Suture thread feeding mechanism

Abstract

The present invention provides a suture thread feeding mechanism, which solves the technical problems of complicated operation and low efficiency of the existing suture thread feeding mechanism. The suture thread feeding mechanism is provided with a frame, and a wire wheel feeding mechanism is symmetrically arranged above the frame. The wire wheel feeding mechanism adopts a wire wheel and a pulley assembly to convey the suture thread. A forward pulley assembly is provided on one side of the wire wheel feeding mechanism, and the forward pulley assembly adopts a guide wheel to convey the suture thread. A heating and cutting mechanism is provided on one side of the forward pulley assembly. The heating and cutting mechanism adopts a heating mechanism to heat the suture thread and adopts a cutting mechanism to shear the suture thread. A wire moving mechanical arm is provided above the frame, and the wire moving mechanical arm adopts a wire pulling claw to clamp and convey the suture thread. A rear pulley assembly is adopted on the other side of the heating and cutting mechanism to convey the suture thread. A guide wheel and guide groove mechanism is provided at the rear pulley assembly. The present invention can be widely used in the field of material conveying technology.

Description

Technical Field

[0001] The invention relates to the technical field of material conveying, in particular to a suture thread feeding mechanism. Background Art

[0002] Medical surgical sutures refer to special threads used for ligation and hemostasis, suturing and hemostasis, and tissue suturing during surgical operations or trauma treatment. They play an important role in the initial healing of wounds and are vital in operations. They need to be used in conjunction with suture needles, so assembly equipment is required to assemble the sutures and suture needles together.

[0003] During the assembly process of sutures and suture needles, the sutures need to be transported and then assembled. The existing technology uses a loading mechanism to transport the sutures. Since sutures are precision instruments, the existing loading mechanism cannot meet the requirements of precise clamping and transfer of sutures, and usually requires manual assistance, which seriously affects production efficiency. Summary of the invention

[0004] The present invention aims to solve the technical problems of the existing suture thread feeding mechanism being complicated to operate and having low efficiency, and provides a suture thread feeding mechanism being simple to operate and having high efficiency.

[0005] To this end, the present invention is provided with a frame, and a wire wheel feeding mechanism is symmetrically arranged above the frame, the wire wheel feeding mechanism adopts a wire wheel and a pulley assembly to convey the suture thread, a forward pulley assembly is provided on one side of the wire wheel feeding mechanism, the forward pulley assembly adopts a guide wheel to convey the suture thread, a heating and cutting mechanism is provided on one side of the forward pulley assembly, the heating and cutting mechanism adopts a heating mechanism to heat the suture thread, and adopts a cutting mechanism to shear the suture thread, a wire moving mechanical arm is provided above the frame, the wire moving mechanical arm adopts a wire pulling claw to clamp and convey the suture thread, the other side of the heating and cutting mechanism adopts a rear pulley assembly to convey the suture thread, a guide wheel guide groove mechanism is provided at the rear pulley assembly, and the guide wheel guide groove mechanism adopts a guide groove body and a pulley assembly to guide and convey the suture thread.

[0006] Preferably, a line loading control cabinet and a line moving mechanism control cabinet are provided in the rack, a wiring trough is provided on one side of the rack, and each line in the control cabinet is routed in the wiring trough.

[0007] Preferably, the wire wheel feeding mechanism includes a wire wheel support plate symmetrically arranged on the frame, a wire wheel end plate is provided on the wire wheel support plate, a wire wheel is provided on the top of the wire wheel end plate, a guide pulley and a guide wheel are also provided on the wire wheel end plate, and a wire wheel clamping mechanism is provided at the front end of the wire wheel end plate.

[0008] Preferably, the forward pulley assembly and the backward pulley assembly include a pulley block base plate arranged on the frame, a movable slide is symmetrically arranged on the pulley block base plate, a long pad is connected to the slider of the movable slide through a pulley block fixed vertical plate, one side of the long pad is connected to the vertical plate, a pulley slide is arranged on one side of the vertical plate, a pulley positioning plate is arranged on the slider of the pulley slide, a pulley fixing cylinder is connected to the pulley positioning plate, the output end of the pulley fixing cylinder is connected to two pulley connecting optical axes through a cylinder fixing plate, two vertical pulley moving channels are provided on the vertical plate, and the pulley connecting optical axis is connected to the line adjusting pulley on the other side of the vertical plate through the pulley moving channels.

