechanical arm is arranged at the other end of the second mechanical arm rotary table, a power output end of the fourth motor is connected with an eleventh mechanical arm, the eleventh mechanical arm is sequentially connected with a tenth mechanical arm and a ninth mechanical arm, the tenth mechanical arm and the ninth mechanical arm are all connected to one end of an electric claw fixing member, the electric claw is connected to the other end of the electric claw fixing member, a part of the fifth mechanical arm, the sixth mechanical arm, the seventh mechanical arm and the eighth mechanical arm always keeps a parallelogram structure, the eleventh mechanical arm, the twelfth mechanical arm, the first connecting plate and the second mechanical arm are all the ninth mechanical arm, the tenth parallelogram structure is formed by mutually connecting plate, and the eighth mechanical arm.

Furthermore, a code scanning module is arranged at the lower end of the electronic claw fixing piece.

Preferably, the automatic charging module comprises a battery, a battery fixing block and a guide wheel, the battery fixing block is fixedly connected to one end of the chassis, one end of the battery fixing block is connected with the battery, the battery is fixedly connected to the chassis, and the guide wheel is arranged at the bottom of the battery fixing block.

Compared with the prior art, the invention has the advantages that:

1. the adaptability is strong, and the bookshelf does not need to be modified at high cost.

2. This application adopts step motor control arm to carry out the clamp of books and gets, compares shared space littleer with the robot device that adopts the installation guide rail, and the action is got up more in a flexible way, can carry out the clamp of books in the less library of bookshelf interval and get, does not need great space.

3. Through the automatic book returning robot of getting that this application provided, realized automation, the intellectuality that books returned, liberated out library's staff from repeated boring books arrangement, transport, place work, at present "ageing" phenomenon more and more serious, under the big environment that the human cost is constantly climbed, manpower and materials can be saved to this equipment, can avoid appearing because the phenomenon that books misplaced that the staff carelessly leads to.

4. The simulated finger device is beneficial to separating a target book from the book tightly placed on the bookshelf, and through the preposed action, the target book can be clamped by the two wedge-shaped plates more conveniently.

5. This application installs third step motor on first robotic arm, does benefit to the moment that reduces second step motor and bore to reduce second step motor's volume, further realize the lightweight of complete machine, compression cost.

6. The utility model provides a design has two orbit grooves on the bottom plate, and this orbit groove can restrict first wedge and second wedge and can accomplish earlier parallel stretching out, then press from both sides the specific action of getting, and the wedge is made to first wedge and two wedge front ends is for adapting to more and arrange inseparable books, can push away other books of target book both sides through narrow structure after narrow before the wedge when injecting between books like this to take the target book away more conveniently.

Drawings

FIG. 1 is a diagram of an automatic book picking and returning robot in a library according to the present invention;

FIG. 2 is a schematic view of the book clamping module of FIG. 1;

FIG. 3 is a bottom view of the book clamping module;

FIG. 4 is a schematic view of the book placement module of FIG. 1;

fig. 5 is a schematic diagram of the automatic charging module of fig. 1.

FIG. 6 is a schematic view of the chassis of FIG. 1;

FIG. 7 is a schematic view of the base plate of FIG. 1;

fig. 8 is a schematic view of the gripping device in embodiment 2;

fig. 9 is a bottom view of the grasping apparatus;

FIG. 10 is a schematic view of the book clamping module for picking up a book;

