A pallet conveying device for conveying multiple types of engines and a control method thereof

Abstract

The present invention relates to the technical field of engine assembly, and specifically to a pallet conveying device for conveying multiple types of engines and a control method thereof, wherein the pallet conveying device comprises a pallet for supporting an engine cylinder body, a conveying mechanism and a detection and adjustment device, wherein the pallet comprises a bottom plate and an engine corner assembly, the conveying mechanism comprises a plurality of conveying rollers and a transmission assembly, the rotation detection and adjustment device comprises a detection mechanism and an adjustment mechanism, the conveying mechanism is provided with a limit assembly located beside the detection mechanism, the engine corner assembly comprises a supporting assembly and a plurality of engine corners, and the adjustment mechanism comprises a plurality of rotation adjustment assemblies, the pallet of the present invention can support multiple types of engine cylinder bodies, can automatically adjust the position of the engine corner to adapt to different types of engines, the replacement process is relatively fast, and the assembly efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of engine assembly, in particular to a pallet conveying device for conveying engines of various models and a control method thereof. Background Art

[0002] On an engine assembly production line, there is a conveyor belt with a pallet on it for supporting the engine. The existing pallets can only be used for one type of engine. Each time a different type of engine is to be assembled, a different pallet needs to be replaced. The existing method of replacing the chassis is mostly manual with a forklift. The replacement process is relatively slow, the replacement efficiency is low, it takes up labor costs, and it delays assembly efficiency. Summary of the invention

[0003] The object of the present invention is to provide a pallet conveying device for conveying multiple types of engines and a control method thereof, so as to solve the problems raised in the above-mentioned background technology.

[0004] The technical solution of the present invention is: a pallet conveying device for conveying multiple types of engines, the pallet conveying device includes a pallet for supporting an engine cylinder body, a conveying mechanism for conveying the pallet and a detection and adjustment device, the pallet includes a bottom plate and a machine corner assembly for supporting the bottom of the cylinder body, the conveying mechanism includes a plurality of conveying rollers distributed in a matrix and a transmission assembly for driving all conveying rollers to rotate, the detection and adjustment device includes a detection mechanism for detecting the shape of the machine corner assembly and an adjustment mechanism for adjusting the angle of the machine corner assembly, the conveying mechanism is provided with a limiting assembly beside the detection mechanism, the machine corner assembly includes a supporting assembly and a plurality of machine corners distributed in a matrix on the bottom plate, the adjustment mechanism includes a plurality of rotating adjustment assemblies respectively arranged directly below all the machine corners, the machine corner includes a vertically arranged support column and a top rod eccentrically installed at the top of the support column, and a horizontally arranged rectangular plate is installed at the bottom of the support column, A square limiting plate is provided at the bottom of the rectangular plate, a rotating shaft is vertically provided at the corner of the rectangular plate, and a plurality of rectangular seats for accommodating the square limiting plates are provided on the bottom plate, the rotation passes through the center of the square limiting plate and the rectangular seat, a disc block is provided at the bottom end of the rotating shaft, and a cross-shaped slot is provided at the bottom of the disc block, the rotation adjustment component includes a horizontally arranged rotating cylinder and a driving cylinder for driving the rotating cylinder to rise and fall, a card plate that can be plugged and matched with the cross-shaped slot is vertically provided at the output end of the rotating cylinder, the limiting component includes a limiting cylinder horizontally pointing to the conveying mechanism and a trapezoidal block horizontally arranged at the output end of the limiting cylinder, a plurality of limiting columns that can be in contact with the trapezoidal blocks are provided on the bottom plate, a rotating shaft is provided at the center of each of the conveying rollers, gears are installed on the rotating shafts, all gears are matched through a plurality of crawler transmissions, and one of the rotating shaft transmissions is matched with a rotating motor.

[0005] Preferably, a sensing rod is horizontally arranged in the middle section of the support column, and the detection mechanism includes a plurality of pushing cylinders distributed in a matrix, and the output shafts of all the pushing cylinders are horizontally pointed toward the conveying mechanism, and a connecting plate is installed at the output end of the pushing cylinder, and a first proximity sensor for detecting the sensing rod is arranged on the connecting plate, and the first proximity sensor is electrically connected to the controller.

