Clamping and turning device

Abstract

The present application relates to the field of transport machinery, and specifically relates to a clamping and overturning device, which is provided with a longitudinal motion driving mechanism, a motion support platform, a transverse support platform, a first motion mechanism and a second motion mechanism for simultaneous upward and downward displacement and overturning, a first displacement structure, a first grabbing structure, a second grabbing structure, and a clamping mechanism for controlling the simultaneous reciprocating motion of the grabbing structures. The motion driving mechanism utilizes the pitch precision of the thread to improve the stability of the longitudinal displacement, and can avoid damage to the device under the action of gravity during temporary shutdown. The synchronous clamping mechanism using a single power source can achieve strict synchronization of the grabbing structures. The gear structure accurately converts linear displacement into overturning angle, improving the stability and precision of the overturning angle and the overturning reset, and can conveniently achieve the pickup, clamping, overturning, overturning reset, transportation and placement of clamped objects, especially precise capacitor devices.

Description

Technical Field

[0001] This invention relates to the field of transportation machinery technology, and more specifically to a clamping and flipping device. Background Technology

[0002] Currently, in the field of transportation technology, especially in the production, packaging, and transportation of products that require handling multiple planes, robotic arms and manual labor are still commonly used for flipping. These products often require not only flipping but also high-precision flipping and resetting. The inventors of this invention have discovered that existing technologies for flipping products during production, packaging, and transportation often suffer from problems such as uncontrollable flipping angles, poor positioning accuracy, poor flipping and resetting accuracy, and instability. For example, patent number "CN212221573U" is used for flipping sheet metal parts, but picking up and transporting the products requires manual labor, and the resetting accuracy after flipping is poor and the angle is uncontrollable. In actual use, this can easily cause missed spraying and defects when painting sheet metal. Furthermore, in the production and fabrication of precision electrical components, such as capacitors, flipping is often required. While patent number "CN106829459A" can handle the picking and transport of electronic components, it cannot flip them. Simply adopting the flipping scheme of "CN212221573U" would be insufficient to achieve accurate positioning, flipping, and resetting. Due to poor flipping and resetting accuracy, positional deviations after flipping and resetting can easily cause irreparable damage to the components, failing to meet the requirements of continuous and automated production of precision components. Therefore, there is an urgent need for a device capable of stable, efficient, and precise picking, clamping, flipping, and transporting industrial and consumer products, especially precision electrical appliances and capacitors, that can handle multiple planes. Summary of the Invention

[0003] The purpose of this invention is to solve at least one of the technical problems in the background art described above, and to achieve stable, efficient and accurate picking, clamping, flipping, transporting and placing of clamped items.

[0004] To achieve the above objectives, the present invention provides a clamping and flipping device, comprising a motion support platform, a first motion mechanism slidably connected to one end of the motion support platform, and a second motion mechanism symmetrically arranged relative to the first motion mechanism and slidably connected to the other end of the motion support platform; the motion support platform is provided with a clamping mechanism between the first motion mechanism and the second motion mechanism for controlling the reciprocating motion of the first motion mechanism and the second motion mechanism.

[0005] Preferably, the first motion mechanism is provided with a first gripping structure that can rotate with the longitudinal displacement of the first motion mechanism, and the second motion mechanism is provided with a second gripping structure that can rotate with the longitudinal displacement of the second motion mechanism and is symmetrically arranged with the first gripping structure relative to the motion support platform.

[0006] Preferably, the motion support platform is further provided with a longitudinal motion drive mechanism and a transverse support platform on the other side of the clamping mechanism; the longitudinal motion drive mechanism is provided with a first displacement structure that slides through the transverse support platform, and the portion of the first displacement structure that passes through the transverse support platform is fixedly connected to the motion support platform; the clamping mechanism is provided with a transverse guide rail on the same side of the motion support platform for the reciprocating motion of the first motion mechanism and the second motion mechanism.

[0007] Preferably, the first motion mechanism is provided with a first connection structure that is slidably connected to the transverse guide rail; the second motion mechanism is provided with a third connection structure that is slidably connected to the transverse guide rail.

[0008] Furthermore, the first motion mechanism is also provided with a second connection structure fixedly connected to the other end of the first connection structure; the second connection structure is provided with a second displacement structure that is slidably connected to the second connection structure, a first driving structure and a first driven structure that are both slidably connected to the second connection structure; the first driven structure is fixedly connected to the rotation axis of the first gripping structure.

[0009] Furthermore, the second displacement structure is provided with a first connecting part that cooperates with the first driving structure to roll, the first driving structure is provided with a second connecting part that cooperates with the first connecting part, and the first driven structure is provided with a third connecting part that cooperates with the second connecting part.

[0010] Furthermore, the first driving structure and the first driven structure are gears; the second displacement structure is a structure with teeth on one side.

[0011] Preferably, the first motion mechanism further includes a first power unit fixed to the second connecting structure, a floating connecting structure disposed between the first power unit and the second displacement structure, and a buffer recovery structure fixed to the second connecting structure; the floating connecting structure has a protrusion for pressing the buffer recovery structure at one end near the first power unit; the floating connecting structure and the second displacement structure are floatingly connected at one end near the first power unit.

[0012] Preferably, the first gripping structure has a second positioning block on the side near the second connecting structure and away from the rotation axis of the second connecting structure; the second connecting structure has a first positioning block and a third positioning block on the side near the first gripping structure, which engage and limit the second positioning block on the rotation plane of the second positioning block; the first positioning block and the third positioning block are symmetrically arranged with respect to the rotation axis of the second connecting structure.

[0013] Preferably, the second motion mechanism is further provided with a fourth connection structure fixedly connected to the other end of the third connection structure; the fourth connection structure is provided with a second motion unit that is rolled relative to the fourth connection structure; the second motion unit is fixedly connected to the rotation axis of the second gripping structure.

[0014] Preferably, the second motion mechanism further includes a first limiting plate fixedly connected to the fourth connecting structure, a guide structure passing through and slidably connected to the first limiting plate, a second limiting plate fixedly connected to one end of the guide structure away from the first limiting plate, a fifth connecting structure fixedly connected to the second limiting plate, a first guide rail slidably connected to the fifth connecting structure and fixedly connected to the fourth connecting structure, and a first motion unit fixedly connected to one end of the fifth connecting structure away from the second limiting plate; the second motion unit is provided with a locking structure that cooperates with the longitudinal reciprocating movement of the first motion unit.

