Size-adjustable adaptive online wheel deburring device

Abstract

A size-adjustable adaptive online wheel deburring device, including a synchronous clamping and rotating system, a left brush system, and a right brush system. The synchronous clamping and rotating system enables the wheel to rotate in a clamped state; the servo electric cylinders and a servo motor adjust the left working wheel, the left adjusting wheel, the right adjusting wheel and the other left working wheel to respective corresponding positions, and adapt the shape of a belt-type brush to a back cavity shape and the radius of the wheel; other servo electric cylinders can adjust the positions of the right working wheel and right working wheel according to the back cavity shape and the size of the wheel, another servo electric cylinder can remove the burrs on the flange root corners and rim root corners of the wheel by adjusting the angle of the right brush system.

Claims

1. A size-adjustable adaptive online wheel deburring device, comprising: a frame, a driving motor I, lifting cylinders, a bottom plate, a lifting plate, guide sleeves I, guide posts I, a large bearing block, a driving shaft, a top plate, gears, racks, a synchronous guide rail, a left sliding plate, small bearing blocks, synchronous shafts, V-shaped rollers, a right sliding plate, a clamping cylinder, a driving motor II, a fixing plate, a left guide wheel I, a left tension wheel, a left guide wheel II, a servo electric cylinder I, a left support, a left supporting rod, a left working wheel I, an overturning plate, a left adjusting wheel, a right support, a right supporting rod, a right adjusting wheel, a left working wheel II, a belt-type brush I, a servo electric cylinder II, a left tension cylinder, guide posts II, guide sleeves II, a servo electric cylinder III, a left lower support I, a guide rail I, a left upper support I, a pulley I, a synchronous belt I, a pulley II, a servo motor I, a left fixture, a servo motor II, a servo electric cylinder IV, a left lower support II, a guide rail II, a left upper support II, a pulley III, a synchronous belt II, a pulley IV, a servo motor III, a baseplate, a servo electric cylinder V, a right lower support I, a guide rail III, a right upper support I, a pulley V, a synchronous belt III, a servo motor IV, a pulley VI, a servo electric cylinder VI, guide sleeves III, guide posts III, a right tension cylinder, a right fixture, a right support, guide sleeves IV, guide posts IV, springs, a floating support, a servo electric cylinder VII, a right lower support II, a guide rail IV, a right upper support II, a pulley VII, a synchronous belt IV, a pulley VIII, a servo motor V, a servo electric cylinder VIII, a belt-type brush II, a right working wheel I, a right supporting wheel, a right working wheel II, a servo electric cylinder IX, a right guide wheel I, a right tension wheel and a right guide wheel II, wherein four guide posts I are fixed between the bottom plate and the top plate, and four guide sleeves I matched with the guide posts I are mounted on the lifting plate; the driving motor I is mounted at the bottom of the lifting plate, the large bearing block is mounted at the top of the lifting plate, the driving shaft is mounted in the large bearing block through a bearing, and an output end of the driving motor I is connected with a lower end of the driving shaft; two lifting cylinders are mounted on the bottom plate, and output ends of the lifting cylinders are hinged with the bottom of the lifting plate; two racks are fixed respectively at the bottoms of the left sliding plate and right sliding plate, two small bearing blocks are fixed respectively at the tops of the left sliding plate and right sliding plate, and the left sliding plate and the right sliding plate are mounted at the top of the top plate through the synchronous guide rail; the synchronous shafts at the tops of which the V-shaped rollers are respectively mounted are mounted respectively in the small bearing blocks; the driving motor II is fixed at the bottom of the right sliding plate, and an output end of the driving motor II is connected with one of the synchronous shafts; the clamping cylinder is fixed on a side of the frame, and an output end of the frame is connected with the right sliding plate; the racks are meshed with the gears mounted at the top of the top plate; the left guide wheel I and the left guide wheel II are fixed in corresponding positions at the bottom of the fixing plate; the left tension cylinder and the two guide sleeves II are also fixed in corresponding positions at the bottom of the fixing plate and are disposed between the left guide wheel I and the left guide wheel II; the two guide posts II matched with the guide sleeves II are fixed at the top of the left fixture, and an output end of the left tension cylinder is connected with the left fixture; the left tension wheel is mounted on the left fixture; both the servo electric cylinder I and the left lower support I are hinged at the top of the fixing plate, and meanwhile, an output end of the servo electric cylinder I is hinged with the left lower support I; two sides of the left upper support I are connected with two sides of the left lower support I through the guide rail I, and the servo electric cylinder III is hinged between a bottom plate of the left lower support I and a bottom plate of the left upper support I; the servo motor I is fixed at the top of the bottom plate of the left upper support I, and an output end of the servo