[0009] Preferably, the heating and shearing mechanism includes a heating and shearing bottom pad symmetrically arranged on the frame, a heating horizontal slide is provided on the heating and shearing bottom pad, a heating and shearing long pad is provided on the slider of the heating and horizontal slide, a heating slide is provided on the heating and shearing long pad, a heating slide is provided on the slider of the heating slide, a heating and shearing cross plate is provided on the slider of the heating slide, heating and shearing cylinders are symmetrically arranged on the heating and shearing cross plate, a heating and shearing clamp is provided on the output end of the heating and shearing cylinder, a heating mechanism is fixed on one side of the heating and shearing cross plate through a heating and vertical plate, the heating mechanism is arranged between two heating and shearing cylinders, a shearing mechanism is fixed on the other side of the heating and shearing cross plate through a shearing back plate, and the shearing mechanism is arranged corresponding to the heating mechanism.

[0010] Preferably, the heating mechanism comprises a heating block arranged between the two heating shearing cylinders, and the heating block is fixed to the heating vertical plate through a heat insulating block.

[0011] Preferably, the shearing mechanism comprises a shearing cylinder arranged on a shearing back plate, and a cutter is arranged at an output end of the shearing cylinder to shear the suture line.

[0012] Preferably, the wire moving mechanical arm comprises a wire moving vertical arm arranged on a frame, two wire moving horizontal arms are arranged on the wire moving vertical arm, the two wire moving horizontal arms are connected by a wire moving supporting arm, and a wire moving mechanism is arranged below the wire moving horizontal arm.

[0013] Preferably, the wire moving mechanism includes a wire moving lengthening pad arranged at the bottom end of the wire moving cross arm, a wire moving slide is fixed below the wire moving lengthening pad, a wire pulling slide fixing plate is fixed on the slider of the wire moving slide, a wire pulling slide is provided on the wire pulling slide fixing plate, a wire pulling slide is provided on the wire pulling slide fixing plate, a wire pulling claw fixing plate is provided on the slider of the wire pulling slide, wire pulling cylinders are symmetrically provided on both sides of the wire pulling claw fixing plate, and the output end of the wire pulling cylinder clamps the suture thread through the wire pulling claw.

[0014] Preferably, the guide wheel guide groove mechanism includes a guide groove frame, which is composed of three guide groove frames to form two groups of guide mechanisms. The guide mechanism includes a guide groove cylinder arranged on the guide groove frame and fixed by a guide groove vertical plate. The output end of the guide groove cylinder is connected to the guide groove body. A guide wheel cylinder is provided on one side of each group of guide groove bodies. The guide wheel cylinder is fixed to the frame through a guide wheel cylinder support. A wire fixed pulley support is provided at the output end of the guide wheel cylinder, and a pulley assembly is provided on the wire fixed pulley support.

[0015] The present invention conveys sutures by providing a wire wheel feeding mechanism, clamps and transfers the sutures by providing a wire moving mechanical arm, transmits and adjusts the sutures by providing a forward pulley assembly and a backward pulley assembly, heats and cuts the sutures by providing a heating and cutting mechanism, and precisely clamps and cuts the sutures. The two suture transmission and cutting mechanisms work simultaneously, thereby effectively improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention;

[0017] Figure 2 It is a schematic diagram of the structure of the rack;

[0018] Figure 3 It is a structural schematic diagram of the wire wheel feeding mechanism;

[0019] Figure 4 is a schematic structural diagram of a forward pulley assembly;

[0020] Figure 5 is a schematic structural diagram of a forward pulley assembly;

[0021] Figure 6 It is a structural schematic diagram of the heating and shearing mechanism;

[0022] Figure 7 It is a schematic diagram of the structure of the heating mechanism and the shearing mechanism;

[0023] Figure 8 It is a structural schematic diagram of the linear mobile robot;

[0024] Fig. 9 It is a structural schematic diagram of the line moving mechanism;

[0025] Fig.10 It is a structural schematic diagram of the guide wheel and guide groove mechanism.

