CN202743358U - Gear oscillating bar type pneumatic spider robot - Google Patents

Abstract

The utility model belongs to the filed of bio-robot, and particularly relates to a gear oscillating bar type pneumatic spider robot. A center shaft (25) is arranged on the middle portion of a lower base plate (14). A driving gear (15) is installed on the center shaft (25). The driving gear (15) is symmetrically connected with a turning gear 1 (11) and a turning gear 2 (29) in engaged mode. The driving gear (15) is connected with the gear oscillating bar in engaged mode. The turning gear 1 (11) and the turning gear 2 (29) are respectively installed on a turning gear shaft 1 (12) and a turning gear shaft 2 (27). The turning gear shaft 1 (12) and the turning gear shaft 2 (27) are installed on the lower base plate (14). The lower portion of an unengaged end head of the gear oscillating bar is respectively hinged with a crus air cylinder (36) through a crus shaft (32). An electromagnetism membrane air pump (18) is installed on an upper base plate (17). The electromagnetism membrane air pump (18) is connected with a plurality of exhausting compensated flow control valves (19), a two-position two-way electromagnetism valve (23) and a three-position five-way electromagnetism valve (20). The gear oscillating bar type pneumatic spider robot can walk at a high speed, do lateral and longitudinal obstacle crossing movements and have a swift response, and is agile in action.

Description

The pneumatic spider robot of gear oscillating rod type

Technical field

The utility model belongs to bio-robot, particularly the pneumatic spider robot of a kind of gear oscillating rod type.

Background technology

At present, Small Ground Mobile Robot has a good application prospect in the danger such as military surveillance, interspace detection, anti-coring and pollution and harsh environment operation, mostly it is to adopt various motors to come driving wheel-type or crawler-type traveling, but this move mode is difficult to cross the obstacle that highly surpasses restriction, and is helpless to complex-terrains such as earth steps, irrigation canals and ditches, soft sand grounds especially.Compare with wheeled or track structure, the mode of motion of leg can adapt to rugged landform better, because disperse in the foothold of leg, follows the area of contact on ground less, even in the extreme fitfull situation of surface, also can realize foot.But the research of leg formula movable machinery is scarcely out of swaddling-clothes, its basic reason is that the principle, structure, control, comparison of leg formula kinematic mechanism is complicated, also do not find at present a kind of simple, effectively, to the adaptable leg formula of Various Complex landform running gear.Present Small Ground Mobile Robot or walking that can only be simple, or jump that can only be simple, or do not have attitude to adjust function, lack enough kinematic dexterities.A kind of Cam three joint pedipulators are disclosed such as Chinese invention patent (patent No. 200410021277.9), this pedipulator mainly utilizes the conversion of cam to imitate the human action of taking a step, but this leg is two sufficient traveling geaies, its balance is high to the landform susceptibility, when strong irregular surface walking, balance is wayward; Chinese invention patent (patent No. 201010230995.2) discloses a kind of spider robot, and this robot utilizes multi-servomotor to realize the pure electrical control in each joint of spider, the function but it is only creeped, and electric machine control has restricted its creeper speed; Chinese invention patent (patent No. 200810022629.0) discloses a kind of elastic energy storage of hopping robot and has released the energy device, this device can only bounce, and can not adjust the body attitude, if the body upset occurs, can't continue spring and energy storage in complex-terrain; Chinese invention patent (patent No. 201010146485.7) discloses a kind of bionical hopping robot based on connecting rod mechanism, this robot is realized walking and skip functionality by crawler type mechanism with based on the elastic potential energy connecting rod mechanism, but the crawler type walking mechanism characteristics have determined that its obstacle climbing ability is relatively poor, the skip capability of its connecting rod mechanism is also limited, and there is not the body attitude to adjust function, if after this robot jumps in complex-terrain and lands, body overturns, sole can't walk on and jump up.

Summary of the invention

The purpose of this utility model is to overcome above-mentioned technical deficiency, provides a kind of speed of response fast, the pneumatic spider robot of gear oscillating rod type that alerting ability and obstacle climbing ability are strong.