motor I is provided with the pulley I; the pulley II is arranged in the middle of the left working wheel I mounted at the top of the left upper support I, and the pulley I is connected with the pulley II through the synchronous belt I; both the left support and the right support are fixed in corresponding positions at the top of the fixing plate; the left adjusting wheel is mounted at an upper end of the left supporting rod, and slide slots at two sides of the left supporting rod are matched with bearings at two sides of the left support; the right adjusting wheel is mounted at an upper end of the right supporting rod, and slide slots at two sides of the right supporting rod are matched with bearings at two sides of the right support; two ends of the overturning plate are hinged respectively with a lower end of the left supporting rod and a lower end of the right supporting rod, the servo motor II is fixed in a corresponding position of the fixing plate, and an output end of the servo motor II is connected with the middle of the overturning plate; both a bottom of the servo electric cylinder II and a bottom of the left lower support II are hinged to the top of the fixing plate; meanwhile, an output end of the servo electric cylinder II is hinged with the left lower support II; two sides of the left upper support II are connected with two sides of the left lower support II through the guide rail II; the servo electric cylinder IV is hinged between a bottom plate of the left lower support II and a bottom plate of the left upper support II; the servo motor III is fixed at the top of the bottom plate of the left upper support II, and an output end of the servo motor III is provided with the pulley III; the pulley IV is mounted in the middle of the left working wheel II, and the pulley III is connected with the pulley IV through the synchronous belt II; the belt-type brush I with a T-shaped synchronous belt at its inner side and bristles at its outer side is meshed simultaneously with the left guide wheel I, the left tension wheel, the left guide wheel II, the left working wheel I, the left adjusting wheel, the right adjusting wheel and the left working wheel II; the servo electric cylinder V is hinged between a side of the fixing plate and a side of the baseplate; the right guide wheel I and the right guide wheel II are mounted in corresponding positions at the bottom of the baseplate; both the two guide sleeves III and the right tension cylinder are also fixed at the bottom of the baseplate and disposed between the right guide wheel I and the right guide wheel II, the two guide posts III matched with the two guide sleeves III are mounted at the top of the right fixture, an output end of the right tension cylinder is also connected with the right fixture, and the right tension wheel is mounted at the bottom of the right fixture; both a bottom of the right lower support I and the servo electric cylinder VIII are hinged at the top of the baseplate, and an output end of the servo electric cylinder VIII is hinged at the top of the right lower support I; two sides of the right upper support I and two sides of the right lower support I are connected through the guide rail III; the servo electric cylinder VI is hinged between a bottom plate of the right lower support I and a bottom plate of the right upper support I; the servo motor IV is fixed in a corresponding position at the top of the bottom plate of the right upper support I, and an output end of the servo motor IV is provided with the pulley VI; the right working wheel I is mounted at a top end of the right upper support I, and the pulley V is fixed in the middle of the right working wheel I; the pulley V and the pulley VI are connected through the synchronous belt III; the right support is fixed at the top of the baseplate, the two guide sleeves IV are mounted at a top end of the right support, the two guide posts IV matched with the guide sleeves IV are fixed at the bottom of the floating support, and the springs sleeve the two guide posts IV and are disposed between the right support and the floating support; the right supporting wheel is mounted at the top of the floating support; both bottoms of the right lower support II and servo electric cylinder IX are hinged to the top of the baseplate, and an output end of the servo electric cylinder IX is hinged with an upper end of the right lower support II; the right lower support II and the right upper support II are connected through the guide rail IV; the servo electric cylinder VII is hinged between a bottom plate of the right lower support II and a bottom plate of the right upper support II; the servo motor V is fixed in a corresponding position at the top of the bottom plate of the right upper support II, and an output end of the servo motor V is provided with the pulley VII; the right working wheel II is mounted at the top of the right upper support II, and the pulley VIII is fixed in the middle of the right working wheel II; the pulley VII and the pulley VIII are connected through the synchronous belt IV; the belt-type brush II with a T-shaped synchronous belt at its inner side and bristles at its outer side is meshed simultaneously with the right working wheel I, the right supporting wheel, the right working wheel II, the right guide wheel I, the right tension wheel and the right guide wheel II.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] FIG. 1 is a front view of a size-adjustable adaptive online wheel deburring device of the invention.