[0015] Preferably, the end of the first motion unit that engages with the engaging structure is provided with an outwardly convex arc surface, and the engaging structure is an inwardly concave arc surface that engages with the outwardly convex arc surface.

[0016] Preferably, one or more concave arc surfaces are provided on the rotation plane of the second motion unit.

[0017] Preferably, the longitudinal motion drive mechanism is further provided with a first rolling connection structure that cooperates with the step displacement of the first displacement structure. The first rolling connection structure is provided with a sixth connection structure that is slidably connected to the first displacement structure, a first rolling connection structure rotor that is fixedly connected to the sixth connection structure, and a first rolling connection structure stator that is fixedly connected to the transverse support platform.

[0018] Preferably, the first rolling connection structure is a crossed roller bearing; the first displacement structure and the sixth connection structure are connected by a threaded connection.

[0019] Preferably, the longitudinal motion drive mechanism is further provided with a fourth power unit fixed to the transverse support platform, a first sliding connection component that passes through the transverse support platform and is fixedly connected to the motion support platform, and a second sliding connection component that matches and slides with the first sliding connection component and is fixed to the transverse support platform; the fourth power unit and the first rolling connection structure rotor are connected by a transmission device.

[0020] Preferably, the transverse support platform has a longitudinal support structure on the same side where the fourth power unit is fixed; the other end of the longitudinal support structure has a second support platform fixedly connected to it; the second support platform has a third power unit, a drive shaft rotatably connected to the longitudinal support structure and drivingly connected to the third power unit, and displacement devices distributed at both ends of the drive shaft for cooperating with external guide devices for displacement.

[0021] Preferably, the clamping mechanism is provided with a second rolling connection structure, a swing arm that is rollingly connected to the clamping mechanism via the second rolling connection structure, a first connecting rod movably connected to one end of the swing arm, a second connecting rod movably connected to the other end of the swing arm, and a second power unit movably connected to the swing arm at the connection point with the motion support platform; the second power unit is connected in the region between the connection point of the second connecting rod and the swing arm and the second rolling connection structure, or the second power unit is connected in the region between the connection point of the first connecting rod and the swing arm and the second rolling connection structure; the first connecting rod and the second connecting rod are distributed relative to the connection point of the second rolling connection structure and the swing arm; the first connecting rod is rotatably connected to the first connection structure and the second connecting rod is rotatably connected to the third connection structure.

[0022] Preferably, the second rolling connection structure includes a second rolling connection structure rotor fixedly connected to the swing arm and a second rolling connection structure stator fixedly connected to the motion support platform.

[0023] Beneficial effects

[0024] 1. Equipped with a motion drive mechanism, the motion drive mechanism adopts a threaded first displacement structure and crossed roller bearings. Utilizing the precision of the thread pitch, the stability of longitudinal displacement is improved, accurately converting the bearing speed into longitudinal displacement. At the same time, the thread can buffer the huge torque of the power source at the moment of startup, reducing the impact on the equipment. Furthermore, due to the unique advantage of thread engagement, the displacement remains unchanged at the moment the power supply stops, without the need for additional stabilizing equipment. This avoids the equipment from suddenly dropping under gravity, which could cause damage. It also avoids the defects of commonly used technologies such as poor stability of hydraulic control and poor stability and easy damage to the equipment due to excessive torque during the startup phase of direct motor drive control. Multiple sets of matched first and second sliding connection components make the longitudinal displacement more stable and smooth.

[0025] 2. The first motion mechanism adopts a second displacement structure with a toothed part with stable spacing to accurately convert the displacement of the first power unit into a flip angle, overcoming the problems of poor stability and accuracy of the flip angle directly controlled by the motor in the original technology, and the high requirements for motor accuracy.

[0026] 3. Simultaneously, the indirect transmission method of layer-by-layer transmission through the second displacement structure, the first driving structure, and the first driven structure helps to reduce the impact of inertia on accuracy during the start and stop phases of the flipping operation, further improving control accuracy. At the same time, this indirect control method can be easily set to a flipping angle that is a multiple of the toothed portion distribution angle, and the setting accuracy of the flipping angle is proportional to the density of the toothed portion, making it easy to adjust the density of the toothed portion to increase the control accuracy of the flipping angle.

[0027] 4. The first and second motion mechanisms simultaneously change the power for flipping from bidirectional power supply at both ends of the flipping fixture to unidirectional power supply, avoiding errors caused by asynchronous rotation and control. The first motion mechanism is equipped with a first positioning block and a second positioning block that match the flipping angle, ensuring that the fixture in the first motion mechanism maintains a stable flipping angle before and after flipping, and has good flipping and flipping reset accuracy. The second motion mechanism is designed with a first motion unit and a second motion unit with a curved surface structure, and the first motion unit is connected with an elastic structure, ensuring that the fixture in the second motion mechanism maintains a stable flipping angle before and after flipping and improving the consistency of the flipping frequency with the first motion mechanism.

[0028] 5. The clamping mechanism adopts a fixed method with a bearing in the middle of the single swing arm, and the second power unit is movably connected to the single swing arm with the connection point located between the first link and the second link. The single swing arm is rotatably connected to the first link and the second link. The single arm rotates in one direction, which can realize the synchronous reverse movement of the first link and the second link. This facilitates the synchronous control of the clamping operation of the first gripping structure and the second gripping structure by a single power unit, which greatly improves the synchronization compared with electronic control or multi-power unit control.