in the figure: 1. a book clamping module; 101. a first wedge plate; 102. simulating fingers; 103. a second steering engine; 104. a first steering engine; 105. a third mechanical arm; 106. a fourth mechanical arm; 107. a hard shaft; 108. a chain; 109. a third step motor; 110. a first robot arm; 111. a second robot arm; 112. a second stepping motor; 113. a base plate; 1131. a first track groove; 1132. a second track groove; 114. a fourth stepping motor; 115. pushing the plate; 116. a second wedge plate; 117. a lead screw; 118. a first stepper motor; 119. a first mechanical arm turntable; 120. a first motor bracket; 121. a second motor support; 2. a book placing module; 21. a turntable; 22. a first motor; 3. an automatic charging module; 31. a battery; 32. a battery fixing block; 33. a socket; 34. introduction; 4. a chassis; 41. a first wheel; 42. a first ultrasonic sensor; 43. a second wheel; 44. a third wheel; 45. a second ultrasonic sensor; 46. a fourth wheel; 47. a line patrol camera; 8. a gripping device; 801. a second motor; 802. a fifth mechanical arm; 803. a sixth mechanical arm; 804. a seventh mechanical arm; 805. a third motor; 806. a second mechanical arm turntable; 807. an eighth mechanical arm; 808. a code scanning module; 809. an electric claw; 810. an electric jaw fixing member; 811. a ninth robot arm; 812. a tenth robot arm; 813. an eleventh mechanical arm; 814. a fourth motor; 815. a first connecting plate; 816. a twelfth robot arm; 817. a second connecting plate.

Detailed Description

The following embodiments of the present invention will be described in detail with reference to fig. 1 to 10, and the following embodiments are implemented on the premise of the technical solution of the present invention, and give detailed embodiments and specific procedures, but the scope of the present invention is not limited to the following embodiments.

Example 1:

as shown in fig. 1, an automatic book taking and returning robot for a library comprises a book clamping module 1, a book placing module 2, an automatic charging module 3 and a chassis 4; double-layered book module 1 is fixed in the front end at 4 tops on chassis, automatic module 3 that charges is fixed in the other end on chassis 4, put book module 2 and set up between double-layered book module 1 and automatic module 3 that charges, it is fixed in 4 tops on chassis to put book module 2, as shown in fig. 6, 4 bottoms on chassis are provided with the wheelset, the wheelset includes first wheel 41, second wheel 43, third wheel 44 and fourth wheel 46, one side on chassis 4 is provided with first ultrasonic sensor 42, the opposite side on chassis 4 is provided with second ultrasonic sensor 45, the front end on chassis 4 is provided with patrols line camera 47.

As shown in fig. 2-3, book clamping module 1 includes a first mechanical arm rotating table 119, a first stepping motor 118 is disposed at the bottom of first mechanical arm rotating table 119, a first motor support 120 is fixedly connected to the top of first mechanical arm rotating table 119, a second stepping motor 112 is fixedly connected to first motor support 120, a power output end of second stepping motor 112 is connected to first mechanical arm 110, a second mechanical arm 111 is further rotatably connected to first motor support 120, first mechanical arm 110 and second mechanical arm 111 are connected through a hard shaft 107, a third stepping motor 109 is fixedly disposed on first mechanical arm 110 and second mechanical arm 111, a chain 108 is sleeved on a power output end of third stepping motor 109, chain 108 is further sleeved on hard shaft 107, a third mechanical arm 105 and a fourth mechanical arm 106 are rotatably connected to hard shaft 107, a first mechanical arm 105 and a fourth mechanical arm 106 are fixedly connected to one end of first mechanical arm 104, a power output end of first mechanical arm 104 is connected to a second motor 121, a second motor support 115 is fixedly connected to the second mechanical arm support 107, a fourth mechanical arm 105 and a wedge-shaped push plate 116 is connected to one side of the first wedge-shaped push plate 116, and a wedge-shaped push plate 116 is connected to a second wedge-shaped push plate 116.

Further, a second steering gear 103 is fixedly connected to the second motor support 121, and a power output end of the second steering gear 103 is rotatably connected to the simulation finger 102.

As shown in fig. 7, a bottom plate 113 is fixedly connected to the bottom of the second motor support 121, a first track groove 1131 and a second track groove 1132 are symmetrically formed in the bottom plate 113, the first wedge plate 101 is further slidably connected to the first track groove 1131, and the second wedge plate 116 is further slidably connected to the second track groove 1132.

As shown in fig. 4, the book placing module 2 includes a rotary table 21 and a first motor 22, the rotary table 21 is rotatably connected to a power output end of the first motor 22, and the rotary table 21 has a spoke structure.