[0006] Preferably, a limiting strip and a U-shaped limiting block are provided at the bottom of the base plate, the length direction of the limiting strip is perpendicular to the conveying direction of the conveying mechanism, and a pushing cylinder is provided at the bottom of the U-shaped limiting block.

[0007] Preferably, a plurality of second proximity sensors distributed at equal angles around the output axis of the rotating cylinder are arranged on the side of the card plate, a third proximity sensor is arranged on the conveying mechanism, and the first proximity sensor, all the second proximity sensors and the third proximity sensor are electrically connected to the controller.

[0008] Preferably, a control method for a pallet conveyor device for conveying multiple types of engines is characterized by comprising the following steps:

[0009] 1. The conveying mechanism drives the tray to move on the conveying roller. When the third proximity sensor detects the bottom plate, it transmits an electrical signal to the controller, and the controller controls the rotating motor to stop. At the same time, the output shafts of the limit cylinder and the push cylinder extend at the same time, driving the trapezoidal block to contact the limit column, and the U-shaped limit block limits the limit strip;

[0010] Second, the controller controls all the push cylinders to drive all the first proximity sensors to move toward the corresponding support column. When the first proximity sensor cannot detect the sensing rod, an electrical signal is transmitted to the controller. The controller controls the drive cylinders to drive all the rotating cylinders to rise, so that the card plate is inserted into the cross-shaped card slot and the square limit plate rises and leaves the rectangular seat. Then the controller controls all the rotating cylinders to drive all the card plates to rotate, so that all the machine corners rotate around the rotation axis by a certain angle, and then the output shafts of all the drive cylinders retract, so that all the machine corners and the square limit plate fall back into the rectangular seat.

[0011] 3. When the second proximity sensor detects the retracted card plate, it transmits an electrical signal to the controller. The controller controls all the push cylinders again to drive all the first proximity sensors to move toward the corresponding support columns. When the sensing rod is detected, it transmits an electrical signal to the controller. The controller controls the output shafts of the limit cylinder and the push cylinder to retract at the same time, and the rotating motor continues to rotate, repeating the above steps.

[0012] The present invention provides a pallet conveying device for conveying multiple types of engines and a control method thereof through improvement, which has the following improvements and advantages compared with the prior art:

[0013] First: the tray can support various types of engine cylinders, and the cylinders can be placed in various shapes;

[0014] Second: When the assembly production line assembles engines of different models, the pallet is transported to the adjustment mechanism, which can automatically adjust the position of the engine corner to adapt to different models of engines. The replacement process is relatively fast, improving replacement efficiency, reducing labor costs, and improving assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further explained below in conjunction with the accompanying drawings and Examples:

[0016] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0017] Figure 2 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0018] Figure 3 The three-dimensional structure diagram of the conveying mechanism and the adjusting mechanism of the present invention is shown in FIG. Figure 1 ;

[0019] Figure 4 yes Figure 3 A magnified view of point A;

[0020] Figure 5 The three-dimensional structure diagram of the conveying mechanism and the adjusting mechanism of the present invention is shown in FIG. Figure 2 ;

[0021] Figure 6 The three-dimensional structure of the tray of the present invention is shown in FIG. Figure 1 ;

[0022] Figure 7 is a top view of the tray of the present invention;

[0023] Figure 8 yes Figure 6 Section view along line AA;

[0024] Fig. 9 The three-dimensional structure of the tray of the present invention is shown in FIG. Figure 2 ;

[0025] Fig.10 is a control block diagram of the present invention;

[0026] Explanation of the accompanying drawings: tray 1, bottom plate 11, machine corner assembly 12, supporting block 13, machine corner 14, supporting column 15, push rod 16, rectangular plate 17, rotating shaft 18, square limiting plate 19, rectangular seat 191, disc block 192, cross-shaped slot 193, sensing rod 194, conveying mechanism 2, conveying roller 21, crawler track 22, rotating motor 23, rotating shaft 24, detection mechanism 31, connecting plate 311, pushing cylinder 312, first proximity sensor 313, limiting assembly 4, limiting cylinder 41, trapezoidal block 42, limiting column 43, limiting strip 44, U-shaped limiting block 45, pushing cylinder 46, rotation adjustment assembly 5, rotating cylinder 51, driving cylinder 52, card plate 53, second proximity sensor 6, third proximity sensor 7. DETAILED DESCRIPTION