[0029] 6. A first motion drive mechanism matching the external guide device is set up, which can be conveniently controlled by the third power unit to move the entire clamping and flipping device in the direction of the external guide device. In conjunction with the first motion mechanism and the second motion mechanism, the functions of picking up, clamping, flipping and placing can be realized in a convenient way, such as picking up, clamping, flipping, flipping reset, transporting and placing the clamped items. Attached Figure Description

[0030] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0031] Figure 1 This schematic diagram shows an overall assembly view of a clamping and flipping device according to one embodiment of the present invention;

[0032] Figure 2A schematic bottom view of a clamping mechanism according to an embodiment of the present invention;

[0033] Figure 3a This schematic diagram shows an assembly view of a first motion mechanism according to an embodiment of the present invention;

[0034] Figure 3b This schematic diagram shows an exploded view of a first motion mechanism according to an embodiment of the present invention;

[0035] Figure 3c This schematic representation shows a 45° exploded top view of a first motion mechanism according to an embodiment of the present invention;

[0036] Figure 4a This schematic diagram shows an assembly view of a second motion mechanism according to one embodiment of the present invention;

[0037] Figure 4b This schematic diagram shows an exploded view of a second motion mechanism according to one embodiment of the present invention;

[0038] Figure 5 The schematic diagram shows a top view of a longitudinal motion drive mechanism according to one embodiment of the present invention;

[0039] Figure 6 The schematic diagram shows a top view of a first motion drive mechanism according to an embodiment of the present invention;

[0040] Figure 7 This schematic diagram shows an enlarged view of the first grasping structure in a first motion mechanism according to an embodiment of the present invention;

[0041] Figure 8 A schematic enlarged view of the second gripping structure in a second motion mechanism according to an embodiment of the present invention;

[0042] Figure 9 This schematic diagram shows a connection view of the first displacement structure and the first rolling connection structure of a longitudinal motion drive mechanism according to an embodiment of the present invention.

[0043] Figure 10 This schematically illustrates the connection relationship between the second displacement structure, the first driving structure, and the first driven structure in a first motion mechanism according to an embodiment of the present invention.

[0044] Figure 11 A schematic diagram illustrating the clamping method of the first gripping structure and the second gripping structure according to an embodiment of the present invention;

[0045] First motion drive mechanism 1; Longitudinal motion drive mechanism 2; First motion mechanism 3; Second motion mechanism 4; Clamping mechanism 5; Motion support platform 6; Longitudinal support structure 7; Lateral support platform 8; Lateral guide rail 9; Second support platform 10; Guide wheel 11; Capacitor component 13; Third power unit 101; Reduction device 102; Second motor base 103; Driving synchronous pulley 104; Synchronous belt 105; Driven synchronous pulley 106; Transmission shaft 107; First support structure 108; Displacement device 109; First displacement structure 201; External threaded part 2011; Fourth power unit 202; First rolling connection structure 203; First rolling connection structure stator 2031; First rolling connection structure rotor 2032; Sixth connection structure 2033; Internal threaded part 20331; First sliding connection component 204; Second sliding connection component 205; Second fixed structure 207; Third fixed structure 208; Fixed base 20 9; First power unit 301; First connecting structure 303; Second connecting structure 302; Second displacement structure 304; First connecting part 3041; First driving structure 305; Second connecting part 3051; First driven structure 307; Third connecting part 3071; First positioning block 309; Second positioning block 310; Third positioning block 321; First gripping structure 311; First protrusion 3111; First support part 3112; First mounting shaft 306; Second mounting shaft 308; Connecting bracket 312; First bearing 313; First fixed baffle 314; Buffer return structure 315; Buffer structure bracket 316; Floating connecting structure 317; Second bearing 320; Third bearing 318; Fourth bearing 319; Third connecting structure 401; Fourth connecting structure 402; Guide structure 403; First limiting plate 404; Elastic structure 405; Second limiting plate 406; Fifth connecting structure 407; First guide rail

[0046] 408; First motion unit 409; Second motion unit 410; Engaging structure 4101; Second gripping structure 413; Second protrusion 4131; Second support part 4132; Fifth bearing 411; Fixed bracket 412; Sixth bearing 414; Third mounting shaft 415; First connecting rod 501; Second connecting rod 502; Second power unit 503; Second rolling connection structure 504; Second rolling connection structure stator 5041; Second rolling connection structure rotor 5042; Swing arm 505; Concave structure 1301. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0048] In the description of this invention, unless otherwise stated, the terms "top," "bottom," "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and are not intended to indicate or imply that the system or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0049] It should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the invention based on the specific circumstances.

[0050] Figure 1 This schematic diagram shows an overall assembly view of a clamping and flipping device according to one embodiment of the present invention; Figure 2 A schematic bottom view of a clamping mechanism according to an embodiment of the present invention; Figure 3a This schematic diagram shows an assembly view of a first motion mechanism according to an embodiment of the present invention; Figure 3b This schematic diagram shows an exploded view of a first motion mechanism according to an embodiment of the present invention; Figure 3c This schematic representation shows a 45° exploded top view of a first motion mechanism according to an embodiment of the present invention; Figure 4a This schematic diagram shows an assembly view of a second motion mechanism according to one embodiment of the present invention; Figure 4b This schematic diagram shows an exploded view of a second motion mechanism according to one embodiment of the present invention; Figure 5 The schematic diagram shows a top view of a longitudinal motion drive mechanism according to one embodiment of the present invention; Figure 6 The schematic diagram shows a top view of a first motion drive mechanism according to an embodiment of the present invention; Figure 7 This schematic diagram shows an enlarged view of the first grasping structure in a first motion mechanism according to an embodiment of the present invention; Figure 8 A schematic enlarged view of the second gripping structure in a second motion mechanism according to an embodiment of the present invention; Figure 9This schematic diagram shows a connection view of the first displacement structure and the first rolling connection structure of a longitudinal motion drive mechanism according to an embodiment of the present invention. Figure 10 The diagram illustrates the connection relationship between the second displacement structure, the first driving structure, and the first driven structure in a first motion mechanism according to an embodiment of the present invention.