As shown in fig. 5, the automatic charging module 3 includes a battery 31, a battery fixing block 32, and a guide wheel 34, the battery fixing block 32 is fixedly connected to one end of the chassis 4, one end of the battery fixing block 32 is connected to the battery 31, the battery 31 is fixedly connected to the chassis 4, and the guide wheel 34 is disposed at the bottom of the battery fixing block 32.

Example 2:

As shown in fig. 8-9, the book clamping module is configured as a clamping device 8, the clamping device 8 includes a second robot arm turntable 806, the second robot arm turntable 806 is rotatably connected to the front end of the chassis 4, a second motor 801 for driving is provided at the bottom of the second robot arm turntable 806, a third motor 805 for driving the robot arm is provided at one end of the second robot arm turntable 806, a power output end of the third motor 805 is connected to a seventh robot arm 804, the seventh robot arm 804 is sequentially connected to a fifth robot arm 802 and an eighth robot arm 807, a fourth motor 814 for driving the robot arm is provided at the other end of the second robot arm turntable 806, a power output end of the fourth motor 814 is connected to an eleventh robot arm 813, the eleventh robot arm 813 is sequentially connected to a tenth robot arm 812 and a ninth robot arm 811, the ninth robot arm 807, the tenth 812, the ninth 812 and ninth robot arm are all connected to one end of an electric claw mount 810, an electric claw 809 is connected to the other end of the electric claw 810, the fifth 802, the sixth 812, the seventh robot arm 804 and the eighth arm 811 and the eighth robot arm 811 are connected to a fourth robot arm 810, and a fourth robot arm 810 are connected to a fourth robot arm mounting plate 815, and a fourth robot arm 810, all the fourth robot arm 810 are configured as a fourth robot arm 810, and a fourth robot arm 811 are connected to a fourth robot arm mounting plate 815.

The working principle is as follows:

after receiving a book fetching signal of a WiFi module on a single chip microcomputer, a robot plans a route according to received data, then moves forward according to a ground black track line through an opnemv tracing module, moves to the front of a bookshelf needing to clamp books, and identifies a two-dimensional code of the bookshelf through a code scanning module arranged on a clamping device to determine whether to execute book clamping action, if the book information is confirmed for the second time, the books are clamped and placed on the bookshelf of the robot, otherwise, the books are ignored, and a book storage position error is recorded; repeating the steps until the number of books on the robot reaches the maximum value, stopping taking the books, moving to a place where the books can be taken by the user, placing the books on a bookshelf where the books can be directly taken by the user, then repeating the steps to move and take the books until all the books are taken out and placed on a bookshelf which the user can take, then advancing to a place where the books are charged, and waiting for a signal of taking the books next time.

For the book clamping module 1, as shown in fig. 2-3, the second stepping motor 112 drives the first robot arm 110 and the second robot arm 111 to rotate, the third stepping motor 109 and the chain 108 are mounted on the first robot arm 110 and the second robot arm 111, and the stepping motor rotates to drive the chain and the hard shaft 107 for driving the third robot arm 105 and the fourth robot arm 106. As shown in fig. 10, when a book is to be clamped, the second steering engine 103 drives the simulated fingers 102 to complete the book picking operation, so that the book is not in close contact with other books and is easy to clamp. The first steering engine 104 is used for controlling the pitching of the front part of the book clamping module. The front end of the book clamping module is provided with a bottom plate 113, a fourth stepping motor 114, a push plate 115 of a nut, a first wedge-shaped plate 101, a second wedge-shaped plate 116 and a screw rod 117, when a book is clamped, after the book is fished out by the simulation finger 102, the fourth stepping motor 114 rotates and drives the screw rod 117 to rotate, so that the push plate 115 with the nut is pushed to push the first wedge-shaped plate 101 and the second wedge-shaped plate 116 to move according to a preset track on the bottom plate 113, and the book clamping action is completed.