[0011] FIG. 2 is a left view of a size-adjustable adaptive online wheel deburring device of the invention.

[0012] FIG. 3 is a partial front view of a size-adjustable adaptive online wheel deburring device of the invention.

[0013] FIG. 4 is a sectional view of a size-adjustable adaptive online wheel deburring device of the invention in direction A.

[0014] FIG. 5 is a sectional view of a size-adjustable adaptive online wheel deburring device of the invention in direction B.

[0015] FIG. 6 is a sectional view of a size-adjustable adaptive online wheel deburring device of the invention in direction C.

[0016] FIG. 7 is a sectional view of a size-adjustable adaptive online wheel deburring device of the invention in direction D.

[0017] FIG. 8 is a sectional view of a size-adjustable adaptive online wheel deburring device of the invention in direction E.

[0018] FIG. 9 is a front view of a right brush system of a size-adjustable adaptive online wheel deburring device of the invention.

[0019] In the drawings, 1frame, 2driving motor I, 3lifting cylinder, 4bottom plate, 5lifting plate, 6guide sleeve I, 7guide post I, 8large bearing block, 9driving shaft, 10top plate, 11gear, 12rack, 13synchronous guide rail, 14left sliding plate, 15small bearing block, 16synchronous shaft, 17V-shaped roller, 18right sliding plate, 19clamping cylinder, 20driving motor II, 21fixing plate, 22left guide wheel I, 23left tension wheel, 24left guide wheel II, 25servo electric cylinder I, 26left support, 27left supporting rod, 28left working wheel I, 29overturning plate, 30left adjusting wheel, 31right support, 32right supporting rod, 33right adjusting wheel, 34left working wheel II, 35belt-type brush, 36servo electric cylinder II, 37left tension cylinder, 38guide post II, 39guide sleeve II, 40servo electric cylinder III, 41left lower support I, 42guide rail I, 43left upper support I, 44pulley I, 45synchronous belt I, 46pulley II, 47servo motor I, 48left fixture, 49servo motor II, 50servo electric cylinder IV, 51left lower support II, 52guide rail II, 53left upper support II, 54pulley III, 55synchronous belt II, 56pulley IV, 57servo motor III, 58baseplate, 59servo electric cylinder V, 60right lower support I, 61guide rail III, 62right upper support I, 63pulley V, 64synchronous belt III, 65servo motor IV, 66pulley VI, 67servo electric cylinder VI, 68guide sleeve III, 69guide post III, 70right tension cylinder, 71right fixture, 72right support, 73guide sleeve IV, 74guide post IV, 75spring, 76floating support, 77servo electric cylinder VII, 78right lower support II, 79guide rail IV, 80right upper support II, 81pulley IV, 82synchronous belt IV, 83pulley VIII, 84servo motor V, 85servo electric cylinder VIII, 86belt-type brush, 87right working wheel I, 88right support wheel, 89right working wheel II, 90servo electric cylinder IX, 91right guide wheel I, 92right tension wheel, and 93right guide wheel II.

DETAILED DESCRIPTION OF THE INVENTION

[0020] The details and working condition of the specific device disclosed according to the invention will be described below with reference to the drawings.