[0051] like Figure 1 As shown, the present invention provides a clamping and flipping device, comprising a longitudinal motion drive mechanism 2, a motion support platform 6, a transverse support platform 8, a first motion mechanism 3 slidably connected to one end of the motion support platform 6, and a second motion mechanism 4 symmetrically arranged relative to the first motion mechanism 3 and slidably connected to the other end of the motion support platform 6; the longitudinal motion drive mechanism 2 has a first displacement structure 201 that slides through the transverse support platform 8, and the portion of the first displacement structure 201 passing through the transverse support platform 8 is fixedly connected to one side of the motion support platform 6; the first motion mechanism 3 has a rotatable first gripping structure 311, and the first motion mechanism 4 has a rotatable second gripping structure 413 symmetrically arranged relative to the first gripping structure 311 and the motion support platform 6; the other side of the motion support platform 6 is also provided with a clamping mechanism 5 for controlling the reciprocating motion of the first gripping structure 311 and the second gripping structure 413 towards each other, and a transverse guide rail 9 for the reciprocating motion of the first motion mechanism 3 and the second motion mechanism 4 towards each other. The first displacement structure 201 drives the motion support platform 6 and the first motion mechanism 3 and the first motion mechanism 4 connected to the motion support platform 6 to complete longitudinal movement; at the same time, as the first motion mechanism 3 and the second motion mechanism 4 move longitudinally, the first gripping structure 311 and the second gripping structure 413 rotate; at the same time, the clamping mechanism 5 controls the first motion mechanism 3 and the first motion mechanism 4 to reciprocate within the range of the transverse guide rail 9, and completes clamping and release through the reciprocating movement of the first gripping structure 311 and the second gripping structure 413.

[0052] Furthermore, such as Figure 2 , 3aAs shown in 3b and 3c: the first motion mechanism 3 is provided with a first connecting structure 303 that is slidably connected to the transverse guide rail 9, and a second connecting structure 302 that is fixedly connected to the other end of the first connecting structure 303; the second connecting structure 302 is provided with a second displacement structure 304 that is slidably connected to the second connecting structure 302, a first driving structure 305 and a first driven structure 307 that are slidably connected to the second connecting structure 302; the first driven structure 307 is fixedly connected to the rotation axis of the first gripping structure 311. A first fixed baffle 314 is fixedly connected to the second connecting structure 302. A first driving structure 305 is rotatably connected to a first mounting shaft 306, which is fixedly connected to the second connecting structure 302 by screws. The first driving structure 305 is rotatably connected to the first mounting shaft 306 via a second bearing 320 and a third bearing 318. A first driven structure 307 is fixed to the second mounting shaft 308, which is rotatably connected to the first fixed baffle 314 via a first bearing 313 and rotatably connected to the second connecting structure 302 via a fourth bearing 319.

[0053] Furthermore, such as Figure 10 As shown, the second displacement structure 304 has a first connecting portion 3041 that rolls with the first driving structure 305, and the first driving structure 305 has a second connecting portion 3051 that rolls with the first connecting portion 3041; the first driven structure 307 has a third connecting portion 3071 that rolls with the second connecting portion 3051. Further, the first driving structure 305 and the first driven structure 307 are gears; the second displacement structure 304 is a structure 3041 with teeth on one side. The first connecting portion 3041 is a toothed structure that can cooperate with the second connecting portion 3051 of the first driving structure 305. When the second displacement structure 304 moves longitudinally, it drives the first driving structure 305 to rotate; simultaneously, when the first driving structure 305 rotates, through the transmission of the second connecting portion 3051 and the third connecting portion 3071, it causes the first driven structure 307 to rotate, thereby driving the first gripping structure 311 to rotate. The second displacement structure 304 accurately converts the displacement of the first power unit 301 into a flip angle, overcoming the problems of poor stability and accuracy of the flip angle directly controlled by the motor in the original technology, as well as the high accuracy requirements of the motor.

[0054] like Figure 7 As shown, the first gripping structure 311 is provided with a first support part 3112 that is symmetrical about the axis of rotation and fixedly connected to the first driven structure 307. On the other side of the first support part 3112 connected to the driven structure 307, a first protrusion 3111 that cooperates with the gripping item is provided. The first protrusion 3111 can penetrate deep into the gripping item for cooperation.

[0055] Furthermore, the first motion mechanism 3 is also provided with a first power unit 301 fixed to the second connecting structure 302, a floating connecting structure 317 disposed between the first power unit 301 and the second displacement structure 304, and a buffer return structure 315 fixed to the second connecting structure 302; the floating connecting structure 317 is provided with a protrusion 3171 for pressing the buffer return structure 315 at one end near the first power unit 301; the floating connecting structure 317 and the second displacement structure 304 are floatingly connected at one end near the first power unit 301, and the floating connecting structure 317 is small in size and easy to install when it drives the second displacement structure 304 to move up and down.

[0056] The first power unit 301 can be a pneumatic structure or a servo motor. This mechanism also includes a buffer structure bracket 316 fixedly connected to the second connecting structure 302. A buffer recovery structure 315 is fixed to the buffer structure bracket 316 and buffers the floating connecting structure 317. The protrusion 3171 presses against the buffer after the floating connecting structure 317 moves downward to its limit, preventing damage to the second displacement structure 304 or gears caused by the large acceleration during its initial displacement. Simultaneously, after completing the flip, the first power unit 301 provides reverse power, causing the floating connecting structure 317 to drive the second displacement structure 304 to move in the opposite direction, and driving the first driving structure 305 and the first driven structure 307 to rotate in the opposite direction, thereby achieving the reverse rotation of the first gripping structure 311. The buffer recovery structure 315 can be a hydraulic buffer device.

[0057] Furthermore, the first gripping structure 311 has a second positioning block 310 located near the second connecting structure 302 and away from the rotation axis of the second connecting structure 302. The second connecting structure 302 has a first positioning block 309 and a third positioning block 321 located near the first gripping structure 311, which engage and limit the second positioning block 310 on its rotation plane. The first positioning block 309 and the third positioning block 321 are symmetrically arranged relative to the rotation axis of the second connecting structure 302. When the first gripping structure 311 rotates, the second positioning block 310 rotates closer to the first positioning block 309, thus completing the engagement and limiting. When the flipping is complete and needs to be restored, when the first gripping structure 311 rotates in the opposite direction under the action of the second displacement structure 304, the second positioning block 310 rotates away from the first positioning block 309, thus releasing the engagement and limiting. Continuing to rotate the second positioning block 310 and then the third positioning block 321 can complete the limiting engagement after rotating 180°.

[0058] By setting the positions of the first positioning block 309, the second positioning block 310, and the third positioning block 321, the first gripping structure 311 can be controlled to rotate within a set angle range, such as... Figure 3a and 3bAs shown, by symmetrically setting two sets of first positioning blocks 309 and third positioning blocks 321 that are centrally symmetrical about the rotation axis of the second connecting structure 302, and engaging with the second positioning block 310 at two positions of 0° and 180°, the first gripping structure 311 can be accurately flipped and reset within a 180° range.