[0026] Explanation of symbols in the figure:

[0027] 1. Frame; 101. Wire feeding control cabinet; 102. Wire moving mechanism control cabinet; 103. Wiring trough; 2. Wire wheel feeding mechanism; 201. Wire wheel support plate; 202. Wire wheel end plate; 203. Wire wheel; 204. Guide pulley; 205. Guide wheel; 206. Wire length adjustment mechanism; 2061. Wire length adjustment fixing plate; 2062. Fixed pulley; 2063. Moving pulley; 207. Wire wheel clamp mechanism; 2071. Wire wheel clamp mounting plate; 2072. Wire wheel cylinder; 2073. Wire wheel clamp; 208 . Visual camera; 3. Forward pulley assembly; 301. Pulley block bottom plate; 302. Moving slide; 303. Pulley block fixed vertical plate; 304. Long pad; 305. Vertical plate; 306. Pulley slide; 307. Pulley positioning plate; 308. Pulley fixing cylinder; 309. Cylinder fixing plate; 310. Pulley connecting optical axis; 311. Pulley moving channel; 312. Line adjustment movable pulley; 313. Line adjustment guide wheel; 4. Heating and cutting mechanism; 401. Heating and cutting bottom pad; 402. Heating horizontal slide; 4 03. Heating and cutting long pad; 404. Heating cylinder driving heating slide; 405. Heating horizontal plate; 406. Heating and cutting cylinder; 407. Heating and cutting jaws; 408. Heating vertical plate; 409. Heating mechanism; 4091. Heating block; 4092. Insulation block; 410. Cutting back plate; 411. Cutting mechanism; 4111. Cutting cylinder; 4112. Cutter; 5. Line moving mechanical arm; 501. Line moving vertical arm; 502. Line moving horizontal arm; 503. Line moving support arm; 504. Line moving machine Structure; 5041. Wire moving length pad; 5042. Wire moving slide; 5043. Wire pulling slide fixing plate; 5044. Wire pulling slide; 5045. Wire pulling clamp fixing plate; 5046. Wire pulling cylinder; 5047. Wire pulling clamp; 6. Backward pulley assembly; 7. Guide wheel guide groove mechanism; 701. Guide groove frame; 702. Guide groove vertical plate; 703. Guide groove cylinder; 704. Guide groove body; 705. Guide wheel cylinder; 706. Guide wheel cylinder support; 707. Wire fixed pulley support; 708. Guide wheel; 8. Suture line. DETAILED DESCRIPTION

[0028] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0029] like Figure 1 and Figure 2 As shown, the present invention is provided with a frame 1, in which a line loading control cabinet 101 and a line moving mechanism control cabinet 102 are provided. A wiring trough 103 is provided on one side of the frame 1, and each line in the control cabinet is routed in the wiring trough 103.

[0030] A wire wheel feeding mechanism 2 is symmetrically arranged above the frame 1. Figure 3As shown, the wire wheel feeding mechanism 2 includes two wire wheel support plates 201 symmetrically arranged on the frame 1, a wire wheel end plate 202 is provided on the wire wheel support plate 201, a wire wheel 203 is provided on the top of the wire wheel end plate 202, the wire wheel 203 is used to place the suture, and a guide pulley 204 and a guide wheel 205 are also provided on the wire wheel end plate, a visual camera 208 is provided between the two guide wheels 205, the suture is guided by the guide pulley 204 and the guide wheel 205 and then transported, a wire length adjustment mechanism 206 is provided between the guide pulley 204 and the guide wheel 205, and the wire length adjustment mechanism 206 includes a wire length adjustment fixing plate 2061 fixed on the wire wheel end plate 202, and a wire length adjustment fixing plate 2061 is provided on the wire length adjustment fixing plate 2061. Two fixed pulleys 2062 and one movable pulley 2063 are provided. After the suture thread passes through the guide pulley 204, the length of the thread is adjusted by the movable pulley 2063 and the fixed pulley 2062. A thread wheel clamp mechanism 207 is provided at the front end of the thread wheel end plate 202. The thread wheel clamp mechanism 207 includes a thread wheel clamp mounting plate 2071 arranged on the thread wheel end plate 202. A thread wheel cylinder 2072 is provided on the thread wheel clamp mounting plate 2071. Two thread wheel clamps 2073 are provided at the output end of the thread wheel cylinder 2072. The thread wheel cylinder 2072 drives the two thread wheel clamps 2073 to open and close. The suture thread is transported to the thread wheel clamp 2073 via the guide wheel 205, and the suture thread is clamped and positioned.