The technical scheme that the utility model technical solution problem adopts is: the pneumatic spider robot of gear oscillating rod type comprises the energy storage cylinder sleeve, storage tank, lithium cell, on, low protection cover, Worm reduction motor, coupler, on, the lower substrate dish, driven wheel, center shaft, change gear axle one, two, change gear one, two, gear fork one, two, three, four, five, six, be characterized in: the place is provided with center shaft in the middle of the lower substrate dish, fill driven wheel at center shaft, driven wheel symmetry be connected with a joggle change gear one and change gear two, the driven wheel gear fork one that is connected with a joggle, gear fork three, gear fork four, gear fork six, change gear one, two are contained in change gear axle one, on two, change gear axle one, two are contained on the lower substrate dish, change gear one, the two gear forks two that are connected with a joggle respectively, gear fork five, gear fork one, two, three, four, five, six all are fixed on the lower substrate dish with the fork axle is spacing, gear fork one, two, three, four, five, six below, non-engagement termination all is hinged the shank cylinder with the shank axle, an end that all connects the knee joint cylinder on the periphery of shank cylinder with knee joint air cylinder connecting rod axle, the other end of knee joint cylinder is hinged and connected to gear fork one with knee joint cylinder head axle, two, three, four, five, on six the side circle wall, the piston-rod lower end gap of shank cylinder is assemblied in the energy storage cylinder sleeve, dress energy stroage spring in center in the energy storage cylinder sleeve, fitted lining cover on the energy storage inboard wall of cylinder liner, on energy storage cylinder sleeve and jacket wall, on, equidistantly establish three layers down, every layer of symmetry fills four blocks, between block and energy storage outer wall of cylinder jachet, fill electromagnet, reinstall multiple spring between electromagnet and the block, below the lower substrate dish, set protective cover, dress Worm reduction motor in the middle of in low protection cover, Worm reduction motor connects center shaft with coupler, Worm reduction motor one side is provided with lithium cell, the lithium cell outside is provided with a plurality of storage tanks, two ends, middle part at the lower substrate dish are arranged with baffle plate, on baffle plate, load onto the matrix dish, on, affixed by a plurality of fork axles in addition between the lower substrate dish, at upper matrix dish dress electromagnetism barrier film inflation pump, electromagnetism barrier film inflation pump connects a plurality of exhaust governor valves, two two three-way electromagnetic valves and 3 position-5 way electromagnetic valve, load onto protective cover at upper matrix dish, fill four pinhole cameras in upper protective cover bilateral symmetry.

The beneficial effects of the utility model are: the pneumatic spider robot of gear oscillating rod type can be walked fast, carries out horizontal and vertical obstacle detouring, can jump for the larger landform of highly suddenling change and pass through, also can realize the upset of pivot stud and original place, be swift in response, flexible movements have superpower obstacle climbing ability.Can be used for danger and the harsies environment such as military investigation, interspace detection, anti-coring and pollution, this robot low cost of manufacture is held concurrently, and is easy to utilize.

Description of drawings

Specify with embodiment below in conjunction with accompanying drawing.

Fig. 1 is the pneumatic spider robot constructional drawing of gear oscillating rod type.

Fig. 2 is Fig. 1 middle gear fork, shank cylinder, knee joint cylinder action relationships figure.

Fig. 3 is energy storage cylinder sleeve inner structure cutaway view among Fig. 1.

Fig. 4 is driven wheel and gear swing link transmission graph of a relation among Fig. 1.

Fig. 5 is the pneumatic spider robot air operated control of gear oscillating rod type schematic diagram.

1-energy storage cylinder sleeve among the figure; The 1-1-lining; The 2-energy stroage spring; The 3-block; The 4-returning spring; The 5-electromagnet; The 6-storage tank; The 7-low protection cover; The 8-lithium cell; 9-gear fork one; 10-fork axle; 11-change gear one; 12-change gear axle one; 13-gear fork two; 14-lower substrate dish; The 15-driven wheel; 16-gear fork three; The upper matrix dish of 17-; The 18-electromagnetism is every the mould inflation pump; 19-exhaust governor valve; 20-3 position-5 way electromagnetic valve; The 21-pinhole cameras; The upper protective cover of 22-; Two two three-way electromagnetic valves of 23-; The 24-baffle plate; The 25-center shaft; The 26-bearing; 27-change gear axle two; 28-gear fork four; 29-change gear two; 30-gear fork five; 31-gear fork six; 32-shank axle; 33-knee joint cylinder head axle; The 34-coupler; The 35-Worm reduction motor; 36-shank cylinder; 37-knee joint cylinder; 38-knee joint air cylinder connecting rod axle.