As shown in fig. 8-9, for the clamping device 8, the second motor 801 located below drives the second mechanical arm turntable 806 to rotate in a direction that the mechanical arm faces the book, the third motor 805 and the fourth motor 814 respectively drive the seventh mechanical arm 804 and the eleventh mechanical arm 813, the seventh mechanical arm 804 sequentially drives the fifth mechanical arm 802 and the eighth mechanical arm 807, the eleventh mechanical arm 813 sequentially drives the tenth mechanical arm 812 and the ninth mechanical arm 811, and finally the seventh mechanical arm is transmitted to the electric claw fixing member 810 through each layer and drives the electric claw 809 to move, after the electric claw 809 clamps the book, the second motor 801 drives the second mechanical arm turntable 806 to rotate in a direction that the electric claw fixing member 806 faces the book cabinet on the robot trolley, and at this time, the third motor 805 and the fourth motor 814 reversely repeat the above actions to place the book shelf on the book shelf. The structure that the part of the fifth mechanical arm 802, the sixth mechanical arm 803, the seventh mechanical arm 804 and the eighth mechanical arm 807 always keeps the parallelogram structure, the holes connected with each other on the eleventh mechanical arm 813, the twelfth mechanical arm 816, the first connecting plate 815 and the second connecting plate 817 form four vertexes of the parallelogram, the holes connected with each other on the ninth mechanical arm 811, the tenth mechanical arm 812, the electric claw fixing member 810 and the first connecting plate 815 form four vertexes of the parallelogram, and the eighth mechanical arm 807 and the tenth mechanical arm 812 always keep parallel can ensure that the claw orientation of the electric claw 809 always keeps parallel with the ground, and is beneficial to clamping more tightly when clamping books.

As shown in fig. 4, the book placing module 2 mainly comprises a rotary table 21 and a first motor 22, and the first motor drives the rotary table 21 to rotate, so that the book placing position facing the book clamping module 1 is always empty, and a book can be conveniently placed in the book placing module.

As shown in fig. 5, the automatic charging module 3 mainly comprises a battery 31, a battery fixing block 32, a charger fixing block 33 and a guide wheel 34, the guide wheel guides the robot to slowly align with the charger interface after the robot approaches the charger fixing block 33 by tracing, and the battery fixing block 32 and the charger fixing block 33 are respectively provided with magnetic stripes for final alignment.

As shown in fig. 6, the chassis 4 is provided with four

wheels

41, 43, 44, 48, a camera 47 for line patrol, and two first ultrasonic sensors 42 and second ultrasonic sensors 45 for distance measurement, which are used for measuring the distance to the bookcase and facilitating positioning.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. The utility model provides an automatic book robot that returns of getting in library which characterized in that: comprises a book clamping module (1), a book placing module (2), an automatic charging module (3) and a chassis (4); press from both sides book module (1) and be fixed in the front end at chassis (4) top, the other end on chassis (4) is fixed in automatic module (3) of charging, put book module (2) and set up in pressing from both sides book module (1) and automatic between the module (3) of charging, put book module (2) and be fixed in chassis (4) top, chassis (4) bottom is provided with the wheelset, the wheelset includes first wheel (41), second wheel (43), third wheel (44) and fourth wheel (46), one side on chassis (4) is provided with first ultrasonic sensor (42), the opposite side on chassis (4) is provided with second ultrasonic sensor (45), the front end on chassis (4) is provided with patrols line camera (47).