[0031] A forward pulley assembly 3 is provided on one side of the wire wheel feeding mechanism 2. Figure 4 and Figure 5 As shown, the forward pulley assembly 3 includes a pulley block base plate 301 arranged on the frame 1, a movable slide 302 is symmetrically arranged on the pulley block base plate 301, a movable cylinder is arranged on one side of the movable slide 302 to drive the slider in the movable slide 302 to move horizontally, a long pad 304 is connected to the slider of the movable slide 302 through a pulley block fixed vertical plate 303, a vertical plate 305 is connected to one side of the long pad 304, a pulley slide 306 is arranged on one side of the vertical plate 305, a pulley cylinder is arranged on one side of the pulley slide 306 to drive the slider in the pulley slide 306 to move vertically, a pulley positioning plate 307 is arranged on the slider of the pulley slide 306, and the pulley positioning plate 307 is arranged on the slider of the pulley slide 306. 7 is connected with a pulley fixing cylinder 308, the output end of the pulley fixing cylinder 308 is connected to two pulley connecting optical axes 310 through a cylinder fixing plate 309, two vertical pulley moving channels 311 are provided on the vertical plate 305, the pulley connecting optical axis 310 is connected to the line adjusting movable pulley 312 on the other side of the vertical plate 305 through the pulley moving channels 311, and the vertical plate 305 is also provided with a line adjusting guide wheel 313 on the other side. When adjusting the line, the pulley cylinder drives the line adjusting movable pulley 312 to move up and down to adjust the line length through the pulley fixing cylinder 308, and the pulley fixing cylinder 308 can also realize the release of the line adjusting movable pulley 312 by driving the pulley connecting optical axis 310.

[0032] A heating and cutting mechanism 4 is provided on one side of the forward pulley assembly 3. Figure 6 and Figure 7 As shown, the heating shearing mechanism 4 includes a heating shearing bottom pad 401 symmetrically arranged on the frame 1, a heating horizontal slide 402 is arranged on the heating shearing bottom pad 401, a heating horizontal cylinder is arranged on one side of the heating horizontal slide 402 to drive the slider on the heating horizontal slide 402 to move horizontally, a heating shearing long pad 403 is arranged on the slider of the heating horizontal slide 402, a heating slide 404 is arranged on the long heating shearing pad 403, a heating slide 404 is arranged on one side of the heating slide 404 to drive the slider on the heating slide 404 to move horizontally, a heating cross plate 405 is arranged on the slider of the heating slide 404, a heating shearing cylinder 406 is symmetrically arranged on the heating cross plate 405, two heating shearing jaws 407 are arranged at the output end of the heating shearing cylinder 406, the heating shearing cylinder 406 drives the two heating shearing jaws 407 to open and close, and the heating cross plate 4 A heating mechanism 409 is fixed to one side of 05 through a heating vertical plate 408, and the heating mechanism 409 is arranged between two heating shearing cylinders 406. The heating mechanism 409 includes a heating block 4091 arranged between the two heating shearing cylinders 406, and the heating block 4091 is fixed to the heating vertical plate 408 through an insulating block 4092, and a power input end of the heating block 4091 passes through the insulating block 4092 and the heating vertical plate 408 to the outside, and a shearing mechanism 411 is fixed to the other side of the heating horizontal plate 405 through a shearing back plate 410, and the shearing mechanism 411 is arranged corresponding to the heating mechanism 409, and the shearing mechanism 411 includes a shearing cylinder 4111 arranged on the shearing back plate 410, and two cutters 4112 are arranged at the output end of the shearing cylinder 4111, and the shearing cylinder 4111 drives the two cutters 4112 to open and close, thereby cutting the suture line.

[0033] A line moving mechanical arm 5 is provided above the frame 1. Figure 8 As shown, the line moving mechanical arm 5 includes a line moving vertical arm 501 arranged on the frame 1, two line moving horizontal arms 502 are arranged on the line moving vertical arm 501, the two line moving horizontal arms 502 are connected by a line moving support arm 503, and line moving mechanisms 504 are respectively arranged under the two line moving horizontal arms, as shown in FIG. Fig. 9As shown, the wire moving mechanism 504 includes a wire moving lengthening pad 5041 arranged at the bottom end of the wire moving cross arm 502, a wire moving slide 5042 is fixed below the wire moving lengthening pad 5041, a wire moving cylinder is arranged on one side of the wire moving lengthening pad 5041 to drive the slider on the wire moving slide 5042 to move horizontally, a wire pulling slide fixing plate 5043 is fixed on the slider of the wire moving slide 5042, a wire pulling slide 5044 is arranged on the wire pulling slide fixing plate 5043, and the wire pulling slide A wire pulling cylinder is provided on one side of the wire pulling slide 5044 to drive the slider on the wire pulling slide 5044 to move vertically, a wire pulling claw fixing plate 5045 is provided on the slider of the wire pulling slide 5044, wire pulling cylinders 5046 are symmetrically provided on both sides of the wire pulling claw fixing plate 5045, two wire pulling claws 5047 are provided at the output end of the wire pulling cylinder 5046, the wire pulling cylinder 5046 drives the two wire pulling claws 5047 to open and close, and the suture thread is clamped by the wire pulling claws 5047.