[0021] The device comprises a frame 1, a driving motor I 2, lifting cylinders 3, a bottom plate 4, a lifting plate 5, guide sleeves I, guide posts I, a large bearing block 8, a driving shaft 9, a top plate 10, gears 11, racks 12, a synchronous guide rail 13, a left sliding plate 14, small bearing blocks 15, synchronous shafts 16, V-shaped rollers 17, a right sliding plate 18, a clamping cylinder 19, a driving motor II 20, a fixing plate 21, a left guide wheel I 22, a left tension wheel 23, a left guide wheel II 24, a servo electric cylinder I 25, a left support 26, a left supporting rod 27, a left working wheel I 28, an overturning plate 29, a left adjusting wheel 30, a right support 31, a right supporting rod 32, a right adjusting wheel 33, a left working wheel II 34, a belt-type brush 35, a servo electric cylinder II 36, a left tension cylinder 37, guide posts II 38, guide sleeves II 39, a servo electric cylinder III 40, a left lower support I 41, a guide rail I 42, a left upper support I 43, a pulley I 44, a synchronous belt I 45, a pulley II 46, a servo motor I 47, a left fixture 48, a servo motor II 49, a servo electric cylinder IV 50, a left lower support II 51, a guide rail II 52, a left upper support II 53, a pulley III 54, a synchronous belt II 55, a pulley IV 56, a servo motor III 57, a baseplate 58, a servo electric cylinder V 59, a right lower support I 60, a guide rail III 61, a right upper support I 62, a pulley V 63, a synchronous belt III 64, a servo motor IV 65, a pulley VI 66, a servo electric cylinder VI 67, guide sleeves III 68, guide posts III 69, a right tension cylinder 70, a right fixture 71, a right support 72, guide sleeves IV 73, guide posts IV 74, springs 75, a floating support 76, a servo electric cylinder VII 77, a right lower support II 78, a guide rail IV 79, a right upper support II 80, a pulley IV 81, a synchronous belt IV 82, a pulley VIII 83, a servo motor V 84, a servo electric cylinder VIII 85, a belt-type brush 86, a right working wheel I 87, a right support wheel 88, a right working wheel II 89, a servo electric cylinder IX 90, a right guide wheel I 91, a right tension wheel 92, and a right guide wheel II 93.

[0022] A synchronous clamping and rotating system comprises a frame 1, a driving motor I 2, lifting cylinders 3, a bottom plate 4, a lifting plate 5, guide sleeves I 6, guide posts I 7, a large bearing block 8, a driving shaft 9, a top plate 10, gears 11, racks 12, a synchronous guide rail 13, a left sliding plate 14, small bearing blocks 15, synchronous shafts 16, V-shaped rollers 17, a right sliding plate 18, a clamping cylinder 19 and a driving motor II 20. The four guide posts I 7 are fixed between the bottom plate 4 and the top plate 10, and the four guide sleeves I 6 matched with the guide posts I 7 are mounted on the lifting plate 5; the driving motor I 2 is mounted at the bottom of the lifting plate 5, the large bearing block 8 is mounted at the top of the lifting plate, the driving shaft 9 is mounted in the large bearing block 8 through a bearing, and the output end of the driving motor I 2 is connected with the lower end of the driving shaft 9; the two lifting cylinders 3 are mounted on the bottom plate 4, and the output ends of the lifting cylinders are hinged with the bottom of the lifting plate 5; the two racks 12 are fixed respectively at the bottoms of the left sliding plate 14 and right sliding plate 18, the two small bearing blocks 15 are fixed respectively at the tops of the left sliding plate and right sliding plate, and the two small bearing blocks are mounted at the top of the top plate 10 through the synchronous guide rail 13; the synchronous shafts 16 at the tops of which the V-shaped rollers 17 are respectively mounted are mounted respectively in the small bearing blocks 15; the driving motor II 20 is fixed at the bottom of the right sliding plate 18, and the output end of the driving motor II is connected with one of the synchronous shafts 16; the clamping cylinder 19 is fixed on the side of the frame 1, and the output end of the frame is connected with the right sliding plate 18; the racks 12 are meshed with the gear 11 mounted at the top of the top plate 10.