The specific embodiment

Embodiment.With reference to accompanying drawing 1～4, the pneumatic spider robot of gear oscillating rod type is that the place is provided with center shaft 25 in the middle of lower substrate dish 14, with key dress driven wheel 15, at center shaft 25 bearing 26 is housed on center shaft 25.Driven wheel 15 symmetrical staggered be connected with a joggle change gear 1 and change gears 2 29, and driven wheel 15 also be connected with a joggle symmetrical gear fork 1, gear fork 3 16, gear fork 4 28, gear fork 6 31, wherein driven wheel 15 is in lower horizontal plane with the engage position of change gear 1, gear fork 4 28, gear fork 6 31, and driven wheel 15 is in upper horizontal plane with change gear 2 29, gear fork 1, gear fork 3 16 engage positions.Change gear 1 and change gear 2 29 are contained in respectively on change gear axle 1, the change gear axle 2 27, and change gear axle 1, change gear axle 2 27 are contained on the lower substrate dish 14.Change gear 1 and change gear 2 29 be connected with a joggle respectively gear fork 2 13, gear fork 5 30, gear fork 1, gear fork 2 13, gear fork 3 16, gear fork 4 28, gear fork 5 30, gear fork 6 31 are all with fork axle 10 spacing being fixed on the lower substrate dish 14.The below, non-engagement termination of gear fork 1, gear fork 2 13, gear fork 3 16, gear fork 4 28, gear fork 5 30, gear fork 6 31 all is hinged the upper end of shank cylinder 36 with shank axle 32, all be hinged an end of knee joint cylinder 37 on the periphery of shank cylinder 36 with knee joint air cylinder connecting rod axle 38, the other end of knee joint cylinder 37 is hinged and connected on the side circle wall of gear fork 1, gear fork 2 13, gear fork 3 16, gear fork 4 28, gear fork 5 30, gear fork 6 31 with knee joint cylinder head axle 33.The piston-rod lower end gap of shank cylinder 36 is assemblied in the energy storage cylinder sleeve 1, energy storage cylinder sleeve 1 interior center dress energy stroage spring 2, fitted lining cover 1-1 on energy storage cylinder sleeve 1 inwall, on energy storage cylinder sleeve 1 and lining 1-1 wall, on, equidistantly establish three layers down, every layer of symmetry fills four blocks 3, dress electromagnet 5 between block 3 and energy storage cylinder sleeve 1 outer wall, reinstall multiple spring 4 between electromagnet 5 and the block 3, below lower substrate dish 14, set protective cover 7, at low protection cover 7 interior middle dress Worm reduction motors 35, Worm reduction motor 35 usefulness coupler 34 connect center shaft 25, Worm reduction motor 35 1 sides are provided with lithium cell 8, lithium cell 8 outsides are provided with four storage tanks 6, two ends, middle part at lower substrate dish 14 are arranged with baffle plate 24, on baffle plate 24, load onto matrix dish 17, affixed by six fork axles 10 in addition between upper matrix dish 17 and the lower substrate dish 14, at upper matrix dish 17 dress electromagnetism barrier film inflation pumps 18, electromagnetism barrier film inflation pump 18 connects eight unit packaging type 3 position-5 way electromagnetic valves 20,16 exhaust governor valves 19 and four two two three-way electromagnetic valves 23, load onto protective cover 22 at upper matrix dish 17, fill four pinhole cameras 21 in upper protective cover 22 bilateral symmetry.

With reference to accompanying drawing 5, the pneumatic annexation of the pneumatic spider robot of gear oscillating rod type is: the pneumatic annexation on gear fork 1, gear fork 2 13, gear fork 3 16, gear fork 4 28, gear fork 5 30, the gear fork 6 31 is identical, take gear fork 6 31 as example, the pneumatic annexation of minute shank cylinder 36 and knee joint cylinder 37.In the pneumatic connection of shank cylinder 36, connect storage tank 6 one ends by electromagnetism barrier film inflation pump 18, the other end of storage tank 6 links to each other by the input port of flexible pipe with 3 position-5 way electromagnetic valve 20, exhaust governor valve 19 of the respectively serial connection of two delivery ports of 3 position-5 way electromagnetic valve 20, one of them exhaust governor valve 19 is in parallel with one two two three-way electromagnetic valves 23, and this two-way output connects respectively lower end and the upper end of shank cylinder 36 by flexible pipe; In the pneumatic connection of knee joint cylinder 37, also connect storage tank 6 one ends by electromagnetism barrier film inflation pump 18, the other end of storage tank 6 links to each other by the input port of flexible pipe with another 3 position-5 way electromagnetic valve 20, the other end of 19, two exhaust governor valves 19 of an exhaust governor valve of the respectively serial connection of two delivery ports of 3 position-5 way electromagnetic valve 20 connects respectively lower end and the upper end of knee joint cylinder 37.