[0034] The other side of the heating and cutting mechanism uses a rear pulley assembly 6 to convey the suture thread, and the structure of the rear pulley assembly 6 is the same as the structural principle of the forward pulley assembly 3.

[0035] A guide wheel guide groove mechanism 7 is provided at the rear pulley assembly 6. Fig.10 As shown, the guide wheel and guide groove mechanism 7 includes a guide groove frame 701, and two groups of guide mechanisms are formed by three guide groove frames 701. The guide mechanism includes a guide groove cylinder 703 arranged on the guide groove frame 701 and fixed by a guide groove vertical plate 702. The output end of the guide groove cylinder 703 is connected to the guide groove body 704. Every two guide groove bodies 704 are arranged correspondingly. A guide wheel cylinder 705 is provided on one side of each group of guide groove bodies 704. The guide wheel cylinder 705 is fixed on the frame 1 through a guide wheel cylinder support 706. The output end of the guide wheel cylinder 705 is provided with a wire fixed pulley support 707. The wire fixed pulley support 707 is provided with an output guide wheel 708. The guide wheel cylinder 705 drives the output guide wheel 708 to move vertically, and the output guide wheel 708 guides and transports the suture thread.

[0036] When in use, the wire wheel feeding mechanism 2 releases the suture thread 8 through the wire wheel 203, and the suture thread 8 is guided by the guide pulley 204, the wire length adjustment mechanism 206 and the guide wheel 205, and then transported to the wire wheel clamp mechanism 207. The wire wheel clamp 2073 in the clamp mechanism 207 clamps and positions the suture thread 8, and the wire pulling clamp 5047 on one side of the wire moving mechanical arm 5 clamps the suture thread 8 and moves it to the other side of the frame 1. The forward pulley assembly 3 and the backward pulley assembly 6 adjust the wire length, and the heating The heating block 4091 in the cutting mechanism 4 heats the suture 8. After the heating is completed, the heating cutting jaws 407 on both sides of the heating block 4091 cut the sutures 8 at both ends of the heating block 4091. After the cutting is completed, the cut sutures are clamped to the next process by the robot arm of the next process, and then the wire pulling jaw 5047 of the line moving robot arm 5 continues to clamp the suture 8 at the cutting jaw 407 and pull it to the other end of the frame 1 for the next round of heating and cutting operation.

[0037] However, what is described above is only a specific embodiment of the present invention and should not be used to limit the scope of implementation of the present invention. Therefore, the replacement of equivalent components, or equivalent changes and modifications made according to the scope of protection of the present invention should still fall within the scope covered by the claims of the present invention.