[0027] The present invention is described in detail below, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] The present invention provides a pallet conveying device for conveying multiple types of engines and a control method thereof through improvement, such as Figure 1-Figure 10 As shown, the technical solution of the present invention is: a pallet conveying device for conveying multiple types of engines, the pallet conveying device includes a pallet 1 for supporting the engine cylinder body, a conveying mechanism 2 for conveying the pallet 1 and a detection and adjustment device, the pallet 1 includes a bottom plate 11 and a machine corner assembly 12 for supporting the bottom of the cylinder body, the conveying mechanism 2 includes a plurality of conveying rollers 21 distributed in a matrix and a transmission assembly for driving all the conveying rollers 21 to rotate, the detection and adjustment device includes a detection mechanism 31 for detecting the shape of the machine corner assembly 12 and a transmission assembly for adjusting the angle of the machine corner assembly 12 Adjustment mechanism, the conveying mechanism 2 is provided with a limiting component 4 next to the detection mechanism 31, the machine corner component 12 includes a supporting component and a plurality of machine corners 14 distributed in a matrix on the bottom plate 11, and the adjustment mechanism includes a plurality of rotating adjustment components 5 respectively arranged directly below all the machine corners 14. When the conveying mechanism 2 conveys the pallet 1 to the top of the adjustment mechanism, the limiting component 4 limits the pallet 1 and then the detection mechanism 31 detects the machine corner component 12, and then the rotating adjustment component 5 adjusts the position of the machine corner component 12 to adapt to different engine cylinder supports.

[0029] The machine corner 14 includes a vertically arranged support column 15 and a push rod 16 eccentrically installed at the top of the support column 15, a horizontally arranged rectangular plate 17 is installed at the bottom of the support column 15, a square limit plate 19 is arranged at the bottom of the rectangular plate 17, a rotating shaft 18 is vertically arranged at the corner of the rectangular plate 17, and a plurality of rectangular seats 191 for accommodating the square limit plate 19 are arranged on the bottom plate 11, and the rotation passes through the center of the square limit plate 19 and the rectangular seat 191, and a disc block 192 is arranged at the bottom end of the rotating shaft 18, and a cross-shaped groove 193 is arranged at the bottom of the disc block 192, when the rotation adjustment component 5 pushes the disc block 192 and the machine corner 14 to rise, the square limit plate 19 rises and leaves the rectangular seat 191, and at the same time drives the disc block 192 and the machine corner 14 to rotate, and then the rotation adjustment component 5 drives the machine corner 14 to fall back.

[0030] The rotation adjustment component 5 includes a horizontally arranged rotation cylinder 51 and a driving cylinder 52 for driving the rotation cylinder 51 to rise and fall. The output end of the rotation cylinder 51 is vertically provided with a card plate 53 that can be plugged into the cross-shaped card slot 193. When the tray 1 moves to the top of the rotation adjustment component 5, the driving cylinder 52 drives all the rotation cylinders 51 to rise, so that the card plate 53 is inserted into the cross-shaped card slot 193 and the square limit plate 19 rises and leaves the rectangular seat 191. Then the controller controls all the rotation cylinders 51 to drive all the card plates 53 to rotate, so that all the machine corners 14 rotate a certain angle around the rotation axis 18, and then the output shafts of all the driving cylinders 52 retract, so that all the machine corners 14 and the square limit plate 19 fall back into the rectangular seat 191.

[0031] A sensing rod 194 is horizontally arranged in the middle section of the support column 15, and the detection mechanism 31 includes a plurality of pushing cylinders 312 distributed in a matrix, and the output shafts of all the pushing cylinders 312 are horizontally pointed to the conveying mechanism 2, and a connecting plate 311 is installed at the output end of the pushing cylinder 312, and a first proximity sensor 313 for detecting the sensing rod 194 is arranged on the connecting plate 311, and the first proximity sensor 313 is electrically connected to a controller, and the controller controls all the pushing cylinders 312 to drive all the first proximity sensors 313 to move toward the corresponding support column 15, and when the first proximity sensor 313 cannot detect the sensing rod 194, an electrical signal is transmitted to the controller, and the controller controls the driving cylinder 52 to drive all the rotating cylinders 51 to rise, and the model of the controller is a programmable logic controller with an I / O point number of 32.