[0023] The left brush system comprises a fixing plate 21, a left guide wheel I 22, a left tension wheel 23, a left guide wheel II 24, a servo electric cylinder I 25, a left support 26, a left supporting rod 27, a left working wheel I 28, an overturning plate 29, a left adjusting wheel 30, a left working wheel II 34, a belt-type brush I 35, a servo electric cylinder II 36, a left tension cylinder 37, guide posts II 38, guide sleeves II 39, a servo electric cylinder III 40, a left lower support I 41, a guide rail I 42, a left upper support I 43, a pulley I 44, a synchronous belt I 45, a pulley II 46, a servo motor I 47, a left fixture 48, a servo motor II 49, a servo electric cylinder IV 50, a left lower support II 51, a guide rail II 52, a left upper support II 53, a pulley III 54, a synchronous belt II 55, a pulley IV 56 and a servo motor III 57. The left guide wheel I 22 and the left guide wheel II 24 are fixed in the corresponding positions at the bottom of the fixing plate 21; the left tension cylinder 37 and the two guide sleeves II 39 are also fixed in the corresponding positions at the bottom of the fixing plate 21 and are disposed between the left guide wheel I 22 and the left guide wheel II 24; the two guide posts II 38 matched with the guide sleeves II 39 are fixed at the top of the left fixture 48, and the output end of the left tension cylinder 37 is connected with the left fixture 48; the left tension wheel 23 is mounted on the left fixture 48; the servo electric cylinder I 25 and the left lower support I 41 are hinged to the top of the fixing plate 21, and meanwhile, the output end of the servo electric cylinder I 25 is hinged with the left lower support I 41; two sides of the left upper support I 43 and two sides of the left lower support I 41 are connected through the guide rail I 42, and the servo electric cylinder III 40 is hinged between a bottom plate of the left lower support I 41 and a bottom plate of the left upper support I 43; the servo motor I 47 is fixed at the top of the bottom plate of the left upper support I 43, and the output end of the servo motor I 47 is provided with the pulley I 44; the pulley II 46 is disposed in the middle of the left working wheel I 28, the left working wheel I 28 is mounted at the top of the left upper support I 43, and the pulley I 44 is connected with the pulley II 46 through the synchronous belt I 45; both the left support 26 and the right support 31 are fixed in the corresponding positions at the top of the fixing plate 21; the left adjusting wheel 30 is mounted at the upper end of the left supporting rod 27, and slide slots at two sides of the left supporting rod 27 are matched with bearings at two sides of the left support 26; the right adjusting wheel 33 is mounted at the upper end of the right supporting rod 32, and slide slots at two sides of the right supporting rod 32 are matched with bearings at two sides of the right support 31; two ends of the overturning plate 29 are hinged respectively with the lower end of the left supporting rod 27 and the lower end of the right supporting rod 32, the servo motor II 49 is fixed at the corresponding position of the fixing plate 21, and the output end of the servo motor II 49 is connected with the middle of the overturning plate 29; both the bottoms of the servo electric cylinder II 36 and left lower support II 51 are hinged to the top of the fixing plate 21; meanwhile, the output end of the servo electric cylinder II 36 is hinged with the left lower support II 51; two sides of the left upper support II 53 and two sides of the left lower support II 51 are connected through the guide rail II 52; the servo electric cylinder IV 50 is hinged between a bottom plate of the left lower support II 51 and a bottom plate of the left upper support II 53; the servo motor III 57 is fixed at the top of the bottom plate of the left upper support II 53, and the output end of the servo motor III 57 is provided with the pulley III 54; the pulley IV 56 is mounted in the middle of the left working wheel II 34, and the pulley III 54 is connected with the pulley IV 56 through the synchronous belt II 55; the belt-type brush I 35 with a T-shaped synchronous belt at its inner side and bristles at its outer side is meshed simultaneously with the left guide wheel I 22, the left tension wheel 23, the left guide wheel II 24, the left working wheel I 28, the left adjusting wheel 30, the right adjusting wheel 33 and the left working wheel II 34.