[0059] The indirect power transmission method of the first power unit 301 via the second displacement structure 304, the first drive structure 305 and the first driven structure 307 helps to reduce the impact of inertia on accuracy during the start and stop phases of the flipping operation, and further improves the control accuracy. At the same time, this indirect control method can be easily set to a flipping angle that is a multiple of the tooth distribution angle, and the setting accuracy of the flipping angle is proportional to the density of the tooth, making it easy to adjust the density of the tooth to increase the control accuracy of the flipping angle.

[0060] The first motion mechanism 3 and the second motion mechanism 4 simultaneously change the power for flipping from bidirectional power supply at both ends of the flipping fixture to unidirectional power supply, avoiding errors caused by asynchronous rotation and control. The first motion mechanism 3 is equipped with a first positioning block 309, a second positioning block 310, and a third positioning block 321 that match the flipping angle, ensuring that the fixture in the first motion mechanism 3 maintains a stable flipping angle before and after flipping, and has good flipping and flipping reset accuracy. The second motion mechanism 4 is designed with a first motion unit 409 and a second motion unit 410 with arc surface structure fitting, and the first motion unit 409 is connected to an elastic structure 405 through a guide structure 403, ensuring that the fixture in the second motion mechanism 4 maintains a stable flipping angle before and after flipping and improving the consistency of the flipping frequency with the first motion mechanism 3.

[0061] Furthermore, such as Figure 2 , 4a As shown in 4b: the second motion mechanism 4 is provided with a third connecting structure 401 that is slidably connected to the transverse guide rail 9, and a fourth connecting structure 402 that is fixedly connected to the other end of the third connecting structure 401; the fourth connecting structure 402 is provided with a second motion unit 410 that is slidably connected to the fourth connecting structure 402; the second motion unit 410 is fixedly connected to the rotation axis of the second gripping structure 413.

[0062] like Figure 8 As shown, the second gripping structure 413 is provided with a second support part 4132 that is symmetrical about the axis of rotation and fixedly connected to the second motion unit 410. On the other side of the second support part 4132 connected to the second motion unit 410, a second protrusion 4131 that cooperates with the gripping item is provided. The second protrusion 4131 can penetrate deep into the gripping item for cooperation.

[0063] One aspect of the invention, such as Figure 11As shown, a typical capacitor component (13) is used. Symmetrically arranged at both ends of the capacitor component 13 are recessed structures 1301 for respectively accommodating and inserting into the first protrusion 3111 and the second protrusion 4131. The recessed structures 1301 can be holes or grooves. The internal chambers are matched and connected to the first protrusion 3111 and the second protrusion 4131, and their number corresponds to the number of the first protrusion 3111 and the second protrusion 4131. When the first gripping structure 311 and the second gripping structure 413 move towards each other under the action of the clamping mechanism 5, the first protrusion 3111 and the second protrusion 4131 simultaneously insert into the recessed structures 1301 to complete the clamping and picking up of the capacitor component 13; conversely, when the first gripping structure 311 and the second gripping structure 413 move away from each other under the action of the clamping mechanism 5, the first protrusion 3111 and the second protrusion 4131 are pulled out of the recessed structures 1301 to complete the unloading of the object to be clamped.

[0064] Preferably, the second motion mechanism 4 further includes a first limiting plate 404 fixedly connected to the fourth connecting structure 402, a guide structure 403 passing through and slidably connected to the first limiting plate 404, a second limiting plate 406 fixedly connected to one end of the guide structure 403 away from the first limiting plate 404, a fifth connecting structure 407 fixedly connected to the second limiting plate 406, a first guide rail 408 slidably connected to the fifth connecting structure 407 and fixedly connected to the fourth connecting structure 402, and a first motion unit 409 fixedly connected to one end of the fifth connecting structure 407 away from the second limiting plate 406; the second motion unit 410 is provided with a locking structure 4101 that cooperates with the longitudinal reciprocating movement of the first motion unit 409. The end of the first motion unit 409 that cooperates with the locking structure 4101 is provided with an outwardly convex arc surface 4091, and the locking structure 4101 is an inwardly concave arc surface that engages with the outwardly convex arc surface 4091.

[0065] One or more concave arc surfaces are provided on the rotation plane of the second motion unit 410. For example... Figure 4bAs shown: Two concave arc surfaces are provided on the rotation plane of the second motion unit 410. The elastic structure can be a spring. In the clamping state, the second gripping structure 413 rotates coaxially with the first gripping structure 311 under the action of the clamped object, thereby driving the second motion unit 410 to rotate. When the second motion unit 410 rotates to the point where the concave arc surface and the convex arc surface 4091 are engaged, the elastic structure 405 is in a relaxed state. When the second motion unit 410 rotates to the point where the non-concave arc surface is engaged with the convex arc surface 4091, the first motion unit 409, the fifth connecting structure 407, and the guide structure 403 move away from the rotation axis of the second motion unit 410. The elastic structure 405 is compressed by the first limiting plate 404 and the second limiting plate 406. After rotating 180°, the first motion unit 409 returns to a relaxed state under the action of the elastic structure 405, and at the same time, the symmetrically arranged concave arc surfaces are in their original concave arc surface positions, further engaging with the convex arc surface 4091 and maintaining the relative stability of the first motion unit 409 and the second motion unit 410.

[0066] Preferred, such as Figure 4a , 4b As shown, two concave arc surfaces are provided on the rotation plane of the second motion unit 410, which can cooperate with the 180-degree rotation and return of the first gripping structure 311 and the second gripping structure 413. A fixed bracket 412 is also provided, which is fixedly connected to the fourth connecting structure 402. The second motion unit 410 is fixed to the third mounting shaft 415, rotatably connected to the fixed bracket 412 through the fifth bearing 411, and rotatably connected to the fourth connecting structure 402 through the sixth bearing 414.