The operating principle of the pneumatic spider robot of gear oscillating rod type is:

Replace swaying legs action: with reference to accompanying drawing 1,4, gear fork 2 13, gear fork 5 30 consist of the secondary gear transmission by change gear 1, change gear 2 29 with driven wheel 15 respectively, and gear fork 1, gear fork 3 16, gear fork 4 28,6 31 of gear forks and driven wheel 15 directly mesh; When Worm reduction motor 35 drives driven wheel 15 left-hand revolution, gear fork 1 and gear fork 3 16 are around fork axle clickwise separately, gear fork 5 30 is left-hand revolution then, this moment, the gear fork 1, gear fork 3 16, gear fork 5 30 is unified (establishing and upwards being backward directions in the accompanying drawing 4 backward with respect to the swaying direction of lower substrate dish 14, be forward direction downwards), in like manner, meanwhile, gear fork 2 13, gear fork 4 28, the swaying direction of gear fork 6 31 is to unify forward, gear fork 1, gear fork 3 16, gear fork 5 30 and gear fork 2 13, gear fork 4 28, gear fork 6 31 is opposite all the time with respect to the direction of lower substrate dish 14, the swinging kick direction of each horizontal hip joint is controlled by the rotation direction that continuous timing changes Worm reduction motor 35, the swinging kick step size is controlled by rotation time, has so only just realized the alternately swaying legs action of six legs of spider robot by a Worm reduction motor 35.

Vertically walking and obstacle detouring action: with reference to accompanying drawing 1,4,5, and vertically walk in conjunction with swaying legs action alternately, when Worm reduction motor 35 begins to drive driven wheel 15 left-hand revolution, three shank cylinder elongation ground of gear fork 1, gear fork 3 16, gear fork 5 30 correspondences, unified backward swing, promote body forward, meanwhile, three shank cylinders of gear fork 2 13, gear fork 4 28, gear fork 6 31 correspondences are contraction state, unified forward swing is visited the step before realizing; When reaching a step pitch, Worm reduction motor 35 begins counter-rotating, ground is propped up in the at this moment elongation of gear fork 2 13, gear fork 4 28, gear fork 6 31 corresponding three shank cylinders, unified backward swing promote body forward, and three shank cylinders of gear fork 1, gear fork 3 16, gear fork 5 30 correspondences shrinks, unified forward swing, and so forth, two groups of legs are constantly alternately advanced, and the realization body is vertically walked; When each shank cylinder full stroke is flexible, can realizes the obstacle clearing capability near 1 times of shank cylinder stroke, thereby can realize vertical obstacle detouring.

Laterally walking and obstacle detouring action: with reference to accompanying drawing 1,4,5; before the walking; rotate first Worm reduction motor 35; adjusting six gear forks is parallel to each other it; keep position among Fig. 4; thereby direction conformability when guaranteeing that six legs are laterally walked, then Worm reduction motor 35 is shut down, and each leg is controlled by pneumatic transmission fully.When laterally walking to the right, gear fork 2 13, gear fork 4 28, three shank cylinders of gear fork 6 31 correspondences are contraction state, gear fork 1, gear fork 3 16, three shank cylinder elongation ground of gear fork 5 30 correspondences, meanwhile, the knee joint cylinder of gear fork 5 30 and gear fork 2 13 correspondences shrinks gradually, gear fork 1, gear fork 3 16 and gear fork 4 28, the knee joint cylinder of gear fork 6 31 correspondences extends gradually, at this moment, gear fork 1, gear fork 3 16, the action of the knee joint cylinder of gear fork 5 30 correspondences promotes body and walks to the right, and gear fork 2 13, gear fork 4 28, the action of the knee joint cylinder of gear fork 6 31 correspondences realizes visiting the step to the right; When reaching a horizontal step pitch, all shank cylinders and knee joint cylinder be counteragent simultaneously, continues the promotion body and walks to the right, and and so forth, two groups of legs constantly alternately laterally advance, and the realization body is laterally walked; In the above-mentioned motion process, when the shank cylinder that each gear fork is corresponding and knee joint cylinder full stroke stretch, can realize horizontal obstacle detouring, 3D modelling is as example in Fig. 1, its theoretical obstacle clearing capability can reach 2 times of heights, considers the body oneself height, and actual obstacle clearing capability can reach 1.5-1.6 times of height, the fast air pressure transmission kinetic energy of execution speed guarantees that this robot is swift in response flexible movements.