[0032] The limiting assembly 4 includes a limiting cylinder 41 horizontally pointing to the conveying mechanism 2 and a trapezoidal block 42 horizontally arranged at the output end of the limiting cylinder 41. The bottom plate 11 is provided with a plurality of limiting posts 43 that can abut against the trapezoidal block 42. The conveying mechanism 2 drives the tray 1 to move on the conveying roller 21. When the third proximity sensor 7 detects the bottom plate 11, an electrical signal is transmitted to the controller. The controller controls the rotating motor 23 to stop. At the same time, the output shaft of the limiting cylinder 41 extends to drive the trapezoidal block 42 to abut against the limiting post 43.

[0033] A limiting strip 44 and a U-shaped limiting block 45 are provided at the bottom of the bottom plate 11. The length direction of the limiting strip 44 is perpendicular to the conveying direction of the conveying mechanism 2. A pushing cylinder 46 is provided at the bottom of the U-shaped limiting block 45. When the third proximity sensor 7 detects the bottom plate 11, an electrical signal is transmitted to the controller, and the controller controls the rotating motor 23 to stop. At the same time, the output shafts of the limiting cylinder 41 and the pushing cylinder 46 are extended at the same time, driving the trapezoidal block 42 to contact the limiting column 43, and the U-shaped limiting block 45 limits the limiting strip 44.

[0034] A plurality of second proximity sensors 6 are arranged on the side of the card plate 53 and are distributed at equal angles around the axis of the output shaft of the rotating cylinder 51. A third proximity sensor 7 is arranged on the conveying mechanism 2. The first proximity sensor 313, all the second proximity sensors 6 and the third proximity sensor 7 are electrically connected to the controller. When the second proximity sensor 6 detects the retracted card plate 53, an electrical signal is transmitted to the controller. The controller again controls all the pushing cylinders 312 to drive all the first proximity sensors 313 to move toward the corresponding support column 15. When the sensing rod 194 is detected, an electrical signal is transmitted to the controller. The controller controls the output shafts of the limit cylinder 41 and the push cylinder 46 to retract at the same time, and the rotating motor 23 continues to rotate. The air source pipelines of the driving cylinder 52, the limit cylinder 41, the pushing cylinder 312 and the push cylinder 46 are all provided with solenoid valves and reversing valves, and all the solenoid valves and reversing valves are electrically connected to the controller.

[0035] A rotating shaft 24 is provided at the center of each of the conveying rollers 21, and gears are installed on the rotating shafts 24. All the gears are driven and matched through a number of tracks 22. One of the rotating shafts 24 is driven and matched with a rotating motor 23. The controller realizes the rotation of the conveying roller 21 by controlling the rotation mode of the rotating motor 23. The rotating motor 23 is a servo motor. The first proximity sensor 313, the second proximity sensor 6 and the third proximity sensor 7 are all capacitive proximity switches. The measurement of this switch usually constitutes one plate of a capacitor, and the other plate is the shell of the switch. During the measurement process, this shell is usually grounded or connected to the housing of the device.

[0036] When an object moves toward the proximity switch, regardless of whether it is a conductor or not, its proximity will always cause the dielectric constant of the capacitor to change, thereby causing the capacitance to change, and the state of the circuit connected to the measuring head to change accordingly, thereby controlling the switch to be turned on or off. The objects detected by this proximity switch are not limited to conductors, but can also be insulating liquids or powders, etc. The supporting assembly includes a plurality of supporting blocks 13 that are all arranged on the inner side of all machine corners 14 on the bottom plate 11.

[0037] A control method for a pallet conveying device for conveying multiple types of engines, characterized in that it comprises the following steps:

[0038] 1. The conveying mechanism 2 drives the tray 1 to move on the conveying roller 21. When the third proximity sensor 7 detects the bottom plate 11, an input signal X1 is transmitted to the controller, and the controller transmits an output signal Y1 to the rotating motor 23. The rotating motor 23 stops. After a delay of 1S, the controller transmits an output signal Y2 to the solenoid valves on the air sources of the limit cylinder 41 and the push cylinder 46 at the same time. The two solenoid valves are opened, and the output shafts of the limit cylinder 41 and the push cylinder 46 are extended at the same time, driving the trapezoidal block 42 to contact the limit column 43, and the U-shaped limit block 45 limits the limit strip 44;