[0067] Furthermore, such as Figure 2 As shown: The clamping mechanism 5 is provided with a second rolling connection structure 504 at the connection point with the motion support platform 6, a swing arm 505 that is rolledly connected to the clamping mechanism 5 through the second rolling connection structure 504, a first connecting rod 501 that is movably connected to one end of the swing arm 505, a second connecting rod 502 that is movably connected to the other end of the swing arm 505, and a second power unit 503 that is movably connected to the swing arm 505; the second power unit 503 is connected in the area between the connection point of the second connecting rod 502 and the swing arm 505 and the second rolling connection structure 504, or the second power unit 503 is connected in the area between the connection point of the first connecting rod 501 and the swing arm 505 and the second rolling connection structure 504; the first connecting rod 501 and the second connecting rod 502 are located at the two ends of the swing arm 505 away from the connection point of the second rolling connection structure 504 and the swing arm 505; the first connecting rod 501 is rotatably connected to the first connecting structure 303 and the second connecting rod 502 is rotatably connected to the third connecting structure 401.

[0068] Preferably, the second rolling connection structure 504 is provided with a second rolling connection structure rotor 5042 fixedly connected to the swing arm 505 and a second rolling connection structure stator 5041 fixedly connected to the motion support platform 6.

[0069] The clamping mechanism 5 adopts a fixed method with a bearing in the middle of a single swing arm, and the second power unit 503 and the swing arm 505 are movably connected with the connection point located between the first link 501 and the second link 502. This facilitates the synchronous control of the second power unit 503 during the clamping operation of the first gripping structure 311 and the second gripping structure 413. The swing arm 505 is rotatably connected to the first link 501 and the second link 502. The unidirectional rotation of the swing arm 505 can realize the synchronous reverse movement of the first link 501 and the second link 502, thus facilitating the synchronous control of the clamping operation of the first gripping structure 311 and the second gripping structure 413 by a single power unit. This greatly improves the synchronization compared to electronic control or multi-power unit control.

[0070] like Figure 2 As shown: When the first gripping structure 311 and the second gripping structure 413 retract, the swing arm 505, under the action of the second power unit 503, Figure 2 Rotate the view clockwise ( Figure 2 (View from below when the equipment is in normal placement) The first link 501 and the second link 502 drive the first gripping structure 311 and the second gripping structure 413 to move towards each other, simultaneously clamping the object. This ensures stability during the flipping process. Furthermore, the first gripping structure 311 and the second gripping structure 413 are fixedly connected, allowing the second gripping structure 413 to rotate. During the flipping process, the object remains stable due to the clamping action of the first gripping structure 311 and the second gripping structure 413. After a 180° flip, the first gripping structure 311 is stabilized under the action of the first positioning block 309 and the second positioning block 310. Simultaneously, the second gripping structure 413 is also stabilized under the action of the concave arc surface and the convex arc surface 4091 of the second motion mechanism 4, thus maintaining the stability of the clamped object.

[0071] The flipping process is powered by the first power unit 301, which transmits power sequentially to the first drive structure 305, the first driven structure 307, the first gripping structure 311, the second gripping structure 413, and the second motion unit 410 via the second displacement structure 304 and its connections. Simultaneously, some power is also transmitted to the buffer recovery structure 315 and the elastic structure 405. The reverse flipping process involves the first power unit 301 providing reverse power, causing the second displacement structure 304 to drive the first drive structure 305, the first driven structure 307, the first gripping structure 311, the second gripping structure 413, and the second motion unit 410 to rotate in the opposite direction until the first gripping structure 311, the second gripping structure 413, and the gripped item return to their pre-flipping positions. At this point, the first gripping structure 311 is stabilized by the action of the first positioning block 309 and the second positioning block 310; simultaneously, the second gripping structure 413 is also stabilized by the action of the concave arc surface and the convex arc surface 4091 of the second motion mechanism 4, thus maintaining the stability of the gripped item.

[0072] Furthermore, such as Figure 5 As shown: The longitudinal motion drive mechanism 2 is also provided with a first rolling connection structure 203 that cooperates with the first displacement structure 201 to step displacement. The first rolling connection structure 203 is provided with a sixth connection structure 2033 that is slidably connected to the first displacement structure 201, a first rolling connection structure rotor 2032 that is fixedly connected to the sixth connection structure 2033, and a first rolling connection structure stator 2031 that is fixedly connected to the transverse support platform 8.

[0073] Preferably, the first rolling connection structure 203 is a crossed roller bearing; the first displacement structure 201 and the sixth connection structure 2033 are connected by a threaded connection.

[0074] Preferably, the longitudinal motion drive mechanism 2 is further provided with a fourth power unit 202 fixed to the transverse support platform 8, a first sliding connection component 204 that passes through the transverse support platform 8 and is fixedly connected to the motion support platform 6, and a second sliding connection component 205 that matches and slides with the first sliding connection component 204 and is fixed to the transverse support platform 8; the fourth power unit 202 and the rotor 2032 of the first rolling connection structure are connected by a transmission device; the transmission device is a conveyor belt. The first sliding connection component 204 can be a smooth guide post, while the second sliding connection component 205 can be a sliding bearing. The first sliding connection component 204 can smoothly pass through the internal cavity of the second sliding connection component 205 without shaking, thereby ensuring the stability of the first displacement structure 201 when it passes through the sixth connection structure 2033 and the longitudinal displacement of the longitudinal motion drive mechanism 2.

[0075] like Figure 9As shown: the first displacement structure 201 can be a trapezoidal lead screw guide post with an external threaded part 2011 on its outer periphery; the hollow hole of the sixth connecting structure 2033 is provided with an internal threaded part 20331; the relative motion between the first displacement structure 201 and the rotor 2032 of the first rolling connecting structure is a rotating helical motion, and under the action of the fourth power unit 202, the first displacement structure 201 moves longitudinally back to the horizontal support platform 8.

[0076] The first displacement structure 201 is fixed to the motion support platform 6 via the second fixing structure 207; the first sliding connection component 204 is fixed to the motion support platform 6 via the third fixing structure 208; and the fourth power unit 202 is fixed to the transverse support platform 8 via the fixing base 209. The fixing methods of the second fixing structure 207 and the third fixing structure 208 can be snap-fit ​​or threaded connections.