Jump action: with reference to accompanying drawing 1,5, during jump, Worm reduction motor 35 is failure to actuate, before the jump, six shank cylinders corresponding to gear fork all are retracted to nadir, take the shank cylinder 36 of gear fork 6 31 correspondences as example, first the 36 interior gas emptyings of shank cylinder, and then the quick air inlet of two two three-way electromagnetic valve 23(of instantaneous unlatching shank cylinder 36), shank cylinder 36 is subject to impacting with high pressure upwards like this, therefore, six shank cylinders corresponding to gear fork obtain instantaneous kinetic energy simultaneously, thereby realize jump action; Moreover, can regulate corresponding gear fork and shank cylinder angle by each knee joint cylinder, realize vertical bounce and laterally jump, angular adjustment is take gear fork 6 31 as example, can be by the angle of knee joint cylinder 37 adjusting gear forks 6 31 with shank cylinder 36, being vertical bounce when forming the right angle, is laterally to jump when on-right angle; The first power of the skip capability of this robot and body quality is inversely proportional to, and square is directly proportional with the shank cylinder bore, and therefore, the shank cylinder bore determines its skip capability; And jump and have closed-center system, with reference to accompanying drawing 3, the state that block in the closed-center system all adopts the electromagnet 5 corresponding with it and returning spring 4 to control its gears or do not keep off, bottom two-layer block are mainly used in storing different large minus lap energy, the block 3 stored energy maximum of the bottom.

Pivot stud action: with reference to accompanying drawing 1,4,5, carry out pivot stud in conjunction with replacing swaying legs action, when turning to, the knee joint cylinder that each gear fork is corresponding is failure to actuate, and only to Worm reduction motor 35 and the action of each shank cylinder, when Worm reduction motor 35 begins to drive driven wheel 15 left-hand revolution, gear fork 1, gear fork 3 16, gear fork 4 28, a shank cylinder elongation ground of gear fork 6 31 correspondences, unified clickwise, promote whole body left-hand revolution, meanwhile, the gear fork 2 13, the shank cylinder of gear fork 5 30 correspondences is contraction state, unified left-hand revolution; When reaching a step pitch, Worm reduction motor 35 begins counter-rotating, the at this moment shank cylinder of gear fork 2 13, gear fork 5 30 a correspondences elongation ground, unified clickwise, continue to promote whole body left-hand revolution, the shank cylinder of gear fork 1, gear fork 3 16, gear fork 4 28, gear fork 6 31 correspondences then is contraction state, unified left-hand revolution, so move in circles, two groups of legs constantly alternately promote the body rotation, realize the pivot stud of spider robot, wherein can control steering angle by the controlled circulation number of times.

Action is stood up in the original place: with reference to accompanying drawing 1,2, robot protective cover 7 and 22 is symmetric design up and down, consider when jump that ground is uneven or be subject to other ectocine, spider body flop phenomenon can appear, at this moment, take gear fork 6 31 as example, extended knee cylinder 37, its gear fork 6 31 and shank cylinder 36 are kept point-blank, and then shrink knee joint cylinder 37, this moment is because shank cylinder 36 Gravitative Loads, shank cylinder 36 can deflect down, realize the joint break-in, can realize so the simultaneously joint break-in of six gear forks, realize the body upset.