[0039] 2. 2S after the output signal Y2 is sent, the controller transmits an output signal Y2 to all the solenoid valves on the air source pipeline of the pushing cylinder 312, all the solenoid valves are opened, and the output shafts of all the pushing cylinders 312 are extended to drive all the first proximity sensors 313 to move toward the corresponding support column 15. When the first proximity sensor 313 cannot detect the sensing rod 194, 2S after the output shafts of all the pushing cylinders 312 are extended, the controller does not receive the input signal X2 from the first proximity sensor 313. Regardless of whether there is an input signal X2, the controller transmits an output signal Y3 to the reversing valves on the air source pipeline of all the pushing cylinders 312, and all the output shafts of the pushing cylinders 312 retract. 1S later, the controller transmits an output signal Y4 to all the driving cylinders 52 air source pipelines. The electromagnetic valve on the air source pipeline drives the air cylinder 52 to drive all the rotating air cylinders 51 to rise, so that the card plate 53 is inserted into the cross-shaped card slot 193, and at the same time, the square limit plate 19 rises and leaves the rectangular seat 191. After the output signal Y4 is transmitted for 2S, the controller transmits an output signal Y5 to the electromagnetic valves on the air source pipelines of all the rotating air cylinders 51. The controller controls all the rotating air cylinders 51 to drive all the card plates 53 to rotate, so that all the machine angles 14 rotate a certain angle around the rotating shaft 18. Then, after the output signal Y5 is transmitted for 2S, the controller transmits an output signal Y6 to the reversing valves on the air source pipelines of all the driving air cylinders 52. The output shafts of all the driving air cylinders 52 retract, so that all the machine angles 14 and the square limit plate 19 fall back into the rectangular seat 191.

[0040] 3. When the second proximity sensor 6 detects the retracted card plate 53, it transmits an input signal X3 to the controller, and the controller transmits an output signal Y7 to the solenoid valves on the air source pipelines of all the pushing cylinders 312. All the solenoid valves are opened, and the output shafts of all the pushing cylinders 312 extend to drive all the first proximity sensors 313 to move toward the corresponding support column 15. When the first proximity sensor 313 detects the sensing rod 194, 2S after the output shafts of all the pushing cylinders 312 extend, the controller receives the input signal X2 from the first proximity sensor 313, and the controller transmits an output signal Y8 to the reversing valves on the air source pipelines of all the pushing cylinders 312. All the output shafts of the pushing cylinders 312 retract. At the same time, the controller transmits an output signal Y9 to the reversing valves on the air source of the limit cylinder 41 and the push cylinder 46. The output shafts of the limit cylinder 41 and the push cylinder 46 retract at the same time. 2S after the output signal Y9 is transmitted, the controller controls the rotating motor 23 to continue rotating, and repeats the above steps.

[0041] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A pallet conveying device for conveying multiple types of engines, characterized in that: The pallet conveying device comprises a pallet (1) for supporting an engine cylinder body, a conveying mechanism (2) for conveying the pallet (1), and a detection and adjustment device; the pallet (1) comprises a bottom plate (11) and a machine angle component (12) for supporting the bottom of the cylinder body; the conveying mechanism (2) comprises a plurality of conveying rollers (21) distributed in a matrix and a transmission component for driving all the conveying rollers (21) to rotate; the detection and adjustment device comprises a detection mechanism (31) for detecting the shape of the machine angle component (12) and an adjustment mechanism for adjusting the angle of the machine angle component (12); the conveying mechanism (2) is located at the detection mechanism ( A limiting assembly (4) is arranged on the side of the machine corner assembly (12), the machine corner assembly (12) comprises a supporting assembly and a plurality of machine corners (14) distributed in a matrix on the bottom plate (11), the adjustment mechanism comprises a plurality of rotation adjustment assemblies (5) respectively arranged directly below all the machine corners (14), the machine corner (14) comprises a vertically arranged support column (15) and a top rod (16) eccentrically mounted on the top of the support column (15), a horizontally arranged rectangular plate (17) is mounted at the bottom of the support column (15), a square limiting plate (19) is arranged at the bottom of the rectangular plate (17), and the inflection point of the rectangular plate (17) is A rotating shaft (18) is vertically arranged at an angle, a plurality of rectangular seats (191) for accommodating a square limiting plate (19) are arranged on the bottom plate (11), the rotating shaft passes through the center of the square limiting plate (19) and the rectangular seat (191), a disc clamping block (192) is arranged at the bottom end of the rotating shaft (18), a cross-shaped clamping groove (193) is arranged at the bottom of the disc clamping block (192), the rotating adjustment component (5) comprises a horizontally arranged rotating cylinder (51) and a driving cylinder (52) for driving the rotating cylinder (51) to rise and fall, and a cylinder (52) capable of being moved with the cross is vertically arranged at the output end of the rotating cylinder (51). The conveying mechanism (2) is provided with a card plate (53) which is plugged into a U-shaped card slot (193); the limit assembly (4) comprises a limit cylinder (41) which is horizontally directed toward the conveying mechanism (2) and a trapezoidal block (42) which is horizontally arranged at the output end of the limit cylinder (41); a plurality of limit columns (43) which can abut against the trapezoidal block (42) are arranged on the bottom plate (11); a rotating shaft (18) is arranged at the center of each conveying roller (21); gears are installed on the rotating shafts (18); all the gears are driven and matched through a plurality of crawler belts (22); one of the rotating shafts (18) is driven and matched with a rotating motor (23).