[0024] The right brush system comprises a right support 31, a right supporting rod 32, a right adjusting wheel 33, a baseplate 58, a servo electric cylinder V 59, a right lower support I 60, a guide rail III 61, a right upper support I 62, a pulley V 63, a synchronous belt III 64, a servo motor IV 65, a pulley VI 66, a servo electric cylinder VI 67, guide sleeves III 68, guide posts III 69, a right tension cylinder 70, a right fixture 71, a right support 72, guide sleeves IV 73, guide posts IV 74, springs 75, a floating support 76, a servo electric cylinder VII 77, a right lower support II 78, a guide rail IV 79, a right upper support II 80, a pulley VII 81, a synchronous belt IV 82, a pulley VIII 83, a servo motor V 84, a servo electric cylinder VIII 85, a belt-type brush II 86, a right working wheel I 87, a right support wheel 88, a right working wheel II 89, a servo electric cylinder IX 90, a right guide wheel I 91, a right tension wheel 92 and a right guide wheel II 93. The servo electric cylinder V 59 is hinged between the side of the fixing plate 21 and the side of the baseplate 58; the right guide wheel I 91 and the right guide wheel II 93 are mounted in the corresponding positions at the bottom of the baseplate 58; both the two guide sleeves III 68 and the right tension cylinder 70 are also fixed at the bottom of the baseplate 58 and are disposed between the right guide wheel I 91 and the right guide wheel II 93, the two guide posts III 69 matched with the two guide sleeves III 68 are mounted at the top of the right fixture 71, and the output end of the right tension cylinder 70 is also connected with the right fixture 71, and the right tension wheel 92 is mounted at the bottom of the right fixture 71; both the bottom of the right lower support I 60 and the servo electric cylinder VIII 85 are hinged to the top of the baseplate 58, and the output end of the servo electric cylinder VIII 85 is hinged with the top of the right lower support I 60; the two sides of the right upper support I 62 and two sides of the right lower support I 60 are connected through the guide rail III 61; the servo electric cylinder VI 67 is hinged between a bottom plate of the right lower support I 60 and a bottom plate of the right upper support I 62; the servo motor IV 65 is fixed in the corresponding position at the top of the bottom plate of the right upper support I 62, and the output end of the servo motor IV 65 is provided with the pulley VI 66; the right working wheel I 87 is mounted at the top end of the right upper support I 62, and the pulley V 63 is fixed in the middle of the right working wheel I 87; the pulley V 63 is connected with the pulley VI 66 through the synchronous belt III 64; the right support 72 is fixed at the top of the baseplate 58, the two guide sleeves IV 73 are mounted at the top end of the right support 72, the two guide posts IV 74 matched with the guide sleeves IV 73 are fixed at the bottom of the floating support 76, and the springs 75 sleeve the two guide posts 74 and are disposed between the right support 72 and the floating support 76; the right supporting wheel 88 is mounted at the top of the floating support 76; both the bottoms of the right lower support II 78 and servo electric cylinder IX 90 are hinged to the upper part of the baseplate 58, and the output end of the servo electric cylinder IX 90 is hinged with the upper end of the right lower support II 78; two sides of the right lower support II 78 and two sides of the right upper support II 80 are connected through the guide rail IV 79; the servo electric cylinder VII 77 is hinged between a bottom plate of the right lower support II 78 and a bottom plate of the right upper support II 80; the servo motor V 84 is fixed in the corresponding position at the top of the bottom plate of the right upper support II 80, and the output end of the servo motor V 84 is provided with the pulley VII 81; the right working wheel II 89 is mounted at the top of the right upper support II 80, and the pulley VIII 83 is fixed in the middle of the right working wheel II 89; the pulley VII 81 is connected with the pulley VIII 83 through the synchronous belt IV 82; the belt-type brush II with a T-shaped synchronous belt at its inner side and bristles at its outer side is meshed simultaneously with the right guide wheel I 87, the right support wheel 88, the right working wheel II 89, the right guide wheel 91, the right tension wheel 92 and the right guide wheel II 93.

[0025] In the working process, the information such as the diameter, back cavity shape of a wheel is input in advance to the device through a recognition system; the synchronous clamping and rotating system enables the wheel to rotate in a clamped state; the servo electric cylinder I 25, the servo electric cylinder II 36, the servo electric cylinder III 40, the servo electric cylinder IV 50 and the servo motor II 49 adjust the left working wheel I 28, the left adjusting wheel 30, the right adjusting wheel 33 and the left working wheel II 34 to respective corresponding positions, and adapt the shape of the belt-type brush I 35 to the back cavity shape and the radius of the wheel exactly; the servo electric cylinder VI 67, the servo electric cylinder VII 77, the servo electric cylinder VIII 85 and the servo electric cylinder IX 90 can adjust respectively the positions of the right working wheel I 87 and right working wheel II 89 according to the back cavity shape and the size of the wheel, the servo electric cylinder V 59 can remove respectively the burrs on the flange root corners and rim root corners of the wheel by adjusting the angle of the right brush system, and it can be ensured that the belt-type brush II 86 is constantly in three-point contact with the position of the wheel to be deburred during burr removal; after the left brush system and the right brush system have been adjusted to the proper posture, the driving motor I 2 enables the left brush system and the right brush system to rotate at the same time and rotate in the direction opposite to the rotation direction of the wheel, and meanwhile, the servo motor I 47 and the servo motor III 57 drive the belt-type brush I 35 to rotate circularly, and the servo motor IV 65 and the servo motor V 84 drive the belt-type brush II 86 to rotate circularly.