Somersaults action: stand up action in conjunction with jump and original place, can realize the somersaults action, with reference to accompanying drawing 1,4, during somersaults, open simultaneously figure middle gear fork 4 28, gear fork 5 30, two two three-way electromagnetic valves of gear fork 6 31 corresponding shank cylinders (fast air inlet), three of this correspondence shank cylinders are subject to impacting with high pressure upwards simultaneously like this, obtain instantaneous kinetic energy, rebound, meanwhile, figure middle gear fork 1, gear fork 2 13, gear fork 3 16 corresponding knee joint cylinder Quick extensions, realize that whole body is around gear fork 1, gear fork 2 13, the shank axle of gear fork 3 16 correspondences overturns fast, after the take-off, gear fork 4 28, gear fork 5 30, the shank cylinder Quick extension of gear fork 6 31 correspondences, reach full stroke, make its shank cylinder gear fork corresponding with it in alignment, when the body upset is spent above 90, shrink fast gear fork 1, gear fork 2 13, the knee joint cylinder of gear fork 3 16 correspondences, this moment is because effect of inertia, gear fork 1, gear fork 2 13, the knee joint break-in of gear fork 3 16 correspondences, make whole body be turned to gear fork 1, gear fork 2 13, the shank axle left side of gear fork 3 16 correspondences, shrink fast gear fork 4 28 this moment, gear fork 5 30, the knee joint cylinder of gear fork 6 31 correspondences, because Action of Gravity Field, gear fork 4 28, gear fork 5 30, the knee joint break-in of gear fork 6 31 correspondences, thus realized the somersaults action.

Claims (1)

1. pneumatic spider robot of gear oscillating rod type, comprise energy storage cylinder sleeve (1), storage tank (6), lithium cell (8), on, low protection cover (22,7), Worm reduction motor (35), coupler (34), on, lower substrate dish (17,14), driven wheel (15), center shaft (25), change gear axle one, two (12,27), change gear one, two (11,29), gear fork one, two, three, four, five, six (9,13,16,28,30,31), it is characterized in that the place is provided with center shaft (25) in the middle of lower substrate dish (14), at center shaft (25) dress driven wheel (15), driven wheel (15) symmetry be connected with a joggle change gear one (11) and change gear two (29), driven wheel (15) the gear fork one (9) that is connected with a joggle, gear fork three (16), gear fork four (28), gear fork six (31), change gear one, two (11,29) be contained in change gear axle one, two (12,27) on, change gear axle one, two (12,27) be contained on the lower substrate dish (14), change gear one, two (11,29) the gear fork two (13) that is connected with a joggle respectively, gear fork five (30), gear fork one, two, three, four, five, six (9,13,16,28,30,31) use all that fork axle (10) is spacing to be fixed on the lower substrate dish (14), gear fork one, two, three, four, five, six (9,13,16,28,30,31) below, non-engagement termination all uses shank axle (32) to be hinged shank cylinder (36), all use knee joint air cylinder connecting rod axle (38) to connect an end of knee joint cylinder (37) on the periphery of shank cylinder (36), the other end of knee joint cylinder (37) is hinged and connected to gear fork one with knee joint cylinder head axle (33), two, three, four, five, six (9,13,16,28,30,31) on the side circle wall, the piston-rod lower end gap of shank cylinder (36) is assemblied in the energy storage cylinder sleeve (1), the interior center of energy storage cylinder sleeve (1) dress energy stroage spring (2), fitted lining cover (1-1) on energy storage cylinder sleeve (1) inwall, on energy storage cylinder sleeve (1) and lining (1-1) wall, on, equidistantly establish three layers down, every layer of symmetry fills four blocks (3), between block (3) and energy storage cylinder sleeve (1) outer wall, fill electromagnet (5), reinstall multiple spring (4) between electromagnet (5) and the block (3), below lower substrate dish (14), set protective cover (7), dress Worm reduction motor (35) in the middle of in low protection cover (7), Worm reduction motor (35) connects center shaft (25) with coupler (34), Worm reduction motor one (35) side is provided with lithium cell (8), lithium cell (8) outside is provided with a plurality of storage tanks (6), be arranged with baffle plate (24) at the two ends, middle part of lower substrate dish (14), on baffle plate (24), load onto matrix dish (17), on, lower substrate dish (17,14) affixed by a plurality of fork axles (10) in addition between, at upper matrix dish (17) dress electromagnetism barrier film inflation pump (18), electromagnetism barrier film inflation pump (18) connects a plurality of exhaust governor valves (19), two two three-way electromagnetic valves (23) and 3 position-5 way electromagnetic valve (20), load onto protective cover (22) at upper matrix dish (17), fill four pinhole cameras (21) in upper protective cover (22) bilateral symmetry.

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