2. A pallet conveying device for conveying multiple types of engines according to claim 1, characterized in that: A sensing rod (194) is horizontally arranged in the middle section of the support column (15); the detection mechanism (31) comprises a plurality of pushing cylinders (312) distributed in a matrix; the output shafts of all the pushing cylinders (312) are horizontally directed toward the conveying mechanism (2); a connecting plate (311) is installed at the output end of the pushing cylinder (312); a first proximity sensor (313) for detecting the sensing rod (194) is arranged on the connecting plate (311); and the first proximity sensor (313) is electrically connected to a controller.

3. The pallet conveying device for conveying multiple types of engines according to claim 1, characterized in that: A limiting strip (44) and a U-shaped limiting block (45) are provided at the bottom of the bottom plate (11); the length direction of the limiting strip (44) is perpendicular to the conveying direction of the conveying mechanism (2); and a pushing cylinder (46) is provided at the bottom of the U-shaped limiting block (45).

4. The pallet conveying device for conveying multiple types of engines according to claim 2, characterized in that: A plurality of second proximity sensors (6) are arranged on the side of the card plate (53) and are distributed at equal angles around the axis of the output shaft of the rotary cylinder (51); a third proximity sensor (7) is arranged on the conveying mechanism (2); and the first proximity sensor (313), all the second proximity sensors (6) and the third proximity sensor (7) are electrically connected to the controller.

5. The control method of a pallet conveying device for conveying multiple types of engines according to any one of claims 1 to 4, characterized in that: The following steps are included:

1. The conveying mechanism (2) drives the tray (1) to move on the conveying roller (21). When the third proximity sensor (7) detects the bottom plate (11), an electrical signal is transmitted to the controller. The controller controls the rotating motor (23) to stop. At the same time, the output shafts of the limit cylinder (41) and the push cylinder (46) are extended at the same time, driving the trapezoidal block (42) to contact the limit column (43), and the U-shaped limit block (45) limits the limit strip (44). Second, the controller controls all the push cylinders (312) to drive all the first proximity sensors (313) to move toward the corresponding support column (15). When the first proximity sensor (313) cannot detect the sensing rod (194), an electrical signal is transmitted to the controller. The controller controls the drive cylinder (52) to drive all the rotating cylinders (51) to rise, so that the card plate (53) is inserted into the cross-shaped card slot (193) and the square limit plate (19) rises and leaves the rectangular seat (191). Then, the controller controls all the rotating cylinders (51) to drive all the card plates (53) to rotate, so that all the machine corners (14) rotate around the rotation axis (18) by a certain angle. Then, the output shafts of all the drive cylinders (52) are retracted, so that all the machine corners (14) and the square limit plate (19) fall back into the rectangular seat (191).

3. When the second proximity sensor (6) detects the retracted card plate (53), an electrical signal is transmitted to the controller, and the controller again controls all the push cylinders (312) to drive all the first proximity sensors (313) to move toward the corresponding support column (15). When the sensing rod (194) is detected, an electrical signal is transmitted to the controller, and the controller controls the output shafts of the limit cylinder (41) and the push cylinder (46) to retract at the same time, and the rotating motor (23) continues to rotate, and the above steps are repeated.

Images