[0077] Under the action of the longitudinal motion drive mechanism 2, the clamping and flipping device can further complete the operation of picking up and putting down the clamped items: the fourth power unit 202 drives the first rolling connection structure rotor 2032 and the sixth connection structure 2033 to rotate. Under the matching action of the internal thread part 20331 and the external thread part 2011, the first displacement structure 201 and the first rolling connection structure rotor 2032 rotate and generate relative displacement. The first displacement structure 201 and its connected motion support platform 6 move downward to the designated position. Under the action of the clamping mechanism 5, the second gripping structure 413 and the first gripping structure 311 move towards each other, completing the operation. The pair of clamped objects are clamped; and further, under the action of the flipping function structure in the second motion mechanism 4 and the first motion mechanism 3, the clamped objects are picked up and flipped; after the flipping is completed, the second gripping structure 413 and the first gripping structure 311 can move in opposite directions under the action of the clamping mechanism 5 to release the clamped objects. The fourth power unit 202 drives the first rolling connection structure rotor 2032 to rotate in the opposite direction. The first displacement structure 201 and the first rolling connection structure rotor 2032 rotate and undergo opposite relative displacement. The first displacement structure 201 and its connected motion support platform 6 move upward to the designated position.

[0078] The first displacement structure 201 and the first rolling connection structure rotor 2032 are connected by a threaded engagement, which improves the stability of the longitudinal displacement and accurately converts the rotational speed of the fourth power unit 202 into longitudinal displacement. At the same time, the thread can buffer the huge torque of the power source at the moment of startup, reducing the impact on the equipment. Furthermore, due to the unique advantage of the threaded engagement, the displacement can remain unchanged at the moment the power supply stops without the need for additional stabilizing equipment, avoiding the equipment from suddenly dropping under gravity and causing damage. This avoids the defects of poor stability of hydraulic control and poor stability and easy damage of direct motor drive control during the startup phase due to excessive torque in commonly used technologies. Multiple sets of matched first sliding connection components 204 and second sliding connection components 205 make the longitudinal displacement more stable and smooth.

[0079] Furthermore, such as Figure 1 and 6 As shown: A longitudinal support structure 7 is provided on the same side of the horizontal support platform 8 where the fourth power unit 202 is fixed; a second support platform 10 is fixedly connected to the other end of the longitudinal support structure 7; the longitudinal support structure 7 can be multiple longitudinal columns distributed in the corner areas of the second support platform 10 and the horizontal support platform 8. A third power unit 101, a drive shaft 107 rotatably connected to the longitudinal support structure 7 and drivingly connected to the third power unit 101, and displacement devices 109 distributed at both ends of the drive shaft 107 for displacement in conjunction with external guide devices are fixedly connected to the side of the second support platform 10 facing away from the longitudinal support structure 7. A first support structure 108 is also provided, which is fixedly connected to the longitudinal support structure 7 and is rolledly connected to the drive shaft 107 through bearings.

[0080] The third power unit 101 can be a servo motor, which can be connected to a reduction gear 102 at the transmission front end and then transmit power to the transmission shaft 107; the displacement device 109 can be a gear or a relatively smooth guide wheel, which is matched with an external toothed guide belt or guide rail, so that under the action of the third power unit 101, each mechanism of the clamping and flipping device moves in a directional manner along the external guide device. In order to move better and reduce resistance, multiple auxiliary guide wheels 11 can be set on the second support platform 10.

[0081] Under the action of the first motion drive mechanism 1, the clamping and flipping device can further complete the transportation process of the clamped item in a limited direction: in the direction limited by the external guide device, the third power unit 101 drives the transmission shaft 107 and the displacement device 109. The displacement device 109 can move back and forth in the direction limited by the external guide device, and cooperate with the motion drive mechanism 2, the first motion mechanism 3, the second motion mechanism 4 and the clamping mechanism 5 to complete the picking, clamping, flipping, transportation and placement of the clamped item.

[0082] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

Claims

1. Clamping and turning apparatus, characterized in that The utility model provides a kind of motion support platform (6), first motion mechanism (3) slidingly connected to one end of the motion support platform (6), second motion mechanism (4) being symmetrically arranged with the first motion mechanism (3) relative to the motion support platform (6) and slidingly connected to the other end of the motion support platform (6);The motion support platform (6) is provided with clamping mechanism (5) between the first motion mechanism (3) and the second motion mechanism (4), and the clamping mechanism (5) controls the reciprocating motion of the first motion mechanism (3) and the second motion mechanism (4);The first motion mechanism (3) is provided with first grabbing structure (311) rotatable with the longitudinal displacement of the first motion mechanism (3), and the second motion mechanism (4) is provided with second grabbing structure (413) rotatable with the longitudinal displacement of the second motion mechanism (4) and symmetrically arranged with the first grabbing structure (311) relative to the motion support platform (6); The second motion mechanism (4) is provided with third connecting structure (401) and fourth connecting structure (402) fixedly connected with the other end of the third connecting structure (401);The fourth connecting structure (402) is provided with second motion unit (410) rollingly connected relative to the fourth connecting structure (402);The second motion unit (410) is fixedly connected with the rotation axis of the second grabbing structure (413); The second motion mechanism (4) is further provided with first limiting plate (404) fixedly connected with the fourth connecting structure (402), guide structure (403) penetrating through the first limiting plate (404) and slidingly connected therewith, second limiting plate (406) fixedly connected with the other end of the guide structure (403) away from the first limiting plate (404), fifth connecting structure (407) fixedly connected with the second limiting plate (406), first guide rail (408) slidingly connected with the fifth connecting structure (407) and fixedly connected with the fourth connecting structure (402), and first motion unit (409) fixedly connected with the other end of the fifth connecting structure (407) away from the second limiting plate (406);The second motion unit (410) is provided with engaging structure (4101) reciprocatingly displaced with the first motion unit (409); The first motion unit (409) is provided with outer convex arc surface (4091) at one end matched with the engaging structure (4101), and the engaging structure (4101) is inner concave arc surface engaged with the outer convex arc surface (4091); The inner concave arc surface is provided with one or more in the rotation plane of the second motion unit (410); The first motion unit (409) is connected with elastic structure (405) through the guide structure (403); In the clamping state, the second grabbing structure (413) rotates coaxially with the first grabbing structure (311) under the driving of the clamped object and drives the second movement unit (410) to rotate; when the second movement unit (410) rotates to the cooperation of the inner concave curved surface and the outer convex curved surface, the elastic structure (405) is in a relaxed state; when the second movement unit (410) rotates to the cooperation of the non-inner concave curved surface and the outer convex curved surface, the first movement unit (409), the fifth connecting structure (407) and the guide structure (403) move away from the rotation axis of the second movement unit (410), and the elastic structure (405) is compressed by the first limiting plate (404) and the second limiting plate (406); The first movement mechanism (3) is further provided with a first power unit (301) and a second displacement structure (304), the second displacement structure (304) accurately converts the displacement of the first power unit (301) into a turning angle, and then drives the first grabbing structure (311) to rotate.