Claims

1. A suture thread feeding mechanism, which is provided with a frame, and a wire wheel feeding mechanism is symmetrically arranged above the frame, characterized in that: The wire wheel feeding mechanism uses a wire wheel and a pulley assembly to convey the suture thread, a forward pulley assembly is provided on one side of the wire wheel feeding mechanism, the forward pulley assembly uses a guide wheel to convey the suture thread, a heating and cutting mechanism is provided on one side of the forward pulley assembly, the heating and cutting mechanism uses a heating mechanism to heat the suture thread, and uses a cutting mechanism to shear the suture thread, a wire moving mechanical arm is provided above the frame, the wire moving mechanical arm uses a wire pulling claw to clamp and convey the suture thread, the other side of the heating and cutting mechanism uses a backward pulley assembly to convey the suture thread, a guide wheel guide groove mechanism is provided at the backward pulley assembly, and the guide wheel guide groove mechanism uses a guide groove body and a pulley assembly to guide and convey the suture thread; The wire wheel feeding mechanism comprises a wire wheel support plate symmetrically arranged on the frame, a wire wheel end plate is arranged on the wire wheel support plate, a wire wheel is arranged on the top of the wire wheel end plate, a guide pulley and a guide wheel are also arranged on the wire wheel end plate, and a wire wheel clamping mechanism is arranged at the front end of the wire wheel end plate; The forward pulley assembly and the backward pulley assembly include a pulley block base plate arranged on a frame, a movable slide is symmetrically arranged on the pulley block base plate, a long pad is connected to the slider of the movable slide through a pulley block fixing vertical plate, one side of the long pad is connected to a vertical plate, a pulley slide is arranged on one side of the vertical plate, a pulley positioning plate is arranged on the slider of the pulley slide, a pulley fixing cylinder is connected to the pulley positioning plate, the output end of the pulley fixing cylinder is connected to two pulley connecting optical axes through a cylinder fixing plate, two vertical pulley moving channels are provided on the vertical plate, and the pulley connecting optical axis is connected to the line adjusting pulley on the other side of the vertical plate through the pulley moving channel.

2. The suture thread feeding mechanism according to claim 1, characterized in that The rack is provided with a line loading control cabinet and a line moving mechanism control cabinet, and a wiring trough is provided on one side of the rack, and each line in the control cabinet is routed in the wiring trough.

3. The suture thread feeding mechanism according to claim 1, characterized in that The heating and shearing mechanism includes a heating and shearing bottom pad symmetrically arranged on the frame, a heating horizontal slide is arranged on the heating and shearing bottom pad, a heating and shearing long pad is arranged on the slider of the heating and horizontal slide, a heating slide is arranged on the heating and shearing long pad, a heating slide is arranged on the slider of the heating slide, a heating cross plate is arranged on the slider of the heating slide, heating and shearing cylinders are symmetrically arranged on the heating cross plate, a heating and shearing clamp is arranged on the output end of the heating and shearing cylinder, a heating mechanism is fixed on one side of the heating cross plate through a heating vertical plate, the heating mechanism is arranged between two heating and shearing cylinders, a shearing mechanism is fixed on the other side of the heating cross plate through a shearing back plate, and the shearing mechanism is arranged corresponding to the heating mechanism.

4. The suture thread feeding mechanism according to claim 3, characterized in that The heating mechanism comprises a heating block arranged between two heating shearing cylinders, and the heating block is fixed on the heating vertical plate through a heat insulating block.

5. The suture thread feeding mechanism according to claim 4, characterized in that The shearing mechanism comprises a shearing cylinder arranged on a shearing back plate, and a cutter is arranged at the output end of the shearing cylinder for shearing the suture line.

6. The suture thread feeding mechanism according to claim 1, characterized in that The wire moving mechanical arm comprises a wire moving vertical arm arranged on a frame, two wire moving horizontal arms are arranged on the wire moving vertical arm, the two wire moving horizontal arms are connected by a wire moving supporting arm, and a wire moving mechanism is arranged below the wire moving horizontal arm.

7. The suture thread feeding mechanism according to claim 6, characterized in that The wire moving mechanism includes a wire moving lengthening pad arranged at the bottom end of the wire moving cross arm, a wire moving slide is fixed under the wire moving lengthening pad, a wire pulling slide fixing plate is fixed on the slider of the wire moving slide, a wire pulling slide is provided on the wire pulling slide fixing plate, a wire pulling slide is provided on the wire pulling slide fixing plate, a wire pulling claw fixing plate is provided on the slider of the wire pulling slide, wire pulling cylinders are symmetrically provided on both sides of the wire pulling claw fixing plate, and the output end of the wire pulling cylinder clamps the suture thread through the wire pulling claw.

8. The suture thread feeding mechanism according to claim 1, characterized in that The guide wheel guide groove mechanism includes a guide groove frame, which is composed of two groups of guide mechanisms by three guide groove frames. The guide mechanism includes a guide groove cylinder arranged on the guide groove frame and fixed by a guide groove vertical plate. The output end of the guide groove cylinder is connected to the guide groove body. A guide wheel cylinder is arranged on one side of each group of guide groove bodies. The guide wheel cylinder is fixed on the frame through a guide wheel cylinder support. A wire fixed pulley support is arranged at the output end of the guide wheel cylinder, and a pulley assembly is arranged on the wire fixed pulley support.

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