2. The automatic book fetching and returning robot for libraries of claim 1, wherein: the book clamping module (1) comprises a first mechanical arm rotating platform (119), a first stepping motor (118) is arranged at the bottom of the first mechanical arm rotating platform (119), a first motor support (120) is fixedly connected to the top of the first mechanical arm rotating platform (119), a second stepping motor (112) is fixedly connected to the first motor support (120), the power output end of the second stepping motor (112) is connected with a first mechanical arm (110), a second mechanical arm (111) is further rotatably connected to the first motor support (120), the first mechanical arm (110) and the second mechanical arm (111) are connected through a hard shaft (107), a third stepping motor (109) is fixedly arranged on the first mechanical arm (110) and the second mechanical arm (111), a chain (108) is sleeved at the power output end of the third stepping motor (109), the chain (108) is further sleeved on the hard shaft (107), a third mechanical arm (105) and a fourth mechanical arm (106) are rotatably connected to the hard shaft (107), a first power output end of the third mechanical arm (105) and a second mechanical arm (106) is connected to a first steering engine (121), and a second power output end of a second steering engine (121) is connected to a first steering engine (104), the power take off end of fourth step motor (114) is connected with lead screw (117), sliding connection has push pedal (115) on lead screw (117), one side rigid coupling of push pedal (115) has first wedge plate (101), the opposite side rigid coupling of push pedal (115) has second wedge plate (116), first wedge plate (101) and second wedge plate (116) symmetry set up.

3. The automatic book fetching and returning robot for libraries of claim 2, wherein: and a second steering engine (103) is fixedly connected to the second motor support (121), and a power output end of the second steering engine (103) is rotatably connected with a simulation finger (102).

4. The automatic book fetching and returning robot for libraries of claim 2, wherein: the bottom rigid coupling of second motor support (121) has bottom plate (113), set up first orbit groove (1131) and second orbit groove (1132) that the symmetry set up on bottom plate (113), first wedge board (101) still sliding connection is on first orbit groove (1131), second wedge board (116) still sliding connection in on orbit groove (1132).

5. The automatic book fetching and returning robot for libraries of claim 1, wherein: put book module (2) and include revolving stage (21) and first motor (22), revolving stage (21) rotate to be connected in the power take off end of first motor (22), revolving stage (21) are the spoke structure.

6. The automatic book fetching and returning robot for libraries of claim 1, wherein: the book clamping module is arranged as a clamping device (8), the clamping device (8) comprises a second mechanical arm rotary table (806), the second mechanical arm rotary table (806) is rotatably connected to the front end of the chassis (4), a second motor (801) for driving is arranged at the bottom of the second mechanical arm rotary table (806), a third motor (805) for driving a mechanical arm is arranged at one end of the second mechanical arm rotary table (806), the power output end of the third motor (805) is connected with a seventh mechanical arm (804), the seventh mechanical arm (804) is sequentially connected with a fifth mechanical arm (802) and an eighth mechanical arm (807), a fourth motor (814) for driving the mechanical arm is arranged at the other end of the second mechanical arm rotary table (806), the power output end of the fourth motor (814) is connected with an eleventh mechanical arm (813), the eleventh mechanical arm (804) is sequentially connected with a tenth mechanical arm (812) and a ninth mechanical arm (811), the ninth mechanical arm (807), the tenth mechanical arm (812) and the ninth mechanical arm (811) are all connected to one end of an electric claw fixing part (810), the electric fixing part (809) is connected with the sixth mechanical arm (802), the fourth mechanical arm (804), the eighth mechanical arm (804) and the fourth mechanical arm (813) are kept parallel to the fourth mechanical arm (804), the eleventh mechanical arm (813), the twelfth mechanical arm (816), the first connecting plate (815) and the second connecting plate (817) are connected with each other to form a parallelogram, the ninth mechanical arm (811), the tenth mechanical arm (812), the electric claw fixing member (810) and the first connecting plate (815) are connected with each other to form a parallelogram, and the eighth mechanical arm (807) and the tenth mechanical arm (812) are always kept parallel.

7. The automatic book fetching and returning robot for libraries of claim 6, wherein: and a code scanning module (808) is arranged at the lower end of the electronic claw fixing piece (810).

8. The robot for automatically taking and returning books in a library of claim 1, wherein: automatic module (3) of charging includes battery (31), battery fixed block (32) and guide pulley (34), battery fixed block (32) rigid coupling is in the one end on chassis (4), the one end and battery (31) of battery fixed block (32) are connected, battery (31) fixed connection is on chassis (4), battery fixed block (32) bottom is provided with guide pulley (34).