2. The apparatus of claim 1, wherein, The movement support platform (6) is further provided with a longitudinal movement driving mechanism (2) and a transverse support platform (8) on the other side of the clamping mechanism (5); the longitudinal movement driving mechanism (2) is provided with a first displacement structure (201) sliding through the transverse support platform (8), and the part of the first displacement structure (201) penetrating through the transverse support platform (8) is fixedly connected to the movement support platform (6); the clamping mechanism (5) is provided with a transverse guide rail (9) for the reciprocating movement of the first movement mechanism (3) and the second movement mechanism (4) on the same side of the movement support platform (6).

3. The apparatus of claim 2, wherein The first movement mechanism (3) is provided with a first connecting structure (303) slidingly connected with the transverse guide rail (9); and the third connecting structure (401) is slidingly connected with the transverse guide rail (9).

4. The apparatus of claim 3 wherein, The clamping mechanism (5) is provided with a second rolling connection structure (504) at the connecting part with the movement support platform (6), a swing arm (505) rolling connected with the clamping mechanism (5) through the second rolling connection structure (504), a first connecting rod (501) movably connected to one end of the swing arm (505), a second connecting rod (502) movably connected to the other end of the swing arm (505), and a second power unit (503) movably connected to the swing arm (505); the second power unit (503) is connected between the connecting part of the second connecting rod (502) and the swing arm (505) and the area between the second rolling connection structure (504), or the second power unit (503) is connected between the connecting part of the first connecting rod (501) and the swing arm (505) and the second rolling connection structure (504); the first connecting rod (501) and the second connecting rod (502) are dispersedly arranged relative to the connecting part of the second rolling connection structure (504) and the swing arm (505); the first connecting rod (501) is rotationally connected with the first connecting structure (303), and the second connecting rod (502) is rotationally connected with the third connecting structure (401).

5. The apparatus of claim 4 wherein, The second rolling connection structure (504) is provided with a second rolling connection structure rotor (5042) fixedly connected with the swing arm (505) and a second rolling connection structure stator (5041) fixedly connected with the movement support platform (6).

6. The apparatus of claim 3 wherein, The first movement mechanism (3) is further provided with a second connecting structure (302) fixedly connected with the other end of the first connecting structure (303); the second connecting structure (302) is provided with the second displacement structure (304) slidingly connected relative to the second connecting structure (302), the first driving structure (305) and the first driven structure (307) both rolling connected relative to the second connecting structure (302); and the first driven structure (307) is fixedly connected with the rotation axis of the first grabbing structure (311).

7. The apparatus of claim 6 wherein, The second displacement structure (304) is provided with a first connecting part (3041) matched with the rolling of the first driving structure (305), and the first driving structure (305) is provided with a second connecting part (3051) matched with the first connecting part (3041); and the first driven structure (307) is provided with a third connecting part (3071) matched with the second connecting part (3051).

8. The apparatus of claim 7 wherein, The first driving structure (305) and the first driven structure (307) are gears; and the second displacement structure (304) is a structure (3041) with a toothed part on one side.

9. The apparatus of claim 8 wherein, The first motion mechanism (3) is further provided with the first power unit (301) fixed to the second connecting structure (302), a floating connecting structure (317) arranged between the first power unit (301) and the second displacement structure (304), and a buffer recovery structure (315) fixed to the second connecting structure (302); the floating connecting structure (317) is provided with a protrusion (3171) for pressing the buffer recovery structure (315) at one end close to the first power unit (301); and the floating connecting structure (317) and the second displacement structure (304) are floatingly connected at one end close to the first power unit (301).

10. The apparatus of claim 6 wherein, The first grabbing structure (311) is provided with a second positioning block (310) at a position close to the second connecting structure (302) and away from the rotation axis of the second connecting structure (302); the second connecting structure (302) is provided with a first positioning block (309) and a third positioning block (321) close to the first grabbing structure (311) and limiting the rotation plane of the second positioning block (310) and the second positioning block (310); the first positioning block (309) and the third positioning block (321) are symmetrically arranged relative to the rotation axis of the second connecting structure (302).

11. The apparatus of claim 3 wherein, The longitudinal motion driving mechanism (2) is further provided with a first rolling connecting structure (203) matched with the step displacement of the first displacement structure (201), the first rolling connecting structure (203) is provided with a sixth connecting structure (2033) slidingly connected with the first displacement structure (201), a first rolling connecting structure rotor (2032) fixedly connected with the sixth connecting structure (2033), and a first rolling connecting structure stator (2031) fixedly connected with the transverse support platform (8).

12. The apparatus of claim 11, wherein, The first rolling connecting structure (203) is a cross roller bearing; the first displacement structure (201) and the sixth connecting structure (2033) are connected through thread cooperation.

13. The apparatus of claim 12, wherein, The longitudinal motion driving mechanism (2) is further provided with a fourth power unit (202) fixed to the transverse support platform (8), a first sliding connecting component (204) fixedly connected with the motion support platform (6) after penetrating through the transverse support platform (8), and a second sliding connecting component (205) slidingly connected with the first sliding connecting component (204) and fixed to the transverse support platform (8); the fourth power unit (202) and the first rolling connecting structure rotor (2032) are connected through a transmission device.

14. The apparatus of claim 13 wherein, The transverse support platform (8) is provided with a longitudinal support structure (7) on the same side of fixing the fourth power unit (202); the other end of the longitudinal support structure (7) is provided with a second support platform (10) fixedly connected therewith; the second support platform (10) is fixed with a third power unit (101), a transmission shaft (107) rotationally connected with the longitudinal support structure (7) and transmissionally connected with the third power unit (101), and displacement devices (109) distributed at both ends of the transmission shaft (107) and used for cooperating with external guiding devices to displace.

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